Vehicle environment monitoring apparatus
First Claim
1. A vehicle environment monitoring apparatus which monitors an environment around a vehicle, using images obtained from at least one imaging unit mounted on the vehicle, comprising:
- an object extracting unit which extracts from the image an image area of an object in the real space;
a first distance calculating unit which calculates a distance between the vehicle and the object; and
a monitored object detecting unit which;
determines the distance calculated by the first distance calculating unit to be a short range distance that is equal to or less than a predetermined distance or a long range distance that is longer than the predetermined distance,selects, as a selected algorithm, between a short range object detecting algorithm and a long range object detecting algorithm based on the determination of the distance being a short range distance or a long range distance, anddetects an object having a possibility of coming into contact with the vehicle using the selected algorithm.
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Accused Products
Abstract
A vehicle environment monitoring apparatus is equipped with a monitored object detecting unit 26 which detects an object having possibility of contact by applying an object detecting algorithm for short range when the distance calculated from data on one disparity by the first distance calculating unit 24 is equal to or less than a predetermined distance, and detects the object having possibility of contact by applying an object detecting algorithm for long range when the distance is longer than the predetermined distance, using the distance between the object and the vehicle calculated from a disparity gradient by the second distance calculating unit 25.
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Citations
16 Claims
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1. A vehicle environment monitoring apparatus which monitors an environment around a vehicle, using images obtained from at least one imaging unit mounted on the vehicle, comprising:
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an object extracting unit which extracts from the image an image area of an object in the real space; a first distance calculating unit which calculates a distance between the vehicle and the object; and a monitored object detecting unit which; determines the distance calculated by the first distance calculating unit to be a short range distance that is equal to or less than a predetermined distance or a long range distance that is longer than the predetermined distance, selects, as a selected algorithm, between a short range object detecting algorithm and a long range object detecting algorithm based on the determination of the distance being a short range distance or a long range distance, and detects an object having a possibility of coming into contact with the vehicle using the selected algorithm. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A vehicle environment monitoring apparatus which monitors an environment around a vehicle, using images obtained from at least one imaging unit mounted on the vehicle, comprising:
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an object extracting unit which extracts from the image an image area of an object in the real space; a velocity detecting unit which detects a velocity of the vehicle; and a monitored object detecting unit which; determines the vehicle to be moving with either a low velocity when the velocity of the vehicle is equal to or less than a predetermined velocity or high velocity when the velocity of the vehicle is greater than the predetermined velocity, selects, as a selected algorithm, between a short range object detecting algorithm when the vehicle is moving with said low velocity and a long range object detecting algorithm when the vehicle is moving with said high velocity, and detects an object having a possibility of coming into contact with the vehicle using the selected algorithm.
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10. A vehicle environment monitoring apparatus which monitors an environment around a vehicle, using images obtained from at least one imaging unit mounted on the vehicle, comprising:
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an object extracting unit which extracts from the image an image area of an object in the real space; a first distance calculating unit which calculates a distance between the vehicle and the object; and a monitored object detecting unit which detects an object having a possibility of coming into contact with the vehicle using an object detecting algorithm for short range, when the distance calculated by the first distance calculating unit is equal to or less than a predetermined distance, and which detects the object having the possibility of coming into contact with the vehicle using an object detecting algorithm for long range, when the distance calculated by the first distance calculating unit is longer than the predetermined distance, wherein the monitored object detecting unit detects the object having the possibility of coming into contact with the vehicle by applying both of the object detecting algorithm for short range and the object detecting algorithm for long range, when a difference between the distance calculated by the first distance calculating unit and the predetermined distance is within a predetermined range. - View Dependent Claims (11, 12, 13, 14, 15, 16)
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Specification