Distance detecting apparatus for a vehicle

• US 5,214,408 A
• Filed: 10/24/1991
• Issued: 05/25/1993
• Est. Priority Date: 10/25/1990
• Status: Expired due to Term

• Current Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Original Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Inventors: Asayama, Yoshiaki
• Primary Examiner(s): Crosland, Donnie L.
• Application Number:
  US07/782,110
• Time in Patent Office: 579 Days
• Field of Search: 340/435, 340/903, 340/937, 340/901, 340/436, 340/555, 340/556, 340/937, 340/961, 358/107-113, 358/125, 180/167-169, 180/271, 342/47, 342/55, 342/66, 342/126, 342/118, 342/69, 342/450, 342/451
• US Class Current: 340/435
• CPC Class Codes: G01B 11/026 by measuring distance between sensor and object G01B11/0608 takes precedence
• CPC Class Codes: G01S 11/12 using electromagnetic waves other than radio waves
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A distance detecting apparatus enables the driver of a vehicle to readily and concurrently recognize the location and direction of each of a plurality of objects present in the driver'"'"'s field of view, in daylight or darkness, and at the same time determine whether each of the objects is an obstacle to the vehicle travel. The objects sensed by a pair of first and second image sensors 3, 4 are displayed on a screen 11 in a plurality of windows 15-19. Deviations between the images of the objects within the respective windows are electrically detected so that the distance to an object within each window is individually calculated based on the deviations. Obstacles to the travel of the vehicle can be discriminated on the basis of the positions of the windows on the screen and the distances to the objects in the respective windows as detected. Infrared light can be projected onto objects present within the fields of view of the image sensors when natural visible light is insufficient for the image sensors which, in this case, are sensitive to infrared light.

Claims

1. A vehicle mounted distance detecting apparatus, comprising:

a) a pair of laterally spaced first and second image sensors (3,4;

3'"'"'4'"'"') including a pair of optical systems (1,

     2) for optically sensing a plurality of objects;

b) a first memory for storing the images of said objects sensed by said first image sensor as first image signals;

c) a second memory for storing the images of said objects sensed by said second image sensor as second image signals;

d) a display (11) with a screen for displaying the images of said objects as sensed by said image sensors on the screen;

e) window defining means (12) for defining a plurality of windows (15-19) at specific locations on the screen of said display;

f) distance calculating means for electrically detecting deviations between the images of said objects within the respective windows as sensed by said image sensors and individually calculating the distance to each object in each window based on the calculated deviations; and

g) obstacle discriminating means for discriminating, among the objects around the vehicle as sensed by said image sensors, obstacles to the travel of the vehicle on the basis of the positions of the windows on the screen and the calculated distances to the objects in said respective windows.

2. A distance detecting apparatus according to claim 1, wherein said window defining means defines the plurality of windows in such a manner that the windows are disposed on the screen of said display in a horizontally separate relation with respect to each other, said windows including a central window (17) is located at the center of the screen, and a plurality of side windows (15, 16, 18, 19) located on the opposite sides of said central window;

and

said obstacle discriminating means determines that the image in the central window is the image of a preceding vehicle which a vehicle having the distance detecting apparatus installed thereon follows.

3. A distance detecting apparatus according to claim 1, further comprising means for determining, based on the rate of change of the distances as measured by said distance calculating means, whether an object displayed in each window is coming nearer to or going away from a vehicle on which the distance detecting apparatus is installed.

4. A distance detecting apparatus according to claim 1, further comprising vehicle condition sensing means (13) for sensing whether a subject vehicle having the distance detecting apparatus installed thereon is travelling on a curved road, and wherein said obstacle discriminating means is operable to determine that objects displayed in the windows are not obstacles impeding the travel of the subject vehicle, if it is determined that the subject vehicle is travelling on a curved road and if the distances to the object displayed in the windows vary in a gradually decreasing or increasing manner in a horizontal direction from one side to the other side of the windows.

5. A distance detecting apparatus according to claim 4, wherein said vehicle condition sensing means comprises a steering angle sensor for sensing the rotational angle of a steering wheel of the subject vehicle and generating a corresponding output signal, said obstacle discriminating means being operable to determine, based on the output signal from said steering angle sensor, that the subject vehicle is travelling on a curved road, if the rotational angle of the steering wheel exceeds a predetermined value.

6. A distance detecting apparatus according to claim 1, further comprising infrared light generating means for projecting a beam of infrared light toward objects present within the fields of view of said image sensors when natural visible light is insufficient for said image sensors, and wherein said image sensors are sensitive to infrared light.

7. A distance detecting apparatus according to claim 6, wherein said infrared light generating means comprises:

a light generator (30) for generating light including visible light components and infrared light components; and

an infrared light filter (31) for removing most of visible light components from the light generated by said light generator while permitting infrared light components to pass.

8. A distance detecting apparatus according to claim 7, wherein said light generator comprises a halogen lamp.