JPH08334326A - Apparatus for detecting distance between vehicles - Google Patents

Abstract

PURPOSE: To stably detect a distance of vehicles even when a preceding vehicle comes close, and prevent an increase of a processing time, by setting an image of a predetermined part in a window where an image of the preceding vehicle is tracked to be a reference image for detecting the distance of vehicles when a detected distance value is smaller than a predetermined value. CONSTITUTION: When a distance between vehicles is reduced, an image of a preceding vehicle in a display screen 11 becomes large and a tracking window is always changed to a size surrounding the image of the preceding vehicle in accordance with a detected value by a distance detection means. However, the image of the preceding vehicle photographed by a lower image sensor 3 comes out of the screen, making it difficult to detect an image agreeing with the image in the tracking window surrounding an image of the preceding vehicle photographed by an upper image sensor 4 from an image in a memory 8. Therefore, if the detected distance value is smaller than a predetermined value, a distance-measuring window for detecting the distance is set based on an image in a memory 9 at a predetermined part in the window tracking the image of the preceding vehicle and, an image in the distance-measuring window is set as a refereence image to detect the distance between the vehicles.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an inter-vehicle distance detecting device for detecting a distance to a preceding vehicle traveling in front of an own vehicle.

[0002]

2. Description of the Related Art Conventionally, an optical distance detecting device using an image sensor is disclosed in Japanese Examined Patent Publication No. 63-38085 and Japanese Examined Patent Publication No. 63-46363. Each of these has two left and right optical systems equipped with lenses 1 and 2, respectively, as shown in FIG. 7, and these left and right optical systems constitute a stereo camera arranged at a distance of a base line length L. . Separate image sensors 3 and 4 are provided at the positions of the focal lengths f of the lenses 1 and 2, respectively, and in the signal processing device 30, the image signals of the image sensors 3 and 4 are sequentially shifted and electrically overlapped to each other. The distance R from the shift amount S when the image signals are best matched to the object 31 according to the principle of triangulation is calculated by the following equation:

R = f · L / S

Is sought as

Similarly to the above, when measuring the inter-vehicle distance to the preceding vehicle by the principle of triangulation, a window surrounding the image of the preceding vehicle is provided, and the image of the preceding vehicle is tracked by this window and simultaneously captured by the window. A method for detecting the distance to a preceding vehicle is disclosed in JP-A-4-4391.
It is disclosed in Japanese Patent Laid-Open No. 1-198814 and Japanese Patent Laid-Open No. 4-188014.

An optical system comprising a pair of reflecting mirrors arranged at a predetermined distance and one two-dimensional image sensor for receiving two images obtained by these reflecting mirrors in upper and lower regions. Distance detection device is actually fair 4-13619
It is disclosed in the publication.

[0007]

SUMMARY OF THE INVENTION A conventional vehicle-to-vehicle distance detecting device for detecting the distance to a preceding vehicle captured by the window for tracking the image of the preceding vehicle and an image of the preceding vehicle is disclosed in As the image becomes shorter, the image of the preceding vehicle picked up by the image sensor becomes larger. As a result, the image comparison processing time for detecting the inter-vehicle distance becomes longer, and when the image of the preceding vehicle becomes larger and the screen becomes full, it becomes difficult to compare the images. There is a point.

The present invention has been made in order to solve such a problem, and it is possible to stably detect the inter-vehicle distance even when the preceding vehicle approaches, and at the same time prevent the image processing time from becoming long. It is an object of the present invention to obtain an optical inter-vehicle distance detection device that can be used.

[0009]

According to a first aspect of the present invention, there is provided an inter-vehicle distance detecting apparatus which has a window setting means surrounding a preceding vehicle image picked up by an image sensor and a window set by the window setting means. Image tracking means for tracking the image of the preceding vehicle, distance detecting means for detecting the distance to the preceding vehicle captured by the window, and when the distance detection value of the distance detecting means becomes smaller than a predetermined value, the preceding vehicle image is detected. It is provided with means for using an image of a predetermined portion in the window to be tracked as a reference image for detecting an inter-vehicle distance.

According to a second aspect of the present invention, there is provided an inter-vehicle distance detecting device which has a window setting means surrounding a preceding vehicle image in front of the vehicle imaged by an image sensor, and a window set by the window setting means. An image tracking means for tracking the image of the preceding vehicle, a distance detecting means for using the image captured by the window as a reference image for detecting the distance to the preceding vehicle, and a distance detection value of the distance detecting means is a predetermined value. When the size is smaller, a means for reducing the size of the window for tracking the preceding vehicle image than the preceding vehicle image is provided.

