Vehicle environment monitoring system
First Claim
1. A vehicle environment monitoring system for monitoring an external environment proximate to a vehicle, and for detect an object existing in the external environment of said vehicle from an image obtained by imaging means mounted on said vehicle, the vehicle environment monitoring system comprising:
- vehicle speed detecting means for detecting a running speed of said vehicle;
distance calculating means for calculating a distance between said abject and said vehicle based on the image obtained by said imaging means;
relative speed calculating means for calculating a relative speed between said object and said vehicle according to the distance calculated by said distance calculating means; and
probability determining means for determining whether or not there is a significant probability that said vehicle will collide with said object, based on the running speed of said vehicle and the distance calculated by said distance calculating means, on condition that an absolute value of a difference between the relative speed and the running speed of said vehicle is less than or equal to half of the running speed of said vehicle.
1 Assignment
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Accused Products
Abstract
A vehicle environment monitoring system for an automotive vehicle, is capable of accurately detecting the movement of an object existing in an external environment of the vehicle, and determining the probability of collision between the object and the vehicle, thereby appropriately warning the driver. A running speed of the vehicle is detected, and a distance between the object and the vehicle is calculated, based on the image obtained by the imaging device. A relative speed between the object and the vehicle is calculated according to the calculated distance. It is determined whether or not there is a significant probability that the vehicle may collide with the object, based on the running speed of the vehicle and the distance therebetween on condition that the relative speed is in the vicinity of the running speed of the vehicle.
50 Citations
24 Claims
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1. A vehicle environment monitoring system for monitoring an external environment proximate to a vehicle, and for detect an object existing in the external environment of said vehicle from an image obtained by imaging means mounted on said vehicle, the vehicle environment monitoring system comprising:
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vehicle speed detecting means for detecting a running speed of said vehicle;
distance calculating means for calculating a distance between said abject and said vehicle based on the image obtained by said imaging means;
relative speed calculating means for calculating a relative speed between said object and said vehicle according to the distance calculated by said distance calculating means; and
probability determining means for determining whether or not there is a significant probability that said vehicle will collide with said object, based on the running speed of said vehicle and the distance calculated by said distance calculating means, on condition that an absolute value of a difference between the relative speed and the running speed of said vehicle is less than or equal to half of the running speed of said vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
and wherein said relative position-detecting means includes search area-setting means for setting, based on a position of an object image contained in an image output from one of said two TV cameras, a search area within an image output from the other of said two TV cameras for searching for a corresponding object image contained in the image output from the other of said two TV cameras; - and
corresponding object image-identifying means for identifying the corresponding object image by carrying out a correlation operation on data within said search area, said distance-calculating means calculating the distance between said vehicle and said object based on a parallax between the object image and the corresponding object image.
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5. A vehicle environment monitoring system according to claim 1, further comprising warning means for warning a driver of said vehicle, when said probability determining means determines that the probability of collision against said object is high, wherein said warning means is inhibited from warning the driver when the driver is carrying out a braking operation and at the same time deceleration caused by the braking operation is larger than a predetermined threshold.
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6. A vehicle environment monitoring system according to claim 1, further comprising
relative position-detecting means for detecting a relative position of said object to said vehicle, based on the image obtained by said imaging means and the distance calculated by said distance calculating means, to thereby obtain position data; - and
movement vector-calculating means for calculating positions of said object in a real space based on a plurality of time series items of the position data detected on said object by said relative position-detecting means, and calculating a movement vector of said object based an the positions in said real space;
wherein said probability determining means determines whether or not the probability of collision is high based on the movement vector, when it is determined based on the running speed of said vehicle and the distance that there is a probability of collision.
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7. A vehicle environment monitoring system according to claim 6, wherein said movement vector-calculating means includes
approximate straight line-calculating means for calculating an approximate straight line approximating a locus of relative movement of said object, and position data-correcting means for correcting the time series items of the position data by using the approximate straight line, said movement vector-calculating means calculating the movement vector based on the corrected time series items of the position data. -
8. A vehicle environment monitoring system according to claim 7, wherein said approximate straight line-calculating means calculates the approximate straight line as a three-dimensional straight line including data of a height of said object.
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9. A vehicle environment monitoring method for monitoring an external environment proximate to a vehicle, in which an object existing in the external environment of said vehicle is detected from an image obtained by an imaging device mounted on said vehicle, said method comprising the steps of:
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a) detecting a running speed of said vehicle;
b) calculating a distance between said object and said vehicle based on the image obtained by said imaging device;
c) calculating a relative speed between said object and said vehicle according to the calculated distance; and
d) determining whether or not there is a significant probability that said vehicle will collide with said object, based on the running speed of said vehicle and the calculated distance, on condition that an absolute value of a difference between the relative speed and the running speed of said vehicle is less than or equal to half of the running speed of said vehicle. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
l) setting, based on a position of an object image contained in an image output from one of said two TV cameras, a search area within an image output from the other of said two TV cameras for searching for a corresponding object image contained in the image output from the other of said two TV cameras; and
m) identifying the corresponding object image by carrying out a correlation operation on data within said search area, the distance between said vehicle and said object being calculated based on a parallax between the object image and the corresponding object image.
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13. A vehicle environment monitoring method according to claim 9, further comprising the step of warning a driver of said vehicle, when said determining step establishes that the probability of collision against said object is high, wherein the step of warning is omitted when the driver is carrying out a braking operation and at the same time deceleration caused by the braking operation is larger than a predetermined threshold.
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14. A vehicle environment monitoring method according to claim 9, further comprising the steps of
e) detecting a relative position of said object to said vehicle based on the image obtained by said imaging device and the calculated distance, to thereby obtain position data; -
f) calculating positions of said object in a real space based on a plurality of time series items of the position data detected on said object;
g) calculating a movement vector of said object based on the positions in said real space; and
h) determining whether or not the probability of collision is high based on the movement vector, when it is determined based on the running speed of said vehicle and the distance that there is a probability of collision.
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15. A vehicle environment monitoring method according to claim 14, wherein said step of calculating the movement vector includes the steps of:
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j) calculating an approximate straight line approximating a locus of relative movement of said object; and
k) correcting the time series items of the position data by using the approximate straight line, said movement vector being calculated based on the corrected time series items of the position data.
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16. A vehicle environment monitoring method according to claim 15, wherein the approximate straight line is calculated as a three-dimensional straight line including data of a height of said object.
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17. A vehicle environment monitoring system for monitoring an external environment proximate to a vehicle, and for detecting an object existing in an environment of said vehicle from an image obtained by an imaging device mounted on said vehicle, the vehicle environment monitoring system comprising:
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a vehicle speed sensor for detecting a running speed of said vehicle;
a distance calculating module for calculating a distance between said object and said vehicle based on the image obtained by said imaging device;
a relative speed calculating module for calculating a relative speed between said object and said vehicle according to the distance calculated by said distance calculating module; and
a probability determining module for determining whether or not there is a significant probability that said vehicle will collide with said object, based on the running speed of said vehicle and the distance calculated by said distance calculating module, on condition that an absolute value of a difference between the relative speed and the running speed of said vehicle is less than or equal to half of the running speed of said vehicle. - View Dependent Claims (18, 19, 20, 21, 22, 23, 24)
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Specification