Road situation perceiving system

• US 5,963,148 A
• Filed: 09/08/1997
• Issued: 10/05/1999
• Est. Priority Date: 03/23/1995
• Status: Expired due to Fees

• Current Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Original Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Inventors: Sekine, Hiroshi, Asanuma, Nobuyoshi
• Primary Examiner(s): SWARTHOUT, BRENT
• Application Number:
  US08/929,010
• Time in Patent Office: 757 Days
• Field of Search: 340/901, 340/903, 340/904, 340/905, 340/990, 340/995, 340/937, 340/435, 340/601, 348/135, 348/148, 348/149, 348/169, 701/208
• US Class Current: 340/905
• CPC Class Codes: G01C 21/26 specially adapted for navigation in a road network
• CPC Class Codes: G06V 20/10 Terrestrial scenes scenes under surveillance with static cameras G06V20/52; scenes perceived from the exterior of a vehicle G06V20/56; scenes perceived from the interior of a vehicle G06V20/59
• 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 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
• CPC Class Codes: G08G 1/096716 where the received information does not generate an automatic action on the vehicle control
• CPC Class Codes: G08G 1/09675 where a selection from the received information takes place in the vehicle
• CPC Class Codes: G08G 1/096791 where the origin of the information is another vehicle
• CPC Class Codes: G08G 1/0969 having a display in the form of a map
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

An image of a road area ahead of a vehicle is formed based on road data read from a navigation system, or based on an image shot by a camera means such as a video camera. A temperature profile ahead of the vehicle detected by a temperature detecting means such as an infrared camera is superposed on the image of the road area. As a result, if a low-temperature zone is detected on the road area, it is determined that there is snow or ice existing on the road area, or if a high-temperature zone is detected, it is determined that there is a person or animal existing on the road area, thereby informing a driver by an alarm means or a display means to avoid such an obstruction or hazard. Thus, it is possible to perceive snow, ice, a person and an animal existing on a road ahead of the vehicle without relying on a driver'"'"'s visual judgment, and to give an alarm so that the driver may timely take an appropriate countermeasure to avoid the obstruction or hazardous situation.

Claims

1. A road situation perceiving system, comprising:

a map information outputting means for outputting map information as an aggregate of a plurality of coordinate points constituting a map;

a subject-vehicle position detecting means for detecting the position of a subject vehicle on the map;

a road shape detecting means for detecting a shape of a road ahead of the position of the subject vehicle based on the map information;

an image forming means for forming an image of a road area ahead of the vehicle based on the detected road shape;

a temperature profile detecting means for detecting a temperature profile ahead of the vehicle;

a superposing means for superposing said temperature profile on said image of the road area;

an abnormal-temperature zone judging means for judging whether there is an abnormal-temperature zone in said road area;

an alarm means for providing an alarm to a driver of the subject vehicle; and

a control means for operating said alarm means when it is determined that there is the abnormal-temperature zone.

3. A road situation perceiving system according to claim 1, wherein said abnormal-temperature zone is a low-temperature zone equal to or lower than a predetermined temperature.

4. A road condition perceiving system according to claim 1, wherein said abnormal-temperature zone is a high-temperature zone equal to or higher than a predetermined temperature.

5. A road situation perceiving system according to claim 1, further including a display means for displaying the image of the road area, and wherein when it is determined that there is the abnormal-temperature zone, said control means displays the position of said abnormal-temperature zone on said image of the road area.

9. A road situation perceiving system according to claim 1, further including means for inputting a destination of the subject vehicle, and said road shape detecting means detects the shape of the road ahead of the position of the subject vehicle additionally based on an input destination of the vehicle.

2. A road situation perceiving system, comprising;

a camera means for taking an image ahead of a vehicle,

a road area judging means for judging a road area within said image by an image-processing;

a temperature profile detecting means for detecting a temperature profile ahead of the vehicle;

a superposing means for superposing said temperature profile on said image of said road area;

an abnormal-temperature zone judging means for judging whether there is an abnormal-temperature zone on or above a surface of said road area based on the superposed temperature profile on the image of the road area;

an alarm means for providing an alarm to a driver of the vehicle; and

a control means for operating said alarm means when it is determined that there is the abnormal-temperature zone.