Further, an inter-vehicle distance detecting device according to a third aspect of the present invention is the inter-vehicle distance detecting device according to the first or second aspect, wherein a pair of reflecting mirrors are arranged apart from each other by a predetermined distance, and their reflections. It is provided with one two-dimensional image sensor that receives the two images obtained by the mirror vertically and horizontally.

[0012]

In the inter-vehicle distance detecting apparatus according to the first aspect of the present invention, when the inter-vehicle distance becomes short and the preceding vehicle image becomes large, a part of the image in the window for tracking the preceding vehicle image becomes a reference for detecting the inter-vehicle distance. By using an image, the amount of image data is reduced, and the inter-vehicle distance calculation time is prevented from becoming long.

In the inter-vehicle distance detecting apparatus according to the second aspect of the present invention, when the inter-vehicle distance becomes short and the preceding vehicle image becomes large, the reference image for detecting the inter-vehicle distance is made smaller than the preceding vehicle image, so that the image Reduce the data and shorten the inter-vehicle distance calculation time.

In the inter-vehicle distance detecting apparatus according to the third aspect of the present invention, when the inter-vehicle distance becomes short, the reference image for detecting the inter-vehicle distance is made smaller than the preceding vehicle image, so that the image pickup range is narrow. Even a sensor can detect short distances.

[0015]

【Example】

Example 1. An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing an inter-vehicle distance detecting device. In the figure, reference numerals 1 and 2 are lenses provided in a pair in the upper and lower sides of a stereo camera, and 3 and 4 are arranged corresponding to the lenses 1 and 2, respectively. The two-dimensional image sensor 5 indicates a preceding vehicle traveling in front of the host vehicle. Reference numerals 6 and 7 are analog / digital converters connected to the image sensors 3 and 4, 8 and 9 are memories connected to the analog / digital converters 6 and 7, and 10 is a memory 8 and 9 and a display screen described later. A microcomputer connected to 11, a display screen 11 for displaying an image picked up by the image sensor 4 is controlled by the microcomputer 10. Reference numeral 12 denotes an image tracking device that encloses a preceding vehicle image in the image pickup screen in front of the own vehicle captured by the image sensor 4 with a window and tracks the image of the preceding vehicle with this window. 13 is a microcomputer 10
It is an alarm device connected to, for example, a buzzer.

In the above configuration, for example, in the image 11 in front of the vehicle captured by the image sensor 4, FIG.
If the preceding vehicle image 5a is displayed as shown in FIG. 5, the microcomputer 10 displays the window 18 surrounding the preceding vehicle image 5a by a method known in Japanese Patent Laid-Open No. 5-52562.
Set. Then, thereafter, no matter how the preceding vehicle image 5a moves within the display screen 11, the window 18 moves together, and the image tracking action of the preceding vehicle image 5a by the window 18 is automatically performed.

Such an image tracking function is disclosed in Japanese Patent Publication No. 60-3.
This is the same as the conventional device disclosed in Japanese Patent No. 3352 or Japanese Patent Publication No. 1-35305, and detailed description thereof is omitted here.

Next, a method of detecting an inter-vehicle distance between the host vehicle and the preceding vehicle will be described. First, the microcomputer 1
For 0, the pixel signal in the window 18 which is tracking the preceding vehicle image 5a is read from the memory 9 and used as the reference image signal for the inter-vehicle distance calculation. Then, the microcomputer 10 selects a region corresponding to the window 18 in the memory 8 in which the image signal of the lower image sensor 3 is stored, and the image signal of the memory 8 is pixel by pixel with respect to the reference image signal. The total sum of the absolute values of the signal differences between the upper and lower pixels is calculated while sequentially shifting. This calculation is performed by sequentially shifting the position of the image that most matches the image in the window 18 pixel by pixel. . At this time, the area involved in the calculation is the area 19 corresponding to the position of the window 18 in the image in the memory 8 with respect to the reference image signal in the window 18, as shown in FIG.

As described above, the upper and lower pixels are compared, and the number of pixel shifts when the sum of the absolute values of the difference signals becomes the minimum is n, and the pixel pitch is P (shift amount S = nP). When the base line length of the camera is L, the focal lengths of the lenses 1 and 2 are f, and the distance to the vehicle 5 is R, R is calculated by the following formula.

