To enable an inter-vehicle distance with respect to a preceding vehicle to be obtained even in a situation where the inter-vehicle distance with respect to the preceding vehicle cannot be obtained using a parallax by a pair of cameras.SOLUTION: An inter-vehicle distance calculation is configured to: calculate (S6) an inter-vehicle distance L1 (S1) with respect to a preceding vehicle Mf on the basis of a pair of camera images Li and Ri photographed by right and left cameras 5a and 5b mounted onto a self vehicle Mm, and pixel widths ds1 and ds2 to right and left end points Xl and Xr with a reference point Xo as a reference; store (S7) the inter-vehicle distance and the pixel widths in a data storage unit; when a filed of view is blocked, and common right and left end points Xl and Xr are not detected (S4) in the right and left camera images Li and Ri, but, for example, the left end point X1 is detected in one of the camera images Li and Ri, and the right end part Xr is detected in other thereof (S9 and S10); calculate pixel quantities ds1' and ds2' on the images of the cameras; and calculate an inter-vehicle distance L1' from L1'←{(ds1+ds2)/(ds1'+ds2')}*L1 (S13).SELECTED DRAWING: Figure 5
【課題】一対のカメラによる視差を利用して先行車と車間距離を求めることができない状況であっても、先行車との車間距離を求めることができるようにする。【解決手段】自車両Mmに搭載されている左右カメラ5a,5bで撮像した一対のカメラ画像Li,Riに基づき先行車Mfとの車間距離L1と(S1)、基準点Xoを基準に左右端点Xl,Xrまでの画素幅ds1,ds2とを算出し(S6)、データ記憶部に記憶する(S7)。そして視界が阻害されて左右カメラ画像Li,Riにおいて共通する左右端点Xl,Xrが検出されないが(S4)、例えばカメラ画像Li,Riの一方で左端点Xlが検出され、他方で右端点Xrが検出されている場合は(S9,S10)、そのカメラ画像上の画素数ds1’,ds2’を算出し、車間距離L1’を、L1’←{(ds1+ds2)/(ds1’+ds2’)}・L1から算出する(S13)。【選択図】図5
INTER-VEHICLE DISTANCE CALCULATION DEVICE
相互間距離算出装置
2019-01-10
Patent
Electronic Resource
Japanese
IPC: | G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL |
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