Mobile range finder

• US 4,942,533 A
• Filed: 07/07/1988
• Issued: 07/17/1990
• Est. Priority Date: 07/09/1987
• Status: Expired due to Term

• 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:
  US07/217,261
• Time in Patent Office: 740 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: 701/225
• CPC Class Codes: G01S 11/12 using electromagnetic waves other than radio waves
• CPC Class Codes: G06T 7/60 Analysis of geometric attributes
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road

Abstract

A mobile range finder for use on a first vehicle detects a relative distance to a second vehicle at a position in a monitoring direction in front of the first vehicle. A vanishing point is determined by extracting, for example, the continuous or intermittently continuous white lines dividing traffic lanes on the road on the basis of spatial changes in the features of the scene ahead of the first vehicle, and the angle of elevation of the optical axis of an optical picture information generating device such as a TV camera is obtained on the basis of the determined vanishing point to thereby detect the distance to a designated position in which the second vehicle will appear. Accodingly, it is possible to effect accurate detection of a distance independently of the conditions of the first vehicle, such as pitching.

Claims

1. A mobile range finder for use on a first vehicle to detect the distance to a second vehicle at a desired position in a monitoring direction irrespective of the moving state of the first vehicle comprising:

optical picture information generator means installed at a predetermined position on said first vehicle to provide an image of at least a part of a scene in said monitoring direction and generate corresponding picture information on an image plane;

edge extracting means for extracting a region where the picture information generated by said optical picture information generating means shows a distinct change;

component extracting means for extracting a distinct component comprised of lane marking lines on a road in each region extracted by said edge extracting means;

vanishing point determining means including selecting means for selecting from the lines extracted by said component extracting means at least one line included in a preset positive slope region and at least one line included in a preset negative slope region and means for calculating spatial information concerning said vanishing point from a theoretical point or intersection of respective line extensions of said lines and the location of an image of said vanishing point on said image plane;

inclination angle detecting means for determining an angle of elevation between the optical axis of said optical picture information generating means and a reference line extending towards said vanishing point on the basis of the spatial information concerning said vanishing point and the location of said image of said vanishing point on said image plane;

designating means for designating a desired position in said scene in which said second vehicle would first appear;

designated spatial information generating means for generating spatial information corresponding to the desired position designated by said designating means; and

distance detecting means for detecting the distance from the first vehicle to the position designated by said designating means to determine the distance from said first vehicle to said second vehicle in said desired position on the basis of said spatial information generated by said designated spatial information generating means, information concerning the level of the position at which said optical picture information generating means is installed and said inclination angle information determined by said inclination angle detecting means.

2. A mobile range finder according to claim 1, wherein said edge extracting means includes differentiating means for spatially differentiating the picture information generated by said optical picture information generating means.

3. A mobile range finder according to claim 2, wherein said differentiating means comprises first and second differentiating means for spatially differentiating the picture information generated by said optical picture information generating means on the basis of positive and negative slopes, respectively.

4. A mobile range finder according to claim 3, wherein said edge extracting means has binary encoding means for binary-encoding the picture information differentiated by said first differentiating means and the picture information differentiated by said second differentiating means and then synthesizing the two pieces of binary-coded picture information to generate synthesized binary-coded picture information.

5. A mobile range finder according to claim 4, wherein said binary-encoding means generates synthesized binary-coded picture information by exclusive-ORing binary-coded information obtained by binary-encoding the picture information differentiated by said first differentiating means and binary-coded information obtained by binary-encoding the picture information differentiated by said second differentiating means.

6. A mobile range finder according to claim 1, wherein said component extracting means includes thinning means for thinning each of the regions extracted by said edge extracting means.

7. A mobile range finder according to claim 1, wherein said vanishing point determining means linearly approximates each of the selected components and detects spatial information concerning the vanishing point from the point of intersection of the respective extensions of said approximated line segments.

8. A mobile range finder according to claim 1, wherein said vanishing point determining means selects from among the components extracted by said component extracting means the longest component of those included in a preset positive slope region and the longest component of those included in a preset negative slope region.

9. A mobile range finder according to claim 8, wherein said vanishing point determining means linearly approximates each of the selected components and detects spatial information concerning the vanishing point from the point of intersection of the respective extensions of said approximated line segments.

10. A mobile range finder according to claim 9, wherein said vanishing point determining means corrects each of said approximated line segments by the selected component corresponding thereto and another component which is substantially continuous with it, and detects spatial information concerning the vanishing point from the point of intersection of the respective extensions of said corrected approximated line segments.