Distance detecting apparatus for a vehicle

• US 5,304,980 A
• Filed: 01/22/1992
• Issued: 04/19/1994
• Est. Priority Date: 01/24/1991
• Status: Expired due to Term

• Current Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Original Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Inventors: Maekawa, Hiroko
• Primary Examiner(s): Swarthout, Brent
• Application Number:
  US07/823,468
• Time in Patent Office: 818 Days
• Field of Search: 340/988, 340/435, 340/903, 340/436, 340/942, 340/721, 318/587, 364/424.01, 364/424.02, 364/460, 364/461, 364/518, 364/449, 180/167, 358/103, 358/105, 358/126, 356/1
• US Class Current: 340/435
• CPC Class Codes: B60G 2400/823 Obstacle sensing
• CPC Class Codes: B60G 2401/142 Visual Display Camera, e.g. LCD
• CPC Class Codes: B60G 2800/166 Platooning
• CPC Class Codes: B60R 1/00 Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
• CPC Class Codes: B60R 2300/107 using stereoscopic cameras
• CPC Class Codes: B60R 2300/30 characterised by the type of image processing
• CPC Class Codes: B60R 2300/804 for lane monitoring
• CPC Class Codes: G01C 3/085 with electronic parallax measurement
• CPC Class Codes: G01S 11/12 using electromagnetic waves other than radio waves

Abstract

A distance detecting apparatus can not only measure the distance to a target preceding vehicle but also detect obstacles such as an intervening vehicle, other vehicles running around or adjacent the target vehicle without any movement of the apparatus itself. The apparatus includes a window setting device 13 for setting a plurality of distance-measuring windows 21 through 25 on a screen 20 on the basis of one of two image signals generated by a pair of video cameras 5, 6, a switch 14 for setting an image-following window 26 enclosing the preceding vehicle to be followed, and a CPU 12 for measuring the distance to an object in each distance-measuring window as well as the distance to an object in the image-following window.

Claims

1. A distance detecting apparatus for a vehicle comprising:

a pair of optical sensing means for individually optically sensing a plurality of objects and generating corresponding image signals;

first memory means for storing an output image signal from one of said optical sensing means as a first image signal;

second memory means for storing an output image signal from another one of said optical sensing means as a second image signal;

a display having a screen for displaying images of said objects as sensed by said pair of optical sensing means;

window setting means for successively setting an image-following window on the screen of said display at a location enclosing a target preceding vehicle as well as a plurality of distance-measuring windows at predetermined locations on the screen of said display;

distance calculating means for comparing images of said objects associated with said respective windows and stored in said first memory means with corresponding images of said objects stored in said second memory means so as to detect deviations therebetween, said distance calculating means individually calculating the distance to an object associated with each window based on the detected deviations; and

image-following-window updating means for successively comparing at predetermined intervals an image in said image-following window, which is currently sensed by one of said optical sensing means and stored in said first memory, with an image of said target vehicle, which was previously sensed by said one of said optical sensing means and stored in said first memory, so as to update the image-following window at a location which provides a best match therebetween.

2. A distance detecting apparatus according to claim 1, wherein said distance calculating means:

a) calculates the distance to an object in each of said distance-measuring windows as well as to a target vehicle in said image-following window,

b) determines if more than a predetermined ratio of a specific distance-measuring window, relative to an entire area thereof, overlaps said image-following window, and

c) when said determination is positive, does not perform a distance calculation for said specific distance-measuring window.

3. A distance detecting apparatus according to claim 1, wherein said image-following window is visible on said screen, while said distance-measuring windows are invisible on said screen.

4. A distance detecting apparatus according to claim 1, wherein said distance calculating means measures sequential variations in the calculated distances to objects in adjacent windows over time to thereby detect a vehicle approaching said target vehicle from the side or behind and intervening between said target vehicle and a following vehicle on which said apparatus is mounted.