JPS6288639A - Obstacle detector - Google Patents

Abstract

PURPOSE:To prevent an accident without requiring a special caution of a driver by detecting the distance to an obstacle in traveling by means of a camera and a distance sensor then comparing with a safety distance against a preceding vehicle calculated on the basis of a traveling speed and alarming a dangerous condition with a sound. CONSTITUTION:An obstacle against a traveling vehicle is continuously photographed by means of a camera 2 while the distance to the obstacle is measured by means of a distance sensor. Then said data are displayed on a display section 13 to compare the safety distance against a preceding vehicle calculated in a distance operating circuit 9 on the basis of one's traveling speed with the distance to the obstacle in a distance comparing circuit 10. Upon entering into a dangerous level, a sound alarm is produced through a speaker circuit thus to brake automatically. Consequently, the driver can be protected from an accident without taking special care of the outdoor condition.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an obstacle detection device, and particularly to an obstacle detection device mounted on a vehicle.

[Conventional technology]

Conventional obstacle detection devices for automobiles and other vehicles have a rear-view mirror inside the vehicle and a fender mirror or door mirror outside the vehicle, and are designed to reduce blind spots to the rear and sides from the driver's perspective. . There are also lenses that can be attached to the rear glass to reduce blind spots directly behind the vehicle. There is also a device that is attached to the rear of a car and uses ultrasonic waves to display the distance to obstacles behind it.

However, using just the rearview mirror, fender mirror, and door mirror creates a large blind spot in the rear and on the left side for right-hand drive cars (right side for left-hand drive cars).
When reversing or turning left, people (especially children) or motorcycles can become involved, which is a serious cause of accidents.

Additionally, because it is impossible to always pay attention to what's behind you while driving, you may suddenly be hit from behind without realizing that a vehicle is approaching.

At intersections with poor visibility, it is difficult to see vehicles approaching from the left and right, so the driver may proceed without noticing and be hit from the side. With conventional mirrors, it is extremely difficult to prevent these accidents.

A device that measures the distance to an obstacle behind you may not be able to detect a protrusion if there is one behind you, so it is dangerous to rely solely on this device and retreat.

[Problem that the invention seeks to solve]

The above-mentioned conventional obstacle detection devices have blind spots or the shape of the obstacle makes detection incomplete, making it difficult for drivers to prevent accidents without paying close attention. There is a problem.

An object of the present invention is to provide an obstacle detection device that can prevent accidents without requiring the driver to pay special attention.

[Means for solving problems]

The obstacle detection device of the first invention of the present application includes a distance sensor that is mounted on a vehicle to measure the distance to an object outside the vehicle and outputs distance data, and a distance sensor that is mounted on the vehicle to continuously image the conditions outside the vehicle. a camera that outputs image data; an input unit that allows a driver to input required data; and a subject identification circuit that extracts identification data for identifying a subject from the image data.
a first direction control signal and a second direction control signal, respectively, for determining a target object by comparing the identification data with object determination data prepared in advance and tracking the target object with the distance sensor and the camera; An image comparison circuit to output,
a distance sensor control unit that controls the orientation of the distance sensor in response to the first direction control signal; a camera control unit that controls the orientation of the camera in response to the second direction control signal; A distance calculation circuit that calculates a safe inter-vehicle distance to a target object based on speed data, compares the safe inter-vehicle distance with the distance data and data from the input section, and outputs an alarm signal when the safe inter-vehicle distance is long. a distance comparison circuit; a loudspeaker circuit that outputs an alarm using sound in response to the alarm signal; an image inversion circuit that outputs inverted image data obtained by horizontally inverting the image data in accordance with data from the input section; It is configured to include a display unit that displays image data or the inverted image data and the distance data.

The obstacle detection device of the second invention of the present application includes a distance sensor that is mounted on a vehicle to measure the distance to an object outside the vehicle and outputs distance data, and a distance sensor that is mounted on the vehicle to continuously image the situation outside the vehicle. a camera that outputs image data; an input unit that allows a driver to input required data; and a subject identification circuit that extracts identification data for identifying a subject from the image data;
a first direction control signal and a second direction control signal, respectively, for determining a target object by comparing the identification data with object determination data prepared in advance and tracking the target object with the distance sensor and the camera; An image comparison circuit to output,
a distance sensor control unit that controls the orientation of the distance sensor in response to the first direction control signal; a camera control unit that controls the orientation of the camera in response to the second direction control signal; A distance calculation circuit that calculates a safe inter-vehicle distance to an object based on speed data, compares the safe inter-vehicle distance with the distance data and data from the input section, and outputs an alarm signal when the safe inter-vehicle distance is long. a distance comparison circuit; a braking unit that brakes the vehicle in response to the alarm signal; a loudspeaker circuit that outputs a warning using sound in response to the alarm signal; The image reversing circuit outputs inverted image data obtained by horizontally inverting the image data, and a display unit that displays the image data or the inverted image data and the distance data.

