Inter-vehicle distance measurement apparatus

• US 5,874,904 A
• Filed: 08/08/1997
• Issued: 02/23/1999
• Est. Priority Date: 08/14/1996
• Status: Expired due to Fees

• Current Assignee: Fuji Electric Company Limited (Fuji Electric Systems Company Limited)
• Original Assignee: Fuji Electric Company Limited (Fuji Electric Systems Company Limited)
• Inventors: Okabe, Akihiko, Usuda, Takayuki, Shimizu, Hideo, Tanigawa, Taichi, Hirabayashi, Takehide
• Primary Examiner(s): Wu, Daniel J.
• Application Number:
  US08/908,588
• Time in Patent Office: 564 Days
• Field of Search: 340/435, 340/436, 340/901, 340/903, 340/905, 340/942, 348/143, 348/148, 348/149, 348/118, 348/119, 348/135, 348/139, 348/169, 348/170, 382/107, 382/106, 382/140
• US Class Current: 340/903
• CPC Class Codes: G01S 11/12 using electromagnetic waves other than radio waves
• CPC Class Codes: G06T 7/593 from stereo images

Abstract

An inter-vehicle distance to a preceding or following vehicle is reliably determined by using a simple processing, to alert the following vehicle to approach a dangerous range. The distance measurement apparatus includes a pair of light-receiving devices disposed on image-forming surfaces of lenses and having sensor lines and measurement windows on each sensor line at a certain interval, a distance detection device, a white line detection device and a vehicle detection device. The distance detection device detects distances at points, the coordinates of which are specified by the sensor line numbers and measurement window addresses. By using the detection results, the white line detection device detects a sensor line in which a white line on a road surface is present. By using the detection results obtained from the distance detection device relating to the sensor lines in which the white line is not present, the vehicle detection device checks a presence of a vehicle and outputs information on the inter-vehicle distance and the direction of the vehicle. The following vehicle may be alerted by flashing the brake lights.

Claims

1. An inter-vehicle distance measurement apparatus for measuring a distance from a first vehicle to a second vehicle, comprising:

an optical system having a pair of parallel optical axes,

a pair of light receiving devices including (m) optical sensor arrays disposed in parallel at a specified interval such that a longitudinal direction of each of the sensor arrays substantially becomes a vertical direction, and (n) measurement windows set on the respective optical sensor arrays, said light receiving devices being disposed in the longitudinal direction of the optical sensor arrays on image forming surfaces of the pair of the parallel optical axes to obtain image data from the optical sensor arrays,

distance detection means to detect distances at (m×

n) points, coordinates of which are specified by sensor line numbers and measurement window addresses,

white line detection means connected to the distance detection means, said white line detection means detecting, through detection results obtained by the distance detection means, an optical sensor array among said (m) optical sensor arrays in which an image of a white line is present on a surface of a road where a first vehicle is travelling, and

vehicle detection means connected to the white line detection means and the distance detection means, said vehicle detection means detecting a presence of a second vehicle through detection results of the distance detection means for an optical sensor array among said (m) optical sensor arrays where an image of the white line is absent, and detecting at least an inter-vehicle distance to the second vehicle.

2. An inter-vehicle distance measurement apparatus according to claim 1, wherein an interval for the measurement windows set on each of said optical sensor arrays is equal to an interval between optical sensors in the optical sensor arrays.

3. An inter-vehicle distance measurement apparatus according to claim 1, wherein said white-line detection means detects the white line by examining a correlation in the optical sensor arrays between a measurement distance at which a measurement window is located at a lowest position among measurement distances detected on the optical sensor arrays and an address of that measurement window.

4. An inter-vehicle distance measurement apparatus according to claim 1, wherein said vehicle detection means judges for all the optical sensor arrays in which an image of the white line is absent whether a nearest measured distance corresponds to one of a vehicle candidate and a road surface, based on the nearest measured distance at which a measurement window is located at a lowest position among the measured distances detected on one optical sensor array, and a measured distance from a measurement window at an address higher than a starting point window address of the measurement window with the nearest measured distance by at least a number of addresses corresponding to a height of a vehicle possibly present at the nearest measured distance;

said vehicle detection means determining, if the nearest measured distance is judged to be the vehicle candidate, the nearest measured distance as a vehicle candidate distance and a relevant optical sensor array as a vehicle detection candidate sensor line;

said vehicle detecting means calculating, if the nearest measured distance is determined to be the road surface, a relationship between an address of each higher measurement window from the starting point window address and an expected distance to the road surface at that address, comparing the expected distance to the expected road surface with a corresponding measured distance in order to determine whether a vehicle candidate is present at a distance greater than the nearest measured distance, and determining, if there is the vehicle candidate, the measured distance to the vehicle candidate as the vehicle candidate distance and the relevant optical sensor array as the vehicle detection candidate sensor line; and

said vehicle detection means confirming that a difference between maximum and minimum numbers of the vehicle detection candidate sensor lines corresponds to a width of the second vehicle possibly present at the vehicle candidate distance, and determining that the vehicle candidate is the second vehicle.

5. An inter-vehicle distance measurement apparatus, comprising:

means for measuring an intervehicle distance from a front vehicle to a following vehicle, said measuring means including an optical system having a pair of parallel optical axes; and

a pair of light receiving devices having at least one optical sensor array disposed such that a longitudinal direction of the optical sensor array substantially becomes a vertical direction, said light receiving devices being disposed in the longitudinal direction of the optical sensor array on image forming surfaces of the pair of the parallel optical axes to obtain the inter-vehicle distance based on image data from the optical sensor array, and

alarm output determination means connected to the measuring means, said alarm output determination means determining a dangerous approach of the following vehicle based on the inter-vehicle distance to the following vehicle and a speed of the front vehicle, and informing the following vehicle of the dangerous approach by flashing lights of the front vehicle.

6. An inter-vehicle distance measurement apparatus according to claim 5, wherein said alarm output determination means provides on and off signals for a switch connected parallel to a brake switch operated by a driver to flash brake lights.

7. An inter-vehicle distance measurement apparatus according to claim 5, wherein said alarm output determination means provides on and off signals for a switch to open and close a light different from a brake light located at a portion where a driver in the following vehicle can perceive the light.