Apparatus and method of recognizing vehicle travelling behind

• US 6,734,787 B2
• Filed: 04/22/2002
• Issued: 05/11/2004
• Est. Priority Date: 04/20/2001
• Status: Expired due to Fees

• Current Assignee: Fuji Heavy Industries Limited (Subaru Corp.)
• Original Assignee: Fuji Heavy Industries Limited (Subaru Corp.)
• Inventors: Ikeda, Atsushi
• Primary Examiner(s): Hofsass, Jeffery
• Assistant Examiner(s): PHAM, LAM P
• Application Number:
  US10/126,620
• Publication Number:
  US 20020154217A1
• Time in Patent Office: 750 Days
• Field of Search: 340/435, 340/436, 340/937, 340/903, 340/904, 340/928, 348/149, 348/148, 348/135, 348/140, 348/172, 348/169, 382/103, 382/104, 382/106, 382/218, 701/117
• US Class Current: 340/425.5
• CPC Class Codes: G01S 11/12 using electromagnetic waves other than radio waves
• CPC Class Codes: G06V 20/584 of vehicle lights or traffic lights
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
• CPC Class Codes: G06V 2201/08 Detecting or categorising vehicles
• CPC Class Codes: G08G 1/0965 responding to signals from another vehicle, e.g. emergency vehicle
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

Images of objects existing behind a first vehicle are detected to obtain distance data on the objects in relation to the first vehicle for recognizing one of the objects as a second vehicle travelling behind the first vehicle based on the distance data. The type of the second vehicle travelling behind is determined in size based on the images. It is further determined whether the second vehicle is an emergency vehicle based on the images.

Claims

1. An apparatus for recognizing a vehicle travelling behind comprising:

a detector for detecting an image of an object existing behind a first vehicle in which the apparatus is installed for recognizing a second vehicle which is the object travelling behind the first vehicle;

a first determining unit for determining a type of the second vehicle in size based on the image; and

a second determining unit for determining whether the second vehicle is an emergency vehicle based on the image.

2. The apparatus according to claim 1 further comprising an informing unit for informing a driver driving the first vehicle of information on the results determined by the first and second determining units.

3. The apparatus according to claim 1, wherein the second determining unit determines whether the second vehicle is the emergency vehicle is made by comparing intensity in the second vehicle of the image with the reference intensity.

4. The apparatus according to claim 1, wherein the detector has a pair of cameras, one of the cameras taking an image as a reference image of the object existing behind the first vehicle and the other taking an image of the image for comparison with the reference image in stereo image processing to obtain three-dimensional distance distribution of the image from the first vehicle.

5. The apparatus according to claim 4, wherein the detector recognizes the image as the second vehicle travelling behind based on a distance of the image from the first vehicle in the three-dimensional distance distribution.

6. The apparatus according to claim 4, wherein the first determining unit compares the image recognized as the second vehicle travelling behind with reference objects in size to determine the second vehicle as a large vehicle, a medium-size or compact vehicle or two-wheeled vehicle.

7. The apparatus according to claim 4, wherein the second determining unit compares intensity on a specific area on the the object recognized as the second vehicle travelling behind with a reference intensity in the image, the specific area depending on the type of the second vehicle, and determines that the second vehicle is equipped with a flashing light, thus deciding that the second vehicle is the emergency vehicle, if the intensity on the specific area is higher than the reference intensity and exhibits periodical change.

8. A method of recognizing a vehicle travelling behind comprising:

detecting an image of an object existing behind a first vehicle for recognizing a second vehicle which is the object travelling behind the first vehicle;

determining a type of the second vehicle in size based on the image; and

determining whether the second vehicle is an emergency vehicle based on the image.

9. The method according to claim 8 further comprising the step of informing a driver driving the first vehicle of information on the results determined by the determining steps.

10. The method according to claim 8, wherein determination of whether the second vehicle is the emergency vehicle is made by comparing intensity in the second vehicle of the image with the reference intensity.

11. The method according to claim 8, wherein the detecting step includes:

taking an image as a reference image of the object existing behind the first vehicle; and

taking an image of the object for comparison with the reference image in stereo image processing to obtain three-dimensional distance distribution of the object from the first vehicle.

12. The method according to claim 11, wherein the detecting step further includes recognizing the object as the second vehicle travelling behind based on a distance of the object from the first vehicle in the three-dimensional distance distribution.

13. The method according to claim 11, wherein the type determining step includes the step of comparing the object recognized as the second vehicle travelling behind with reference objects in size to determine the second vehicle as a large vehicle, a medium-size or compact vehicle or two-wheeled vehicle.

14. The method according to claim 11, wherein the emergency-vehicle determining step includes:

comparing intensity on a specific area on the object recognized as the second vehicle travelling behind with reference intensity in the image, the specific area depending on the type of the second vehicle; and

determining that the second vehicle is equipped with a flashing light, thus deciding that the second vehicle is the emergency vehicle, if the intensity on the specific area is higher than the reference intensity and exhibits periodical change.

15. An apparatus for recognizing a vehicle travelling behind comprising:

a detector for detecting an image of an object existing behind a first vehicle for recognizing a second vehicle which is the object traveling behind the first vehicle;

a first determining unit for determining a type of the second vehicle in the size based on the image; and

a second determining unit for comparing intensity on a specific area on the second vehicle travelling behind with reference intensity in the image, the specific area depending on the type of the second vehicle, and for determining that the second vehicle is an emergency vehicle equipped with a flashing light, if the intensity on the specific area is higher than the reference intensity and exhibits periodical change.

16. A method of recognizing a vehicle traveling behind comprising:

detecting an image of an object existing behind a first vehicle for recognizing a second vehicle which is the object traveling behind the first vehicle;

determining a type of the second vehicle in size based on the image;

comparing intensity on a specific area on the second vehicle traveling behind with reference intensity in the image, the specific area depending on the type of the second vehicle; and

determining that the second vehicle is an emergency vehicle equipped with a flashing light, if the intensity in the specific area is higher than the reference intensity and exhibits periodical change.