Vehicle surroundings monitoring apparatus

• US 6,370,261 B1
• Filed: 01/27/1999
• Issued: 04/09/2002
• Est. Priority Date: 01/30/1998
• Status: Expired due to Term

• Current Assignee: Subaru Corp.
• Original Assignee: Fuji Heavy Industries Limited (Subaru Corp.)
• Inventors: Hanawa, Keiji
• Primary Examiner(s): Boudreau, Leo
• Assistant Examiner(s): CHOOBIN, BARRY
• Application Number:
  US09/238,228
• Time in Patent Office: 1,168 Days
• Field of Search: 382/104, 382/103, 382/106, 382/154, 382/199, 382/201, 382/209, 382/216, 701/301, 701/2, 340/435, 340/907, 340/461, 340/933, 356/3.14, 348/116, 348/113
• US Class Current: 382/104
• CPC Class Codes: G01S 11/12 using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 13/726 Multiple target tracking
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G06T 17/10 Constructive solid geometry [CSG] using solid primitives, e.g. cylinders, cubes
• CPC Class Codes: G06T 2207/10012 Stereo images
• CPC Class Codes: G06T 7/593 from stereo images
• CPC Class Codes: G06T 7/70 Determining position or orientation of objects or cameras camera calibration G06T7/80
• CPC Class Codes: G06T 7/74 involving reference images or patches
• 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 20/64 Three-dimensional objects
• CPC Class Codes: H04N 13/239 using two 2D image sensors having a relative position equal to or related to the interocular distance H04N13/243 takes precedence
• CPC Class Codes: H04N 2013/0081 Depth or disparity estimation from stereoscopic image signals

Abstract

Distance image outputted from an image processor is read by a recognition/judgment computer, in which the distance image is divided into strips having a specified interval and a histogram is prepared for each strip. Based on the histogram, the position of solid objects and the distance thereto are obtained and these positional data of the solid objects are classified into groups of solid object and groups of side wall. Further, the position of a wall surface forming a boundary of a road is detected from the data of the groups of side wall. On the other hand, assuming a wall surface model composed of a series of nodes, respective nodes are determined and corrected by the data of side wall. Thus obtained nodes form a successive wall surface along a curved road.

Claims

1. A vehicle surroundings monitoring apparatus having a stereoscopic image detecting unit for detecting a stereoscopic image of solid objects around a self vehicle, an image processor for processing said image into a distance image and a plurality of microprocessors for recognizing said solid objects based on said distance image, comprising:

wall surface detecting means for dividing positional data of said solid objects into groups and for detecting a wall surface formed along a boundary of a road based on said grouped positional data of said solid objects, said detecting means being responsive to forward and lateral distances of images for grouping images and determining gradients of image data;

wall surface model forming means for interconnecting a plurality of nodes and for forming a wall surface model based on said interconnected nodes to express an outline of said wall surface, a wall surface being identified by a gradient;

wall surface model correcting means for correcting said wall surface model based on said grouped positional data of said solid objects;

wherein said wall surface model correcting means comprises means for applying a pattern matching to said grouped positional data to search a position of said wall surface corresponding to said respective nodes, and means for correcting coordinates of said nodes based on said position of said wall surface; and

wherein said pattern matching uses a wall surface pattern having weight coefficients, values of said weight coefficients being positive on one side of a central point and negative on an opposite side thereof, wherein absolute values of the weight coefficients become smaller with increasing distance from the central point.

2. The apparatus according to claim 1, wherein said wall surface model correcting means comprises means for correcting said coordinates of said corresponding nodes in the direction where said positional data of said solid objects within a searching range exist when said pattern matching detects no wall surface.

3. The apparatus according to claim 1, wherein said wall surface model correcting means comprises means for correcting said coordinates of said respective nodes in the direction of bringing them close to a straight line connecting one adjacent node and the other adjacent node after said wall surface model is corrected based on said grouped positional data of said solid objects.