Device for detecting object in front of vehicle

• US 7,042,389 B2
• Filed: 04/06/2005
• Issued: 05/09/2006
• Est. Priority Date: 04/09/2004
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Shirai, Noriaki
• Primary Examiner(s): Gregory, Bernarr E.
• Application Number:
  US11/100,154
• Publication Number:
  US 20050225479A1
• Time in Patent Office: 398 Days
• Field of Search: 702/158, 180167-169, 701/300, 701/301, 342/27, 342/28, 342 52- 55, 342 70- 72, 342/118, 342165-175, 342/176, 342/179, 342/195, 342104-115, 342127-146, 382/100, 382/103, 382/104, 382/106, 382/107
• US Class Current: 342/70
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/93 for anti-collision purposes

Abstract

A device including a radar and a camera for detecting an object located in front of an automobile is mounted on the automobile. The radar detects a distance from the automobile to the front object, and the camera takes an image of the object. When the object such as a preceding vehicle moves out of a region detectable by the radar while remaining in a region covered by the camera, a present distance to the object is calculated based on the distance previously detected by the radar and memorized in a memory and a present object image taken by the camera. More particularly, the present distance is calculated by multiplying the memorized distance by a ratio of an object size in the memorized image to an object size in the present image.

Claims

1. A device for detecting an object located in front of an automobile, the detecting device comprising:

a radar for detecting a distance to an object located in front of the automobile;

means for taking a front image including an image of the object;

means for memorizing the distance detected by the radar and the front image taken by the taking means, the distance and the front image being memorized as a pair;

means for judging whether the front object is in a radar range; and

means for calculating the distance to the object, when the front object is not in the radar range and the taking means is taking the image of the object, based on the memorized distance and a ration of an object size in the memorized front image to an object size in a present front image.

2. The object-detecting device as in claim 1, wherein:

a first region in which the distance to the object is detectable by the radar is narrower than a second region in which the front image is able to be taken by the taking means, the first region being included in the second region, and

the judging means judges that the radar is not detecting the distance when the object is out of the first region.

3. The object-detecting device as in claim 1, further including means for extracting the object image from the front image, wherein:

either a size of the object image to be extracted or an image region to be searched for extracting the object image being restricted based on the distance to the object detected by the radar.

4. The object-detecting device as in claim 3, wherein:

the extracting means extracts the object image from a region having a restricted vertical size.

5. the object-detecting device as in claim 3, wherein:

the radar further detects a horizontal position of the object measured from a line extending from a center of the automobile in a driving direction; and

the extracting means extracts the object image from the image region that is further restricted based on the horizontal position of the object detected by the radar.

6. The object-detecting device as in claim 3, wherein:

the object image-extracting means sets an image region to be searched for extracting the object image on the front image taken by the taking means by enlarging or reducing a size of the image region on the memorized front image; and

the calculating means calculates a present distance to the object when the image region corresponding to the memorized front image is found on the present front image.

7. The object-detecting device as in claim 6, wherein

the radar further detects a speed of the object relative to the automobile;

the taking means repeatedly takes the front image at a predetermined interval;

the calculating means calculates an estimated distance to the object which is expected when the front image is taken next time, based on the distance to the object and the relative speed; and

the extracting means sets at least one of an estimated object size and an estimated object position on the present image based on the estimated distance, and sets an image region to be searched for extracting the object image based on the at least one of the estimated object size the estimated object position.

8. The object-detecting means as in claim 7, wherein:

the extracting means further calculates a center position of the object on the front image and sets an image region to be searched for extracting the object image so that the image region is defined at both horizontal sides of the center position of the object.

9. The object-detecting means as in claim 7, wherein:

the speed relative to the object is calculated based on the memorized distance to the object and a present distance to the object.

10. The object-detecting means as in claim 1, wherein:

when the distance to the object is not detectable by the radar, the distance memorized in the memorizing means is replaced with the distance calculated by the calculating means; and

the calculated distance and the front image presently taken by the taking means are memorized in the memorizing means as a pair.