Method and system of monitoring around a vehicle

• US 7,518,490 B2
• Filed: 06/07/2006
• Issued: 04/14/2009
• Est. Priority Date: 06/09/2005
• Status: Active Grant

• Current Assignee: Hitachi, Ltd.
• Original Assignee: Hitachi, Ltd.
• Inventors: Asou, Yukio, Takenaga, Hiroshi
• Primary Examiner(s): Swarthout; Brent
• Application Number:
  US11/447,935
• Publication Number:
  US 20070008091A1
• Time in Patent Office: 1,042 Days
• Field of Search: 340/937, 340/903, 340/435, 340/436, 348148-153
• US Class Current: 340/435
• CPC Class Codes: B60R 11/04 Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
• CPC Class Codes: B62D 15/029 Steering assistants using warnings or proposing actions to the driver without influencing the steering system
• CPC Class Codes: B62D 15/0295 by overlaying a vehicle path based on present steering angle over an image without processing that image
• CPC Class Codes: G08G 1/16 Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08

Abstract

Integrated processing unit captures range images shot by CCD cameras which are respectively provided on front, rear, left and right sides of a vehicle and image processor. Location-allocation unit creates a location-allocation model of an obstacle from the range images and road surface images (heights of images above road surface). Vehicular swept path calculating unit calculates a swept path of each representative point. Collision decision calculates intersection of the obstacle of the location-allocation model with the swept paths of the representative points and judges whether the points cross the obstacle. When a representative point may possibly cross the obstacle, the point is enhanced and displayed together with the obstacle (object) on monitor.

Claims

1. A method of monitoring around a vehicle by using plural cameras with a range measurement function for finding a distance to an object based on an image, comprising the steps of:

capturing range images, which include the distance to the object for every pixel, from the cameras which are provided on plural positions of the vehicle,

creating a location-allocation model of the object which is found in the range images and which is larger than a predetermined threshold value,

inputting vehicle speed, acceleration, and steering angle values,

calculating running paths of plural predetermined representative points of the vehicle,

checking whether the running paths of the vehicle cross the object in the location-allocation model, and

displaying the object and a part of the vehicle which may hit the object and which corresponds to the predetermined representative point of the vehicle when one of the running paths of the vehicle cross the object.

2. The method of monitoring around a vehicle of claim 1, wherein the location-allocation model is created from range images and road surface images which are created considering heights of cameras above the road surface.

3. A system of monitoring around a vehicle which is equipped with on-board equipment and plural cameras with a range measurement function for finding a distance to an object based on an image, the on-board equipment comprising:

an input unit which captures range images, which include the distance to the object for every pixel, from the cameras which are provided on plural positions of the vehicle,

a vehicle storage model unit that stores a vehicle model of the vehicle,

a location-allocation model creating unit which creates a location-allocation model of the object which is found in the range images and which is larger than a predetermined threshold value,

a path calculating unit which inputs vehicle speed, acceleration, and steering angle values and calculates running paths of plural predetermined representative points of the vehicle in the vehicle model,

a collision judging unit which checks whether the running paths of the vehicle cross the object of the location-allocation model, and

a display screen creating unit that creates a display screen which includes the object and a part of the vehicle which may hit the object and highlights the part of the vehicle when one of the running paths of the vehicle cross the object.

4. The system of monitoring around a vehicle of claim 3, wherein the cameras with a range measurement function are provided on front, left, right, and rear sides of the vehicle.

5. The system of monitoring around a vehicle of claim 3, wherein the adoption and rejection of the range images of cameras with a range measurement function on front and rear sides of the vehicle are determined according to running direction of the vehicle.

6. The system of monitoring around a vehicle of claim 3, wherein the vehicle model storage unit further stores heights of cameras with a range measurement function above road surfaces.