R = f · L / n · P (1)

In this way, the distance to the vehicle 5 captured by the window 18 is detected by the microcomputer 10, a processing circuit for calculating the above equation (1), and a distance detecting means such as a program. When the detected distance becomes shorter than a predetermined value, the alarm device 13 is activated to notify the driver that the inter-vehicle distance has become shorter.

As the inter-vehicle distance becomes shorter, the preceding vehicle image 5a in the screen 11 becomes larger as shown in FIG. 3, so that the window 18 is always sized to surround the preceding vehicle image 5a in accordance with the detection value of the distance detecting means. Be changed.

However, as can be seen from the above equation (1), the distance R
The shift amount S increases as the vehicle speed becomes shorter, and as shown in FIG.
b comes off the screen. Therefore, it is difficult to find an image matching the image in the window 18 surrounding the preceding vehicle image 5a captured by the upper image sensor 4 from the image in the memory 8 and the distance calculation becomes difficult.

Therefore, when the detected value of the distance detecting means becomes smaller than a predetermined value (for example, 10 m), the window 18 for tracking the image of the preceding vehicle 5a based on the image in the memory 9 is displayed.
A distance measuring window 20 for distance detection is set in a predetermined portion which is a part of the inside, and an image in the distance measuring window 20 is used as a reference image for detecting an inter-vehicle distance.

Then, in the memory 8 in which the image signal of the lower image sensor 3 is stored, the distance measuring window 2
From the area 21 corresponding to 0, the position of the image most matching the image in the distance measuring window 20 is obtained, and the shift amount S is calculated. By setting the distance measuring window 20 in the window 18 for image tracking in this manner, even if the shift amount S becomes large, the image that most matches the image in the distance measuring window 20 can be found. The detection can be stabilized. Further, since the reference image for distance detection is small, it is possible to prevent the image data from decreasing and the image processing time from increasing.

Window 1 for tracking the image of the preceding vehicle image 5a
FIG. 4 is a flow chart showing the above-mentioned operation procedure from the time when the inter-vehicle distance is calculated using the image in 8 as the reference image for distance detection.

First, the inter-vehicle distance R is calculated using the image in the window 18 as a reference image (step S101), and it is determined whether or not the calculated inter-vehicle distance R is smaller than a predetermined value 10 m (step S102). Distance R is 10
When it is smaller than m, the inter-vehicle distance is calculated using the image in the distance measuring window 20 smaller than the image tracking window 18 as a reference image for distance detection (step S10).
3). Then, it is determined whether the inter-vehicle distance R calculated at this time is larger than 10 m (step S104).
When the inter-vehicle distance R becomes larger than 10 m, the inter-vehicle distance is calculated again using the image in the image tracking window 18 as a reference image for distance detection. These operations are repeatedly executed.

Embodiment 2 FIG. FIG. 5 shows another embodiment of the present invention. When the inter-vehicle distance becomes shorter, the contrast of the preceding vehicle image picked up by the image sensors 3 and 4 is improved, so that it becomes easy to track a part of the preceding vehicle image 5a in the window 18. Therefore, when the inter-vehicle distance becomes smaller than a predetermined value, the window 18 for image tracking is displayed.
Is smaller than the preceding vehicle image 5a. By doing so, stable distance detection can be performed even when the shift amount S becomes large, and at the same time, it is possible to prevent the image processing time from increasing.

Example 3. FIG. 6 is a block diagram showing a case where the inter-vehicle distance detecting device of the present invention is configured by using a stereo camera equipped with one two-dimensional image sensor, which is known from Japanese Utility Model Publication No. 4-13619. In the figure, 1
Reference numerals 4 and 15 are a pair of first reflecting mirrors provided corresponding to the lenses 1 and 2, and 16 is a center of the first reflecting mirrors 14 and 15 so as to be provided at positions facing the first reflecting mirrors. The second reflecting mirror 17 provided in the two-dimensional image sensor is a two-dimensional image sensor, and is arranged so that the two images obtained by the lenses 1 and 2 are vertically separated and received.

When the upper and lower two images are picked up by one image sensor 17 as described above, the image pickup range of the upper and lower images is half the image pickup range of the image sensor 17, so that the inter-vehicle distance is reduced. When becomes shorter, the upper and lower preceding vehicle images are likely to be out of the imaging range of the image sensor 17. Therefore, in the inter-vehicle distance detecting device using the stereo camera configured in this way, when the inter-vehicle distance becomes shorter than a predetermined value, by making the reference image for detecting the inter-vehicle distance smaller than the preceding vehicle image, It is possible to easily detect a short distance.

