Method and apparatus for detecting vehicle distance
First Claim
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1. A method for a vehicle equipped with a radar for detecting distance to a preceding vehicle, comprising:
- receiving a signal of a road image from a camera;
extracting lane markers from the road image;
adjusting a scanning angle of a radar based on the extracted lane markers, wherein said adjusting a scanning angle comprises;
calculating a height within said image at which a horizontal distance between the extracted lane markers is a predetermined distance;
calculating a slope of the road based on the calculated height;
adjusting a scanning angle of the radar based on the calculated slope of the road; and
calculating a distance to a preceding vehicle using reflected waves of a radar beam scanned at the adjusted scanning angle.
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Abstract
Stableness in detecting the distance to a preceding vehicle by calculating the distance to the preceding vehicle using reflected waves of a radar beam scanned at a scanning angle that is adjusted based on lane markers extracted from a road image obtained by a camera.
57 Citations
10 Claims
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1. A method for a vehicle equipped with a radar for detecting distance to a preceding vehicle, comprising:
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receiving a signal of a road image from a camera;
extracting lane markers from the road image;
adjusting a scanning angle of a radar based on the extracted lane markers, wherein said adjusting a scanning angle comprises;
calculating a height within said image at which a horizontal distance between the extracted lane markers is a predetermined distance;
calculating a slope of the road based on the calculated height;
adjusting a scanning angle of the radar based on the calculated slope of the road; and
calculating a distance to a preceding vehicle using reflected waves of a radar beam scanned at the adjusted scanning angle. - View Dependent Claims (2, 3)
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4. An apparatus for a vehicle for detecting distance to a preceding vehicle, the apparatus comprising:
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a radar for scanning a radar beam from the vehicle;
a scanning angle adjustor for adjusting a scanning angle of the radar;
a camera for acquiring a road image; and
an electronic control unit activated by predetermined software wherein said predetermined software comprises instructions for;
receiving a signal of a road image from the camera;
extracting lane markers from the road image;
adjusting the scanning angle of the radar based on the extracted lane markers, wherein said adjusting scanning angle comprises;
calculating a height at which a horizontal distance between the extracted lane markers is a predetermined distance;
calculating slope of a road based on the calculated height;
adjusting a scanning angle of the radar based on the calculated slope of the road;
calculating a distance to the preceding vehicle using reflected waves of the radar beam scanned at the adjusted scanning angle. - View Dependent Claims (5, 6)
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7. A method for calculating distance to a preceding vehicle, comprising:
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acquiring an image of a forthcoming road, wherein said image includes lane markers;
extracting lane markers from said image;
adjusting a scanning angle of a radar in accordance with said image of a forthcoming road;
calculating a height within said image corresponding to lane markers separated by a horizontal distance substantially equal to a predetermined distance; and
calculating a distance to a preceding vehicle based on reflected radar waves from said radar projected at said adjusted scanning angle. - View Dependent Claims (8, 9, 10)
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Specification