Method and system of monitoring around a vehicle

• US 20070008091A1
• Filed: 06/07/2006
• Published: 01/11/2007
• Est. Priority Date: 06/09/2005
• Status: Active Grant

• Current Assignee: Hitachi, Ltd.
• Original Assignee: Hitachi, Ltd.
• Inventors: Takenaga, Hiroshi, Asou, Yukio
• Granted Patent: US 7,518,490 B2
• Time in Patent Office: Days
• US Class Current: 340/435
• CPC Class Codes: B60R 11/04 Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
• CPC Class Codes: B62D 15/029 Steering assistants using warnings or proposing actions to the driver without influencing the steering system
• CPC Class Codes: B62D 15/0295 by overlaying a vehicle path based on present steering angle over an image without processing that image
• CPC Class Codes: G08G 1/16 Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08

Abstract

Integrated processing unit captures range images shot by CCD cameras which are respectively provided on front, rear, left and right sides of a vehicle and image processor. Location-allocation unit creates a location-allocation model of an obstacle from the range images and road surface images (heights of images above road surface). Vehicular swept path calculating unit calculates a swept path of each representative point. Collision decision calculates intersection of the obstacle of the location-allocation model with the swept paths of the representative points and judges whether the points cross the obstacle. When a representative point may possibly cross the obstacle, the point is enhanced and displayed together with the obstacle (object) on monitor.

Claims

1. A method of monitoring around a vehicle by using plural cameras with a range measurement function, comprising the steps of capturing range images from the cameras which are provided on plural positions of the vehicle, creating a location-allocation model of an object found in the range images, inputting vehicle speed, acceleration, and steering angle values, calculating a running path of the vehicle, checking whether the running path of the vehicle crosses the object of the location-allocation model, and displaying the object and a part of the vehicle which may hit the object if the running path of the vehicle crosses the object.

2. The method of monitoring around a vehicle of claim 1, wherein the location-allocation model is created from range images and road surface images which are created considering heights of cameras above the road surface.

3. The method of monitoring around a vehicle of claim 1, wherein the running path of the vehicle is calculated from plural predetermined representative points and the representative points which cross the object will be handled as parts which may hit the object.

4. A system of monitoring around a vehicle which is equipped with on-board equipment and plural cameras with a range measurement function, comprising

an input unit which captures range images from the cameras which are provided on plural positions of the vehicle, a location-allocation model creating unit which creates a location-allocation model of an object found in the range images, a path calculating unit which inputs vehicle speed, acceleration, and steering angle values and calculates running paths of plural predetermined representative points of the vehicle, a collision judging unit which checks whether the running path of the vehicle crosses the object of the location-allocation model, and a monitor unit which displays the object and enhanced representative points if the running path of the vehicle crosses the object.

5. The system of monitoring around a vehicle of claim 4, wherein the cameras are provided on front, left, right, and rear sides of the vehicle.

6. The system of monitoring around a vehicle of claim 4, wherein the adoption and rejection of the range images of cameras on front and rear sides of the vehicle are determined according to running direction of the vehicle.

7. The system of monitoring around a vehicle of claim 4, wherein the on-board equipment is equipped with a storage unit which stores heights of cameras above road surfaces and vehicle models.