Obstacle detecting system for a motor vehicle

• US 5,633,705 A
• Filed: 05/04/1995
• Issued: 05/27/1997
• Est. Priority Date: 05/26/1994
• Status: Expired due to Fees

• 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:
  US08/434,854
• Time in Patent Office: 754 Days
• Field of Search: 348/140, 348/139, 180/169, 180/167, 356/4.01-5.15, 356/3.14
• US Class Current: 356/3.14
• CPC Class Codes: G01S 17/08 for measuring distance only indirect measurement G01S17/46; active triangulation systems G01S17/48
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 7/497 Means for monitoring or calibrating
• 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 2013/0081 Depth or disparity estimation from stereoscopic image signals

Abstract

An obstacle detecting system for a motor vehicle which is capable of detecting not only the distance to an obstacle(s) existing in front of the motor vehicle and the width thereof, but also its height to thereby allow a motor vehicle control to be effected more appropriately with high reliability. The distance to the object and its width are detected by a laser radar type distance detecting unit, while the distance to the object lying within a window preset by a window setting device is also detected by a distance detecting circuit of a stereoscopic video camera unit. An object size determining unit is provided for selecting a window corresponding to a distance value detected by the stereoscopic video camera unit and which coincides with a distance value calculated by the laser radar type distance detecting unit, to thereby determine the size of the object on the basis of the preset position of the selected window.

Claims

1. An obstacle detecting system for a motor vehicle, comprising:

(a) a laser radar type distance detecting unit for detecting a distance to an object existing in a path of said motor vehicle as viewed in a first direction in which said motor vehicle is running,

said distance detecting unit including;

(i) laser beam sending means (10) for sending out a laser beam while deflecting said laser beam in a second direction laterally transverse to said first direction;

(ii) echo light beam receiving means (11) for receiving an echo light beam resulting from reflection of said laser beam by said object; and

(iii) distance calculating means (12) for arithmetically determining a distance to said object on the basis of a temporal period intervening between the send-out of said laser beam and the reception of said echo light beam;

(b) an optical imaging unit including;

(i) optical imaging means (20,

     21) for picking up an image of an object located within a range swept by said laser beam;

(ii) window setting means (4) for presetting a plurality of windows at predetermined locations on an imaging plane of said optical imaging unit; and

(iii) distance detecting means (23) for detecting a distance to an object caught by said optical imaging unit at least within one of said windows; and

(c) object size determining means (3) for selecting a window corresponding to a distance value which is detected by said optical imaging unit and which coincides with a distance value calculated by said laser radar type distance detecting unit, to thereby determine a size of said object on the basis of the preset position of said selected window.

2. An obstacle detecting system for a motor vehicle according to claim 1,

wherein said plurality of windows are preset in a vertical direction on said imaging plane of said optical imaging unit.

3. An obstacle detecting system for a motor vehicle according to claim 2,

wherein said plurality of windows are arrayed in each of vertical rows which are arrayed in a horizontal direction on said imaging plane of said optical imaging unit, the number of said rows being determined in dependence on an angular range which is scanned with said laser beam.

4. An obstacle detecting system for a motor vehicle according to claim 1,

wherein said optical imaging unit is constituted by a stereoscopic video camera unit including a pair of video cameras disposed in a vertical array, and

wherein said distance detecting means (23) is designed to detect a distance to said object on the basis of output signals of said video cameras in accordance with a trigonometric measurement.

5. An obstacle detecting system for a motor vehicle according to claim 1,

wherein said distance calculating means, said window setting means, said distance detecting means and said object size determining means are implemented by a microcomputer programmed correspondingly.

6. An obstacle detecting system for a motor vehicle according to claim 1,

wherein said obstacle detecting system is disposed at a front side of said motor vehicle.

7. An obstacle detecting system for a motor vehicle according to claim 1,

wherein said obstacle detecting system is disposed at a rear side of said motor vehicle.