Driving environment surveillance apparatus

• US 5,475,494 A
• Filed: 12/15/1993
• Issued: 12/12/1995
• Est. Priority Date: 12/22/1992
• Status: Expired due to Term

• Current Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Original Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Inventors: Utsui, Yoshihiko, Inoue, Noriyuki, Nishida, Minoru
• Primary Examiner(s): Buczinski, Stephen C.
• Application Number:
  US08/167,665
• Time in Patent Office: 727 Days
• Field of Search: 356/4.01, 356/4.03, 356/5.01, 356/5.1, 180/169, 364/461, 342/455, 340/435, 340/436, 340/903, 340/904
• US Class Current: 356/4.01
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G06V 10/255 Detecting or recognising potential candidate objects based on visual cues, e.g. shapes
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G06V 2201/08 Detecting or categorising vehicles

Abstract

A driving environment surveillance apparatus is provided to specify a region where an obstacle is present depending upon an azimuth detected by an obstacle detecting unit so as to derive a two-dimensional image corresponding to the specified region from an image detecting unit, and to extract the obstacle from the two-dimensional image so as to calculate a size index of the obstacle, thereby detecting a relative distance or the azimuth to the obstacle from a vehicle with high accuracy and at a high speed.

Claims

1. A driving environment surveillance apparatus comprising:

an obstacle detecting unit for scanning a plurality of divided peripheral regions in a travelling direction of a vehicle so as to, if an obstacle is present in said peripheral regions, detect a relative distance and an azimuth to said obstacle from said vehicle;

an image detecting unit for detecting two-dimensional images in said peripheral regions;

an image processing region limiting unit for specifying a region where an obstacle is present depending upon said azimuth detected by said obstacle detecting unit so as to derive a two-dimensional image corresponding to said specified region from said image detecting unit;

an obstacle extracting unit for extracting said obstacle from said two-dimensional image derived by said image processing region limiting unit so as to calculate a size index of said obstacle; and

a driving environment output unit for specifying a position where said obstacle is present in a real spacial coordinate with respect to a driving road of said vehicle depending upon said distance and said azimuth detected by said obstacle detecting unit so as to display a figure indicating said size index of said obstacle at said specified position.

7. A driving environment surveillance apparatus according to claim 1 or 2, wherein said driving environment output unit indicates said size index of said obstacle by a three-dimensional figure having a size according to the index.

9. A driving environment surveillance apparatus according to any one of claims 1 to 3, and 5, wherein said obstacle extracting unit extends said size index of said obstacle determined according to said calculation in case the obstacle has a height greater than a width thereof.

10. A driving environment surveillance apparatus according to any one of claims 1 to 3, and 5, further comprising:

an obstacle extracting auxiliary unit for referring to a size index of an obstacle preset according to a relative distance to said obstacle in case said relative distance and an azimuth to said obstacle are detected by an obstacle detecting unit and said obstacle extracting unit outputs no size index of said obstacle, and outputting said size index of said obstacle corresponding to said distance detected by said obstacle detecting unit to said driving environment output unit.

11. A driving environment surveillance apparatus according to claim 10, further comprising:

a data substituting unit for outputting, instead of said size index of said obstacle outputted from said obstacle extracting auxiliary unit, a substitution index having a greater value than that of said size index to said driving environment output unit in case said obstacle detecting unit detects said relative distance and said azimuth to said obstacle and said obstacle extracting unit outputs no size index of said obstacle even after said elapse of said predetermined time or more from said detection of said distance and said azimuth.

12. A driving environment surveillance apparatus according to claim 10, further comprising:

a malfunction indicating unit for deciding that any malfunction occurs to indicate said malfunction in case said obstacle detecting unit detects said relative distance and said azimuth to said obstacle and said obstacle extracting unit does not output said size index of said obstacle even after said elapse of a predetermined time period or more from detection of said relative distance and said azimuth.

