Distance detector mounted on vehicle

• US 4,931,937 A
• Filed: 09/01/1988
• Issued: 06/05/1990
• Est. Priority Date: 09/01/1987
• Status: Expired due to Fees

• Current Assignee: Aisin Seiki Co., Ltd. (Aisin Corp.)
• Original Assignee: Aisin Seiki Co., Ltd. (Aisin Corp.)
• Inventors: Kakinami, Toshiaki, Hamajima, Shigemitsu
• Primary Examiner(s): Black, Thomas G.
• Application Number:
  US07/239,254
• Time in Patent Office: 642 Days
• Field of Search: 364/426.04, 364/424.02, 364/424.01, 364/443, 364/449, 364/456, 364/513, 364/458, 340/933, 340/937, 356/3, 382/22, 382/23, 382/25, 180/169
• US Class Current: 701/300
• CPC Class Codes: G01S 11/12 using electromagnetic waves other than radio waves
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 7/60 Analysis of geometric attributes

Abstract

A distance detection device mounted on a vehicle and the driver of the vehicle can recognize an obstacle in front of him through the device on the road on which he is driving. The device is electronic with a TV camera, memory and CRT. Those units enable the drive not only to recognize an obstacle on the road, but also to know the distance from his vehicle to an obstacle in front of him such as another vehicle.

Claims

1. A distance detection means mounted on a vehicle for detecting an obstacle and for detecting a distance to the obstacle, the distance detection means comprising:

original information generating means for generating original image information corresponding to at least part of a scene in a set detection direction;

supervision area setting means for setting a supervision area which specifies at least part of said original image information;

first feature extraction area setting means which successively renews, and which sets a search area at least part of which is included in said supervision area, the search area corresponding to an area having image information of the obstacle, said first feature extraction area setting means setting a first feature extraction area based on said search area when a correlation of optical feature components of said original image information in said search area and an occupation area satisfies set conditions, said optical feature components of said original image information corresponding to the obstacle;

first edge extraction means for extracting edges in an area in which the optical feature components of the original image information in said first feature extraction area present a sudden change relative to surrounding optical feature components in a first direction;

second feature extraction area setting means for setting a second feature extraction area based on edges extracted by said first edge extracting means, said second feature extraction area corresponding to a width of the obstacle;

second edge extraction means for extracting edges in an area in which the optical feature components of the original image information in said second feature extraction area present a sudden change relative to surrounding optical feature components in a second direction which is different from said first direction; and

distance detection means for detecting the obstacle when an edge extracted by said second edge extraction means exhibit specified features, and for detecting the distance to said obstacle based on the spatial information of said extracted edge.

2. A distance detection means mounted on a vehicle as claimed in claim 1, wherein said supervision area setting means sets as a supervision area, an original image information which is divided by a division line either continuous or interrupted for dividing a vehicle running zone written on the road surface.

3. A distance detection means mounted on a vehicle as claimed in claim 1, wherein said first feature extraction area setting means sets said detection area which corresponds to scenes away in succession from said detection means.

4. A distance detection means mounted on a vehicle as claimed in claim 3, wherein said first feature extraction area setting means specifies a standard based on optical feature components occupying a large area in said original image information in said search area and, when at least one of the peaks of said correlation which correspond to said search area appears on a side where optical feature components are low by said standard for a search area farther away from said search area, sets a first feature extraction area based on a latter search area.

5. A distance detection means mounted on a vehicle as claimed in claim 1, wherein the obstacle is another vehicle.