Distance detection system for vehicles

• US 5,307,136 A
• Filed: 10/14/1992
• Issued: 04/26/1994
• Est. Priority Date: 10/22/1991
• Status: Expired due to Term

• Current Assignee: Fuji Jukogyo KK (Subaru Corp.)
• Original Assignee: Fuji Jukogyo KK (Subaru Corp.)
• Inventors: Saneyoshi, Keiji
• Primary Examiner(s): Buczinski, Stephen C.
• Application Number:
  US07/960,688
• Time in Patent Office: 559 Days
• Field of Search: 358/107, 354/402, 356/1, 250/201.6, 250/201.8, 364/456, 180/167
• US Class Current: 356/3.14
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: G01C 11/06 by comparison of two or more pictures of the same area
• CPC Class Codes: G01S 11/12 using electromagnetic waves other than radio waves
• CPC Class Codes: G06T 2200/28 involving image processing hardware
• CPC Class Codes: G06T 2207/10012 Stereo images
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 2207/30261 Obstacle
• CPC Class Codes: G06T 7/593 from stereo images
• CPC Class Codes: H04N 13/133 Equalising the characteristics of different image components, e.g. their average brightness or colour balance
• CPC Class Codes: H04N 13/189 Recording image signals; Reproducing recorded image signals
• CPC Class Codes: H04N 13/239 using two 2D image sensors having a relative position equal to or related to the interocular distance H04N13/243 takes precedence
• CPC Class Codes: H04N 13/243 using three or more 2D image sensors
• CPC Class Codes: H04N 2013/0081 Depth or disparity estimation from stereoscopic image signals

Abstract

An automobile distance detection system includes an image camera system which photographs an object which exists in a required range external to an automobile, from a plurality of different directions and obtains a plurality of pictures, and a picture processing unit which processes the plural number of pictures photographed by the camera system and outputs a distance distribution for an entire picture. The image processing unit includes a coincidence calculation element which performs high-speed calculation of a degree of coincidence for each required region, and corresponding to the plural number of pictures photographed by the camera system, and a discrepancy amount determination element determines discrepancy amounts corresponding to the plural number of pictures on the basis of a minimum value for the coincidence, as information relating to the distance distribution.

Claims

1. A distance detection system for an automobile, having an imaging system for imaging external objects in a required range from a plurality of different directions and for obtaining a plurality of pictures corresponding to said different directions, and a picture processing unit for processing said pictures and for outputting a distance distribution in an entire image of said required range, the picture processing unit comprising:

coincidence calculation means for dividing said pictures of said required range into a plurality of small regions and for performing a calculation of the coincidence between each of said plurality of small regions in one of said pictures and at least one region in at least one of the other pictures;

discrepancy amount determination means for determining discrepancy amounts at corresponding small regions over an entire picture on the basis of a maximum value of the degree of coincidence corresponding to said regions.

2. The distance detection system according to claim 1, further comprising:

picture conversion means for converting analog image data taken by said imaging system into digital image data having a required brightness gradation;

maximum and minimum detection means for detecting a minimum value and a maximum value of said degree of coincidence calculated by said coincidence calculation means; and

said coincidence calculation means for performing high-speed calculation of said degree of coincidence at each small region of said digital image data; and

said discrepancy amount determination means for executing a determination of said discrepancy amount when the difference between said maximum value and said minimum value is equal to or greater than a first predetermined value, and when a brightness change of a small region of said required range is larger than a second predetermined value.

3. The distance detection system according to claim 2, wherein:

said picture conversion means is provided with a high-speed image memory for storing the entire image photographed by said imaging system, and said coincidence calculation means is provided with a high-speed buffer memory for taking and storing one portion of said image.

4. The distance detection system according to claim 2, wherein:

said picture conversion means is provided with a data table for correcting an output of said imaging system.

5. The distance detection system according to claim 2, wherein:

said imaging system is provided with two image cameras for short distance having solid state camera elements, and two image cameras for long distance with solid state camera elements.

6. A distance detection system for a vehicle, having first and second cameras provided on said vehicle to image external objects, comprising:

means for dividing images detected by said first and second cameras into a plurality of small regions;

coincidence determining means for determining a degree of coincidence between said images in each of said small regions; and

discrepancy amount determining means responsive to said degree of coincidence for determining a discrepancy amount between said images at each of said small regions, whereby discrepancy amounts over entire images represent a distance distribution in said image.

7. The system according to claim 6, wherein said coincidence determining means comprise:

city-block distance calculating means for calculating a city-block distance for each of said small regions from one of said first and second cameras by comparing with said small regions from the other of said first and second cameras.

