Stereo type vehicle monitoring apparatus with a fail-safe function

• US 6,310,546 B1
• Filed: 07/12/2000
• Issued: 10/30/2001
• Est. Priority Date: 07/14/1999
• Status: Expired due to Term

• Current Assignee: Subaru Corp.
• Original Assignee: Fuji Jukogyo KK (Subaru Corp.)
• Inventors: Seta, Itaru
• Primary Examiner(s): Lefkowitz, Edward
• Application Number:
  US09/614,903
• Time in Patent Office: 475 Days
• Field of Search: 340/507, 340/937, 382/104, 348/118, 348/148
• US Class Current: 340/507
• CPC Class Codes: G06T 2207/10012 Stereo images
• CPC Class Codes: G06T 7/593 from stereo images
• CPC Class Codes: G07C 5/0891 Video recorder in combination with video camera
• 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 13/25 using two or more image sensors with different characteristics other than in their location or field of view, e.g. having different resolutions or colour pickup characteristics; using image signals from one sensor to control the characteristics of another sensor
• CPC Class Codes: H04N 2013/0081 Depth or disparity estimation from stereoscopic image signals
• CPC Class Codes: H04N 7/181 for receiving images from a plurality of remote sources

Abstract

A stereo type vehicle monitoring apparatus with a fail-safe function comprises a pair of cameras 1, 2, a stereo image producer 3, 4, 5, a calculator 12 and a fail decision unit 12. The pair of cameras 1, 2 take pictures of scenes outside of a vehicle. The stereo image producer 3, 4, 5 produces a first image and a second image respectively based on pictures; taken by the cameras 1, 2. The calculator 12 calculates a level of brightness of a first monitor area in the first image produced by the stereo image producer 3, 4, 5 and a level of brightness of a second monitor area in the second image produced by the stereo image producer 3, 4, 5. The fail decision unit 12 determines a failure of the vehicle monitoring apparatus when a difference between the brightness level of the first monitor area and the brightness level of the second monitor area exceeds a predetermined value. The second monitor area positionally corresponds to the first monitor area.

Claims

1. A stereo type vehicle monitoring apparatus with a fail-safe function, the apparatus comprising:

a pair of cameras taking pictures of scenes outside of a vehicle;

a stereo image producer producing a first image and a second image respectively based on pictures taken by said cameras;

a calculator calculating a level of brightness of a first monitor area in the first image produced by said stereo image producer and a level of brightness of a second monitor area in the second image produced by said stereo image producer, the second monitor area positionally corresponding to the first monitor area; and

a fail decision unit for determining a failure of said vehicle monitoring apparatus when a difference between the brightness level of the first monitor area and the brightness level of the second monitor area exceeds a predetermined value.

2. The stereo type vehicle monitoring apparatus according to claim 1, wherein a position of the second monitor area in the second image is offset in a stereo matching direction from a position of the first monitor area in the first image.

3. The stereo type vehicle monitoring apparatus according to claim 1, wherein said calculator calculates the level of the brightness of the first monitor area based on image data of a part of the first monitoring area, and the level of brightness of the second monitor area based on image data of a part of the second monitor area.

4. The stereo type vehicle monitoring apparatus according to claim 1, further comprising:

a processor for executing the fail-safe function on the basis of the fail determination by said fail decision unit.

5. The stereo type vehicle monitoring apparatus according to claim 1, wherein the first monitor area comprises a plurality of monitor portions set in different positions in the first image, the second monitor area comprises a plurality of monitor portions set in different positions in the second image and positionally corresponding to the respective monitor portions in the first monitor area.

6. The stereo type vehicle monitoring apparatus according to claim 5, wherein a position of each monitor portion of the second monitor area is offset in a stereo matching direction from a position of the monitor portion of the first monitor area, the monitor portion of the first monitor area positionally corresponding to the monitor portion of the second monitor area.

7. The stereo type vehicle monitoring apparatus according to claim 6, wherein the amounts of offsets of the monitor portions of the second monitor area to the respective monitor portions of the first monitor area differ from one another.

8. A stereo type vehicle monitoring method of a stereo type vehicle monitoring apparatus, the method comprising:

taking pictures of scenes outside of a vehicle by a pair of cameras;

producing a first image and a second image based on the thus taken pictures;

calculating a level of brightness of a first monitor area in the first image thus produced and a level of brightness of a second monitor area in the second image thus produced, the second monitor area positionally corresponding to the first monitor area; and

determining a failure of the vehicle monitoring apparatus when a difference between the brightness level of the first monitor area and the brightness level of the second monitor area exceeds a predetermined value.

9. The stereo type vehicle monitoring according to claim 8, wherein said calculating step comprises:

reading brightness values of pixels in the first monitor area and the second monitor area; and

calculating a brightness average of the first monitor area and a brightness average of the second monitor area.

10. The stereo type vehicle monitoring according to claim 8, wherein said calculating step comprises:

setting a fail-flag to “

0”

when the difference between the brightness level of the first monitor area and the brightness level of the second monitor area does not exceed the predetermined value; and

setting the fail-flag to “

1”

when the difference between the brightness level of the first monitor area and the brightness level of the second monitor area exceeds the predetermined value,

wherein said determining step determines the failure of said vehicle monitoring apparatus when the fail-flag is set to “

1”

.

11. The fail-safe decision method according to claim 10, wherein said fail-flag “

0”

setting step sets the fail-flag to “

0”

when conditions that when the difference between the brightness level of the first monitor area and the brightness level of the second monitor area does not exceed the predetermined value have been continuously repeated twice or more.

12. The fail-safe decision method according to claim 10, wherein said fail-flag “

1”

setting step sets the fail-flag to “

1”

when conditions that when the difference between the brightness level of the first monitor area and the brightness level of the second monitor area exceeds the predetermined value have been continuously repeated twice or more.

13. A stereo type vehicle monitoring apparatus with a fail-safe function, the apparatus comprising:

photographing means for taking pictures of scenes outside of a vehicle;

stereo image producing means for producing a first image and a second image respectively based on the pictures taken by said photographing means;

calculating means for calculating a level of brightness of a first monitor area in the first image produced by said stereo image producing means and a level of brightness of a second monitor area in the second image produced by said stereo image producing means, the second monitor area positionally corresponding to the first monitor area; and

fail decision means for determining a failure of said vehicle monitoring apparatus when a difference between the brightness level of the first monitor area and the brightness level of the second monitor area exceeds a predetermined value.