[0031]

As described above, according to the inter-vehicle distance detecting apparatus of the first aspect of the present invention, the window setting means surrounding the preceding vehicle image in front of the vehicle imaged by the image sensor and the window setting means are provided. An image tracking means for tracking the image of the preceding vehicle with the set window,
Distance detection means using the image captured by the window as a reference image for detecting the distance to the preceding vehicle,
When the distance detection value of the distance detection means is smaller than a predetermined value, the preceding vehicle is provided with means for setting an image of a predetermined portion in the window for tracking the preceding vehicle image as a reference image for detecting the following distance. It is possible to stably detect the inter-vehicle distance even when approaching, and it is possible to prevent the image processing time from increasing.

Further, according to the inter-vehicle distance detecting device of the second aspect of the present invention, the window setting means surrounding the preceding vehicle image in front of the own vehicle imaged by the image sensor, and the window set by the window setting means. The image tracking means for tracking the image of the preceding vehicle, the distance detecting means using the image captured by the window as a reference image for detecting the distance to the preceding vehicle, and the distance detection value of the distance detecting means When the value is smaller than a predetermined value, a means for reducing the size of the window for tracking the image of the preceding vehicle smaller than the image of the preceding vehicle is provided, so that the inter-vehicle distance can be detected stably even when the preceding vehicle approaches, and the image This has the effect of preventing the processing time from increasing.

According to a third aspect of the present invention, there is provided a vehicle distance detecting device according to the first or second aspect of the present invention, wherein a pair of reflecting mirrors are arranged apart from each other by a predetermined distance. Since it is equipped with one two-dimensional image sensor that receives the two images obtained by the reflector of the vehicle vertically or horizontally, when the vehicle-to-vehicle distance becomes short, the reference image for detecting the vehicle-to-vehicle distance is preceded. By making it smaller than the vehicle image, there is an effect that it is possible to detect a short distance even if the imaging range of each image is half that of the image sensor.

[Brief description of drawings]

FIG. 1 is a block diagram of an inter-vehicle distance detecting device according to an embodiment of the present invention.

FIG. 2 is a diagram showing an image area compared with a reference image in a window of the present invention.

FIG. 3 is a diagram showing a reference image when an inter-vehicle distance becomes shorter than a predetermined value.

FIG. 4 is a flowchart showing an operation procedure according to an embodiment of the present invention.

FIG. 5 is a diagram showing another example of the reference image.

FIG. 6 is a block diagram showing another embodiment of the present invention.

FIG. 7 is a configuration diagram showing a conventional inter-vehicle distance detecting device.

[Explanation of symbols]

1, 2 lens, 3, 4 image sensor, 5 preceding vehicle, 8, 9 memory, 10 microcomputer, 1
1 display screen, 12 image tracking device, 13 alarm device,
14, 15 First reflecting mirror, 16 Second reflecting mirror, 17
Image sensor, 18 tracking window, 20 ranging window.

Claims (3)

[Claims] 1. A pair of optical systems compare images respectively formed on image sensors, detect a deviation between the images, and detect a distance to a preceding vehicle traveling ahead of the host vehicle based on the principle of triangulation. In an inter-vehicle distance detecting device for detecting, a window setting means surrounding a preceding vehicle image in front of the own vehicle imaged by an image sensor, and an image tracking means for tracking the preceding vehicle image by the window set by the window setting means. , The distance detection means using the image captured by the window as a reference image for detecting the distance to the preceding vehicle, and when the distance detection value of the distance detection means is smaller than a predetermined value, the preceding vehicle image is tracked. An inter-vehicle distance detecting device, comprising: an image of a predetermined portion in the window as a reference image for detecting an inter-vehicle distance. 2. A pair of optical systems compare images respectively formed on image sensors, detect a deviation between the images, and detect a distance to a preceding vehicle traveling in front of the host vehicle based on the principle of triangulation. In an inter-vehicle distance detecting device for detecting, a window setting means surrounding a preceding vehicle image in front of the own vehicle imaged by an image sensor, and an image tracking means for tracking the preceding vehicle image by the window set by the window setting means. , The distance detection means using the image captured by the window as a reference image for detecting the distance to the preceding vehicle, and when the distance detection value of the distance detection means is smaller than a predetermined value, the preceding vehicle image is tracked. An inter-vehicle distance detecting device comprising means for reducing the size of a window to a size of a preceding vehicle image. 3. A pair of reflecting mirrors arranged apart from each other by a predetermined distance, and one two-dimensional image sensor for receiving two images obtained by these reflecting mirrors vertically or horizontally. The inter-vehicle distance detecting device according to claim 1 or 2.