8. The system according to claim 7, wherein said coincidence determining means further comprises:

minimum value determining means for determining a minimum value of said city-block distance for each of small regions;

whereby said discrepancy amount determining means detects said discrepancy amounts in response to said minimum value of said city-block distance.

9. The system according to claim 8, wherein said coincidence determining means further comprises:

maximum value detecting means for detecting a maximum value of said city-block distances for each of said small regions;

whereby said determining means detects said discrepancy amount in response to said maximum value of said city-block distances.

10. The system according to claim 9, wherein said coincidence determining means further comprises:

brightness difference detecting means for detecting a brightness deference between adjacent pixels in each of said small regions from either of said first and second cameras;

whereby said discrepancy amount determining means detects said discrepancy amount in response to said brightness difference.

11. The system according to claim 6, wherein said coincidence determining means comprises:

city-block distance calculating means for calculating city-block distance for each of said small regions from one of said first and second cameras by comparing with same of said small regions from the other of said first and second cameras; and

minimum value detecting means for detecting a minimum value of said city-block distance for each of said small regions;

whereby said discrepancy amount determining means picks up each of said determined discrepancy amounts as data of the distance distribution when said minimum value is smaller than a first threshold value, a difference between said maximum value and said minimum value is larger than a second threshold value and said brightness difference is larger than a third threshold value.

12. The system according to claim 7, further comprises:

picture conversion means for converting analog image data detected by said first and second cameras into digital image data of gray scale.

13. The system according to claim 12, wherein said picture conversion means comprises:

A/D converters connected to said first and second cameras respectively to provide said digital image data;

look-up tables connected to said A/D converters, respectively to correct said digital image data so as to extend the contrast thereof, thereby outputting corrected digital image data; and

picture memories connected to said look-up tables respectively to store said corrected digital image data.

14. The system according to claim 13, wherein said city-block distance calculating means comprises:

two groups of input buffer memories, one group being connected to one of said picture memories, the other group being connected to the other of said picture memories, said both input buffer memories being capable of operating in higher speed than said picture memories.

15. The system according to claim 14, further comprising:

a minimum and maximum value determination circuit receiving said output data of said city-block distances for determining a minimum value and maximum value of said city-block distances.

16. The system according to claim 15, further comprising:

a first latch circuit for holding a first threshold value;

a second latch circuit for holding a second threshold value;

a third latch circuit for holding a third threshold value;

a fourth latch circuit for holding a fourth threshold value;

a first register for receiving said maximum value and said first, second and third threshold values respectively store;

a second register for receiving said minimum value to store;

a logic calculation unit for calculating a difference between said maximum value latched by said first register and said minimum value latched by said second register;

a third register for receiving said difference from said logic calculating unit; and

a selector for selectively connecting one of said second and said third registers to said logic calculating unit;

wherein said logic calculation unit compares said first threshold value latched by said first latch circuit and said minimum value stored in said second register and producing a signal representing absent data of said discrepancy available when said minimum value is larger than said first threshold value; and

wherein said logic calculation unit further compares said second threshold value latched by said second latch circuit and said difference stored in said third register and for producing said signal representing absent data of said discrepancy amount available when said difference is smaller than said first threshold value.

17. The system according to claim 6, wherein said first and second cameras are charge coupled device cameras.

18. The system according to claim 6, further comprising:

third and fourth cameras provided to take images at an area close to the vehicle; and

said first and second cameras taking images at an area a distance apart from the vehicle.

19. The system according to claim 6, wherein said small regions included 4 by 4 pixels therein.

20. A distance detecting system for a vehicle comprising:

first image taking means for taking a first optical image in a predetermined area;

second image taking means distanced from a position of said first image taking means for taking a second optical image in said predetermined area;

coincidence calculation means for dividing said first optical image into a plurality of predetermined regions and for calculating a degree of coincidence between said plurality of predetermined regions and regions in said second optical image; and

discrepancy amount determining means for determining a discrepancy amount between a region in said second optical image corresponding to said predetermined region and a region in said second optical image which has a maximum degree of coincidence with said predetermined region and for storing said discrepancy amount into memory means at an address representing said predetermined region.

21. The system according to claim 20, further comprising:

A/D converting means for converting analog data of said first optical image and said second optical image into digital data having gradation according to brightness of said optical image; and

said coincidence calculating means calculating said degree of coincidence in accordance with said gradation as a digital value.

22. The system according to claim 20 wherein said coincidence calculating means comprises:

city-block calculating means for calculating city-block distances based on absolute value of difference between said region in said first optical image and said second optical image.