2. A driving environment surveillance apparatus comprising:

an obstacle detecting unit for scanning a plurality of divided peripheral regions in a travelling direction of a vehicle so as to, if an obstacle is present in said peripheral regions, detect a relative distance and an azimuth to said obstacle from said vehicle;

an image detecting unit for detecting two-dimensional images in said peripheral regions;

an image processing region limiting unit for specifying a region where an obstacle is present depending upon said azimuth detected by said obstacle detecting unit so as to derive a two-dimensional image corresponding to said specified region from said image detecting unit;

a correcting unit for limiting said region specified by said image processing region limiting unit according to said distance detected by said obstacle detecting unit so as to derive a two-dimensional image corresponding to said limited region from said image processing region limiting unit;

an obstacle extracting unit for extracting said obstacle from said two-dimensional image limited by said correcting unit so as to calculate a size index of said obstacle; and

a driving environment output unit for specifying a position where said obstacle is present in a real spacial coordinate with respect to a driving road of said vehicle depending upon said distance and said azimuth detected by said obstacle detecting unit so as to display a figure indicating said size index of said obstacle at said specified position.

3. A driving environment surveillance apparatus comprising:

an obstacle detecting unit for scanning a plurality of divided peripheral regions in a travelling direction of a vehicle so as to, if an obstacle is present in said peripheral regions, detect a relative distance and an azimuth to said obstacle from said vehicle;

an image detecting unit for detecting two-dimensional images in said peripheral regions;

an image processing region limiting unit for specifying a region where an obstacle is present depending upon said azimuth detected by said obstacle detecting unit so as to derive a two-dimensional image corresponding to said specified region from said image detecting unit;

an obstacle extracting unit for extracting said obstacle from said two-dimensional image derived by said image processing region limiting unit so as to calculate a size index of said obstacle;

a first driving environment output unit for specifying a position where said obstacle is present in a real spacial coordinate with respect to a driving road of said vehicle depending upon said distance and said azimuth detected by said obstacle detecting unit so as to display a figure indicating said size index of said obstacle at said specified position;

a predicting unit for predicting an amount of movement of said obstacle depending upon said distance and said azimuth currently detected by said first driving environment output unit and previously detected distance and azimuth;

a second driving environment output unit for specifying a position where said obstacle is present in a real spacial coordinate with respect to a driving road of said vehicle depending upon said distance and said azimuth currently detected by said obstacle detecting unit so as to display a figure indicating said size index and said amount of movement of said obstacle at said specified position.

4. A driving environment surveillance apparatus according to claim 3, wherein said second driving environment output unit indicates said size index and said amount of movement of said obstacle by sizes of circles, respectively, and indicates one of said circles representing said amount of movement by a concentric circle positioned on an outer periphery of the other one of said circles representing said size index of said obstacle.

8. A driving environment surveillance apparatus according to claim 3 or 5, wherein said second driving environment output unit indicates said size index and said amount of movement of said obstacle by a three-dimensional figure having a size according to said index and said amount of movement.

5. A driving environment surveillance apparatus comprising:

an obstacle detecting unit for scanning a plurality of divided peripheral regions in a travelling direction of a vehicle so as to, if an obstacle is present in said peripheral regions, detect a relative distance and an azimuth to said obstacle from said vehicle;

an image detecting unit for detecting two-dimensional images in said peripheral regions;

an image processing region limiting unit for specifying a region where an obstacle is present depending upon said azimuth detected by said obstacle detecting unit so as to derive a two-dimensional image corresponding to said specified region from said image detecting unit;

an obstacle extracting unit for extracting said obstacle from said two-dimensional image derived by said image processing region limiting unit so as to calculate a size index of said obstacle;

a driving environment output unit for specifying a position where said obstacle is present in a real spacial coordinate with respect to a driving road of said vehicle depending upon said distance and said azimuth detected by said obstacle detecting unit so as to display a figure indicating said size index of said obstacle at said specified position;

a predicting unit for predicting an amount of movement and a movement direction of said obstacle depending upon said distance and said azimuth currently detected by said first driving environment output unit and previously detected distance and azimuth; and

a second driving environment output unit for specifying one position where said obstacle is present depending upon said distance and said azimuth currently detected by said obstacle detecting unit and said other position where said obstacle will be present after said movement depending upon said amount of movement and said movement direction predicted by said predicting unit in a real spacial coordinate with respect to a driving road of a vehicle so as to display a figure indicating said size index of said obstacle at said position where said obstacle is present and another figure indicating said amount of movement at said position where said obstacle will be present after said movement.

6. A driving environment surveillance apparatus according to claim 5, wherein said second driving environment output unit indicates said size index and said amount of movement of said obstacle by sizes of circles, respectively, and indicates a line which could be a common tangent line for each of said circles.