6. A road situation perceiving system according to claim 2, wherein said abnormal-temperature zone is a low-temperature zone equal to or lower than a predetermined temperature zone.

7. A road situation perceiving system according to claim 2, wherein said abnormal-temperature zone is a high-temperature zone equal to or higher than a predetermined temperature.

8. A road situation perceiving system according to claim 2, further including a display means for displaying the image of the road area, and wherein when it is determined that there is the abnormal-temperature zone, said control means displays the position of said abnormal-temperature zone on said image of the road area.

10. A road situation perceiving system according to claim 2, wherein said camera means takes an image of a space ahead of the vehicle.

11. A road situation perceiving system, comprising:

road image determining means for determining an image of a road area ahead of a subject vehicle;

temperature profile detecting means for detecting a temperature profile of temperatures throughout a space ahead of the subject vehicle;

abnormal-temperature zone judging means for judging abnormal-temperature zones on and above a surface of the road area ahead of the subject vehicle based on outputs from said road image determining means and said temperature profile detecting means; and

alarm means for providing an alarm to a driver of the vehicle when it is judged that there is an abnormal-temperature zone in the road area ahead of the subject vehicle;

said abnormal-temperature zone judging means judging whether there is an abnormal-temperature zone by comparing the output from the road image determining means to the output of said temperature profile detecting means; and

said abnormal-temperature zone judging means compares said outputs of said road image determining means and said temperature profile detecting means by superposing one of said outputs over the other.

12. A road situation perceiving system according to claim 11, further including:

means for outputting map information as an aggregate of a plurality of coordinate points constituting a map; and

subject vehicle position detecting means for detecting a position of the subject vehicle on the map; and

said road image determining means determines the image of the road area ahead of the vehicle based on outputs of said map information outputting means and said subject vehicle position detecting means.

13. A road situation perceiving system according to claim 12, further including means for inputting a destination of said subject vehicle, and said road image determining means further determines the image of the road area based on an input destination of said subject vehicle.

14. A road situation perceiving system according to claim 11, wherein said abnormal-temperature zone is a temperature zone outside of a predetermined temperature range.

15. A road situation perceiving system according to claim 11, further including a camera means for taking an image ahead of a vehicle;

and

said road image determining means forms the image of the road area by an image-processing of said image taken by the camera means.

16. A road situation perceiving system according to claim 11, wherein said temperature profile detecting means comprises an infrared camera.

17. A road situation perceiving system, comprising:

road image determining means for determining an image of a road area ahead of a subject vehicle;

temperature profile detecting means for detecting a temperature profile of a space ahead of the subject vehicle;

abnormal-temperature zone judging means for judging whether there is an abnormal-temperature zone in the road area ahead of the subject vehicle based on outputs from said road image determining means and said temperature profile detecting means;

alarm means for providing an alarm to a driver of the subject vehicle when it is judged that there is the abnormal-temperature zone in the road area ahead of the subject vehicle; and

a superposing means for superposing said temperature profile on said image of the road area; and

said abnormal-temperature zone judging means judges whether there is the abnormal-temperature zone in said road area based on the superposed temperature profile on said image of the road area.

18. A road situation perceiving system, comprising:

road image determining means for determining an image of a road area ahead of a subject vehicle;

temperature profile detecting means for detecting a temperature profile of a space ahead of the subject vehicle;

abnormal-temperature zone judging means for judging whether there is an abnormal-temperature zone in the road area ahead of the subject vehicle based on outputs from still road image determining means and said temperature profile detecting means;

alarm means for providing an alarm to a driver of the subject vehicle when it is judged that there is the abnormal-temperature zone in the road area ahead of the subject vehicle; and

a display means for displaying the image of the road area; and

said alarm means displays the position of said abnormal-temperature zone on the display image of the road area when it is determined that there is the abnormal-temperature zone.