Obstacle detecting device for a vehicle

• US 5,386,285 A
• Filed: 02/03/1993
• Issued: 01/31/1995
• Est. Priority Date: 02/28/1992
• Status: Expired due to Term

• Current Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Original Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Inventors: Asayama, Yoshiaki
• Primary Examiner(s): Buczinski, Stephen C.
• Application Number:
  US08/013,092
• Time in Patent Office: 727 Days
• Field of Search: 180/169, 358/107, 356/1, 356/4, 356/5, 342/53, 342/54, 342/55, 340/904, 340/435, 348/139
• US Class Current: 356/4.01
• CPC Class Codes: B60R 1/24 in front of the vehicle
• CPC Class Codes: B60R 2300/105 using multiple cameras
• CPC Class Codes: B60R 2300/804 for lane monitoring
• CPC Class Codes: B60R 2300/8093 for obstacle warning
• CPC Class Codes: G01S 11/12 using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 13/726 Multiple target tracking
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/9323 Alternative operation using light waves
• CPC Class Codes: G01S 2013/9325 for inter-vehicle distance regulation, e.g. navigating in platoons
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles
• CPC Class Codes: G06T 7/593 from stereo images

Abstract

An obstacle detecting device for a vehicle comprises a pair of image sensors for taking an image of an object surrounding a vehicle, a display image plane for displaying an image data taken by said pair of image sensors as an image, and a plurality of windows designating regions of said image on said display image plane. The device further comprises an optical obstacle detecting device for detecting distances from said vehicle to said object in said regions of the image designated by said plurality of windows for the respective windows to thereby detect an obstacle, a laser radar device mounted on the vehicle for radiating a radar beam to the object surrounding the vehicle to thereby detect said obstacle, and an obstacle selecting device for selecting either the obstacle detected by said optical obstacle detecting device or the obstacle detected by said laser radar device mounted on the vehicle.

Claims

1. An obstacle detecting device for a vehicle comprising:

first and second image sensors for sensing an environment, including an object, external to said vehicle and outputting first and second image data, respectively, representative thereof;

a display image plane for displaying said first image data as a display image including an image of said object;

means for designating a plurality of regions of said display image on said display image plane;

optical detecting means for detecting distances from said vehicle to said object when said image of said object is in at least one of said regions of said display image;

a device mounted on said vehicle for radiating a beam to said object and receiving a reflected beam therefrom to detect distances from said vehicle to said object; and

microprocessor means for causing, based on a predetermined condition, either said optical detecting means or said device to detect the distances from said vehicle to said object.

2. An obstacle detecting device as claimed in claim 1, further comprising:

means for determining a position of a steering wheel of said vehicle and outputting steering signals representative thereof; and

means for determining, in accordance with the steering signals and the detected distances of said vehicle to said object, a position of said object with respect to a direction of movement of said vehicle.

3. An obstacle detecting device as claimed in claim 2, further comprising means for signalling, based on the determined position of said object, when said object is less than a predetermined distance from said vehicle.

4. An obstacle detecting device as claimed in claim 1, wherein:

said display image includes an image of a second object present in said environment; and

said optical detecting means further detects distances from said vehicle to said second object, while detecting distances from said vehicle to said first object, when said image of said second object is in at least one of said regions.

5. An obstacle detecting device as claimed in claim 1, wherein said optical detecting means detects the distances from said vehicle to said object when said image of said object is in multiple said regions.

6. An obstacle detecting device as claimed in claim 1, wherein said regions are substantially rectangular.

7. An obstacle detecting device as claimed in claim 1, wherein said region designating means positions said regions substantially linearly with respect to each other across said display image plane.

8. An obstacle detecting device as claimed in claim 1, wherein said region designating means positions said regions substantially non-linearly with respect to each other across said display image plane.