Inter-vehicle distance detecting device

• US 5,369,590 A
• Filed: 03/31/1993
• Issued: 11/29/1994
• Est. Priority Date: 04/20/1992
• Status: Expired due to Term

• Current Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Original Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Inventors: Karasudani, Keiko
• Primary Examiner(s): Chin, Gary
• Application Number:
  US08/041,033
• Time in Patent Office: 608 Days
• Field of Search: 364/426.04, 364/431.07, 364/460, 364/461, 180/176, 180/177, 180/178, 180/179, 180/167-169, 123/350, 123/352, 340/435, 340/436, 348/113, 348/116, 348/118, 348/139
• US Class Current: 701/300
• CPC Class Codes: B60G 2400/823 Obstacle sensing
• CPC Class Codes: B60G 2401/142 Visual Display Camera, e.g. LCD
• CPC Class Codes: B60G 2800/166 Platooning
• CPC Class Codes: G01S 11/12 using electromagnetic waves other than radio waves

Abstract

An inter-vehicle distance detecting device displays the images of preceding vehicles, sets a tracking window surrounding one of the images and tracks it, calculates the distance from the driving vehicle to the preceding vehicle, and sets a plurality of shadow windows which are not displayed and which are different from the tracking window, at predetermined positions in the image taken by one of top and bottom image sensors. Distances from the driving vehicle to objects caught by the respective shadow windows are detected from the deviation between top and bottom corresponding image signals, and a symmetry determining means reads image signals in an arbitrary domain in the shadow windows and surroundings and determines horizontal symmetry. A cut-in vehicle or lane change of the one of the preceding vehicles which is image-tracked by predicting movements thereof in front of the driving vehicle is detected based on distance information from the driving vehicle to the objects in the shadow windows, an output of the symmetry determining means, and information provided by a calculation based on the preceding vehicle tracked by the tracking window.

Claims

1. An inter-vehicle distance detecting device wherein top and bottom image signals focused on top and bottom image sensors substantially by a pair of top and bottom optical systems, are compared and distances from a driving vehicle to preceding vehicles are measured by detecting deviation between the top and bottom images under a principle of trigonometry comprising:

a display means for displaying the images of the preceding vehicles taken by either one of the top and bottom image sensors;

an image-tracking means for setting a tracking window surrounding one of the images of the preceding vehicles and image-tracking said one of the images of the preceding vehicles by the tracking window;

a first distance detecting means for calculating the distance from the driving vehicle to the one of the preceding vehicles by detecting the deviation between the corresponding top and bottom images wherein an image signal of the one of the preceding vehicles is a reference signal;

a shadow window setting means for setting a plurality of shadow windows which are not displayed on a display image plane and which are totally different from the tracking window, at predetermined positions in the image taken by one of the top and bottom image sensors;

a second distance detecting means for detecting distances from the driving vehicle to objects caught by the respective shadow windows by detecting the deviation between top and bottom corresponding image signals wherein image signals in the shadow windows are reference signals;

a symmetry determining means for reading image signals in an arbitrary domain in the shadow windows and surroundings thereof and determining horizontal symmetry in the arbitrary domain;

a detecting means for detecting a cut-in vehicle or lane change of the one of the preceding vehicles which is image-tracked by predicting movements of the preceding vehicles in front of the driving vehicle based on a distance information on the distances from the driving vehicle to the objects in the shadow windows caught by the second distance detecting means, an output of the symmetry determining means and an information provided by a calculation result of the image-tracking means on the one of the preceding vehicles which is image-tracked by the tracking window.

2. The inter-vehicle distance detecting means according to claim 1, further comprising:

a means for determining a position of a second one of the preceding vehicles which is a new object for image-tracking based on a symmetry information on the horizontal symmetry provided by the symmetry determining means and the distance information provided by the second distance detecting means on the shadow windows in the neighborhood of candidate points of presence of the preceding vehicles, when the lane change of the one of the preceding vehicles which is being image-tracked or the cut-in vehicle is detected by predicting the movements of the preceding vehicles in front of the driving vehicle; and

a means for automatically setting a second tracking window in place of the tracking window having a size in correspondence with a distance from the driving vehicle to the second one of the preceding vehicles such that the second tracking window surrounds an image of the second one of the preceding vehicles.