〔Example〕

Next, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a block diagram of an embodiment of the first invention.

The embodiment shown in FIG. 1 is a distance sensor 1 that is mounted on a vehicle and measures the distance to an object outside the vehicle and outputs distance data 101.
, a camera 2 mounted on the vehicle that continuously images the situation outside the vehicle and outputs image data 102; an input unit 3 through which the driver inputs required data; and a camera 2 for identifying the subject from the image data 102. an object identification circuit 4 for extracting identification data 103; and a respective circuit for determining a target object by comparing the identification data 103 with object determination data 104 prepared in advance and tracking the target object with the distance sensor 1 and camera 2. 1 direction control signal 105 and a second direction control signal 1
An image comparison circuit 6 that outputs 06 and a direction control signal 105
A distance sensor control unit 7 that controls the direction of the distance sensor 1 according to the direction control signal 106, a camera control unit 8 that controls the direction of the camera 2 according to the direction control signal 106, and a safety control unit 7 that controls the direction of the distance sensor 1 according to the direction control signal 106, and a camera control unit 8 that controls the direction of the camera 2 according to the direction control signal 106. The distance calculation circuit 9 that calculates the inter-vehicle distance 107 compares the safe inter-vehicle distance 107 with the distance data 101 and the data from the input section 3, and calculates the safe inter-vehicle distance 107.
A distance comparison circuit 10 outputs an alarm signal 108 when the distance is long.
, a loudspeaker circuit 11 that outputs an alarm using sound in response to the alarm signal 108 , an image inversion circuit 12 that outputs inverted image data 109 obtained by horizontally inverting the image data 102 in accordance with the data from the input section 3 , It is configured to include a display unit 13 that displays data 102 or inverted image data 109 and distance data 101.

Next, the operation of the embodiment shown in FIG. 1 will be explained.

The distance sensor 1 measures the distance between the vehicle and an object in the direction in which the sensor is facing, and supplies distance data 101 to the distance comparison device 10.

The camera 2 continuously captures images outside the vehicle, particularly in directions that are blind spots for the driver, and supplies image data 102 to the subject identification circuit 4 and the image inversion circuit 12.

The subject identification circuit 4 analyzes the image data 102, extracts identification data 103 for identifying the subject, such as the shape and color of the subject, which are set in advance, and supplies it to the image comparison circuit 6. The image comparison circuit 6 uses object determination data 10
The identification data 103 is compared with the data from the storage circuit 5 in which 4 is stored in advance, and it is determined what kind of obstacle the object is, and the determination result is temporarily stored in the storage circuit 5.

Furthermore, the image comparison circuit 6 sends a direction control signal 1 to prevent the object that becomes an obstacle from escaping from the imaging range of the camera 1.
06 to the camera control unit 8 to automatically correct the direction of the camera 2. Further, the image comparison circuit 6 supplies a direction control signal 105 to the distance sensor control section 7 for the same purpose as described above, and automatically corrects the direction of the distance sensor 1.

The image data 102 is supplied to the display section 13 via the image inverting circuit 12, and while the driver is looking at this display, the direction control data of the distance sensor 1 and camera 2 is input from the input section 3 to the image comparison circuit. 6 to correct the orientation.

The image reversing circuit 12 reverses the left and right sides of the image data 102 so that the displayed image on the display section 13 is in a natural direction when the camera 2 is photographing the rear of the vehicle. The reversal operation is performed by instructing the reversal from.

Next, the distance calculation circuit 9 calculates a safe inter-vehicle distance 107 from the vehicle travel speed data and supplies it to the distance comparison circuit 10. The distance comparison circuit 10 receives distance data 1 from the distance sensor 1.
01 and safe following distance 107, safe following distance 1
If 07 is long, there is a risk of collision, so the warning signal 10
8 is supplied to the loudspeaker circuit 11. When the alarm signal 108 is supplied, the loudspeaker circuit 11 outputs a preset voice or signal tone to warn the driver.

