Vehicle drive assist apparatus
First Claim
1. A vehicle drive assist apparatus, comprising:
- forward-environment-recognizing means for stereoscopically recognizing at least one three-dimensional object ahead of an own vehicle by processing images captured by an imaging device installed in the own vehicle; and
oncoming-vehicle-detecting means, detecting the three-dimensional object, for having a speed component not lower than a first threshold in the longitudinal direction of the own vehicle and in a direction along which the three-dimensional object is coming closer to the own vehicle and for having another speed component not lower than a second threshold in a turning direction of the own vehicle, as an oncoming vehicle when the own vehicle is making a turn at an intersection.
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Accused Products
Abstract
An oncoming vehicle is detected on the basis of images captured by CCD cameras when an own vehicle is making a turn with passing over an oncoming lane at an intersection. On this occasion, after the own vehicle has reached a predetermined turning state, by extracting three-dimensional objects having speed components Vnz not lower than a first threshold in the longitudinal direction of the own vehicle and in a direction along which the oncoming vehicle is coming closer to the own vehicle and having other speed components Vnx not lower than a second threshold in the lateral direction of the same and by detecting an oncoming vehicle out of the extracted three-dimensional objects, even in the case, for example, where the oncoming vehicle apparently moves in an image screen from obliquely left ahead of the own vehicle toward obliquely right behind of the same, the oncoming vehicle is properly detected.
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Citations
12 Claims
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1. A vehicle drive assist apparatus, comprising:
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forward-environment-recognizing means for stereoscopically recognizing at least one three-dimensional object ahead of an own vehicle by processing images captured by an imaging device installed in the own vehicle; and oncoming-vehicle-detecting means, detecting the three-dimensional object, for having a speed component not lower than a first threshold in the longitudinal direction of the own vehicle and in a direction along which the three-dimensional object is coming closer to the own vehicle and for having another speed component not lower than a second threshold in a turning direction of the own vehicle, as an oncoming vehicle when the own vehicle is making a turn at an intersection. - View Dependent Claims (2, 3, 4, 5)
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6. A vehicle drive assist apparatus, comprising:
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forward-environment-recognizing means for stereoscopically recognizing at least one three-dimensional object ahead of an own vehicle by processing images captured by an imaging device installed in the own vehicle; and oncoming-vehicle-detecting means which detects the three-dimensional object, for running in an opposite lane juxtaposed to the own cruising lane toward the own vehicle, as an oncoming vehicle when the own vehicle is making a turn at an intersection before reaching a predetermined turning state and for having a speed component not lower than a first threshold in the longitudinal direction of the own vehicle and in a direction along which the three-dimensional object is coming closer to the own vehicle and having another speed component not lower than a second threshold in a turning direction of the own vehicle, as the oncoming vehicle when the own vehicle is making a turn at the intersection after reaching the predetermined turning state. - View Dependent Claims (7, 8, 9, 10, 11, 12)
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Specification