Motor car traveling control device

• US 5,309,137 A
• Filed: 02/14/1992
• Issued: 05/03/1994
• Est. Priority Date: 02/26/1991
• Status: Expired due to Term

• Current Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Original Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Inventors: Kajiwara, Yasuya
• Primary Examiner(s): Crosland, Donnie L.
• Application Number:
  US07/835,411
• Time in Patent Office: 809 Days
• Field of Search: 340/436, 340/435, 340/903, 340/901, 340/961, 340/988, 340/990, 340/995, 358/105, 358/126, 358/125
• US Class Current: 340/436
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: G01C 3/10 using a parallactic triangle with variable angles and a base of fixed length in the observation station, e.g. in the instrument
• CPC Class Codes: G01S 11/12 using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 3/7864 T.V. type tracking systems
• CPC Class Codes: G05D 1/0223 involving speed control of the vehicle vehicle fittings for automatically controlling, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator B60K31/00
• CPC Class Codes: G05D 1/0251 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision stereoscopic image analysis H04N13/00; depth recovery from images G06T7/593
• CPC Class Codes: G05D 1/0289 with means for avoiding collisions between vehicles vehicle fittings for automatically controlling speed including means for detecting potential obstacles B60K31/0008; avoiding obstacles by action on the steering system B62D; radar, sonar, lidar systems designed for anti-collision purposes G01S13/93, G01S15/93, G01S17/93

Abstract

A motor car travelling control device which measures the distance between a first car and a second car while tracking the image of the second car. When the second car changes its travelling lane, the control device informs the driver of the first car and causes the first car to maintain its present speed. The motor car travelling control device includes an inter-cars distance detector, of the image tracking type, for measuring the distance between a first car and a second car. The control device also includes a lane change detector, a speed controller and a lane change informer. When the second car changes its travelling lane, the lane changes informer informs the driver of the first car and causes the first car to maintain its present speed.

Claims

1. A motor car traveling control device comprising:

inter-car distance detecting means for detecting the distance between a first car and a second car ahead of said first car while tracking said second car;

lane change detecting means for detecting when said second car changes a traveling lane; and

vehicle speed controlling and lane change informing means which automatically controls a speed of said first car according to an output of said inter-car distance detecting means to maintain a safe distance between said first and second cars, and which, in response to a detection signal from said lane change detecting means, operates to cause said first car to maintain a present speed, and informs the driver of said first car that said second car has changed traveling lane.

2. A device as claimed in claim 1, wherein said inter-car distance detecting means comprises:

image pickup means for detecting a pair of images used for tracking said second car, said inter-car distance detecting means positioning an image tracking and distance measuring window with respect to said pair of images provided by said image pickup means, and, when said second car changes traveling lane, setting said window in front of said first car to perform a distance measuring operation and suspending the tracking of the image of said second car.

3. An image tracking type inter-car distance detecting device having a lane change detecting function, said device comprising:

a pair of image pickup means, arranged substantially vertically, for detecting images used for tracking inter-car distances;

window setting means for setting, in an image provided by one of said image pickup means, at least a first window for tracking an image and a second window for detecting a change in a traveling lane in such a manner that said second window is positioned below said first window;

first signal processing means which, with respect to a pair of images provided by said image pickup means, uses said first window, to measure a distance from an object, the image of which is held in said first window, according to a principle of trigonometrical measurement, and which time-sequentially compares the images in said first window in order to detect the image in said first window that corresponds to said image of said object, thereby tracking the image of said object; and

second signal processing means which detects a region in said second window which is brighter than a surrounding, and determines, from movement of said region thus detected, that a change in a traveling lane has occurred.