In addition, when the driver backs up to park in a garage, etc., the driver inputs the maximum allowable distance to an adjacent vehicle or wall from the input unit 3 to the distance comparison circuit 10.
By inputting the distance data 101 to the maximum allowable distance, it is possible to compare the distance data 101 with the maximum allowable distance, making it easier to park the vehicle in a narrow space. Note that the distance data 101 is supplied to the display section 11, and the display section 11 displays this data numerically.

FIG. 2 is a block diagram of an embodiment of the second invention.

The embodiment shown in FIG. 2 differs from the above-described embodiment shown in FIG. 1 in that a braking section 14 is added.

As shown in FIG. 2, when the brake section 14 is supplied with the alarm signal 108 from the distance comparison circuit 10, it operates the vehicle's brakes to stop the vehicle. Therefore, the burden on the driver can be further reduced.

〔Effect of the invention〕

As explained above, the obstacle detection device of the present invention continuously captures images of obstacles on a traveling vehicle using a camera, measures the distance to the obstacle using a distance sensor, and displays these data on a display unit. In addition, the system compares the safe following distance calculated from the driver's own driving speed with the distance from obstacles, and issues an acoustic warning when the distance reaches a dangerous distance, so the driver can pay special attention to the situation outside the vehicle. This has the effect of preventing accidents from occurring without the need to pay.

Furthermore, by automatically braking when the distance reaches a critical distance, the driver's burden on preventing collisions can be reduced.

[Brief explanation of drawings]

FIG. 1 is a block diagram of an embodiment of the first invention, and FIG. 2 is a block diagram of an embodiment of the second invention. DESCRIPTION OF SYMBOLS 1... Distance sensor, 2... Camera, 3... Input section, 4... Subject identification circuit, 5... Memory circuit, 6...
- Image comparison circuit, 7... Distance sensor control section, 8...
Camera control unit, 9... Distance calculation circuit, 10... Distance comparison circuit, 11... Loudspeaker circuit, 12... Image inversion circuit, 13... Display unit, 14... Braking unit, 101・・・
・Distance data, 102... Image data, 103...
Identification data, 105, 106... direction control signal, 10
7...Safe distance between vehicles, 1o8...Warning signal. U〆

Claims (2)

[Claims] (1) A distance sensor mounted on a vehicle to measure the distance to objects outside the vehicle and output distance data; a camera mounted on the vehicle to continuously capture images of the situation outside the vehicle and output image data; an input section through which a person inputs necessary data; a subject identification circuit that extracts identification data for identifying a subject from the image data; and a subject identification circuit that extracts identification data for identifying a subject from the image data; an image comparison circuit that outputs a first direction control signal and a second direction control signal for determining and tracking the target object with the distance sensor and the camera, respectively; a distance sensor control unit that controls the direction of the distance sensor; a camera control unit that controls the direction of the camera according to the second direction control signal; and a safe inter-vehicle distance to the target object based on the traveling speed data of the vehicle. a distance calculation circuit that compares the safe inter-vehicle distance with the distance data and data from the input section and outputs an alarm signal when the safe inter-vehicle distance is long; an image inversion circuit that outputs inverted image data obtained by inverting the image data left and right in accordance with data from the input section; An obstacle detection device comprising: a display section for displaying information. (2) A distance sensor mounted on a vehicle to measure the distance to an object outside the vehicle and output distance data; a camera mounted on the vehicle to continuously capture images of the situation outside the vehicle and output image data; an input section through which a person inputs necessary data; a subject identification circuit that extracts identification data for identifying a subject from the image data; and a subject identification circuit that extracts identification data for identifying a subject from the image data; an image comparison circuit that outputs a first direction control signal and a second direction control signal for determining and tracking the target object with the distance sensor and the camera, respectively; a distance sensor control unit that controls the direction of the distance sensor; a camera control unit that controls the direction of the camera according to the second direction control signal; and a safe inter-vehicle distance to an object based on the traveling speed data of the vehicle. a distance calculation circuit that calculates the safe following distance, a distance comparison circuit that compares the safe inter-vehicle distance with the distance data and data from the input section, and outputs a warning signal when the safe inter-vehicle distance is long; a braking unit that brakes the vehicle; a public address circuit that outputs an alarm using sound in response to the alarm signal; and an image that outputs inverted image data obtained by horizontally inverting the image data in accordance with data from the input unit. An obstacle detection device comprising: an inversion circuit; and a display section that displays the image data or the inverted image data and the distance data.