Title:
DETECTION OF OBSTACLE OF UNATTENDED VEHICLE ON PICTURE
Document Type and Number:
Japanese Patent JPS62222308
Kind Code:
A
Abstract:
PURPOSE:To accurately detect the presence or the absence of obstacles by setting the next point and discriminating whether there is parallax between a forecasted image at this point and an actually picked-up image or not when obstacles are detected with an image pickup device. CONSTITUTION:A microcomputer 10 of an unattended vehicle consists of a CPU 1, a program memory 12 consisting of a ROM, a working memory 13 consisting of a RAM, a timer 14, etc., and picture element data from a CCD camera 3 is stored in the working memory 13. The vehicle speed is detected by a vehicle speed detector 21 mounted on the unattended vehicle, and the steering angle is detected by a steering angle detector 22, and they are inputted to the microcomputer 10. A drive controller 19 controls a steering mechanism 20 by the control signal from the CPU 11. When obstacles on a running path are detected, a new point is set and a forecasted image at this point is obtained, and parallax is attained from this image and an actually picked-up image at this point. If there is parallax as the result, it is judged that there is an obstacle ahead of the vehicle, and steering is controlled based on this judgment.
Inventors:
OZAWA SHINJI
TAKINAMI EISAKU
ITOU AKIYOSHI
TAKINAMI EISAKU
ITOU AKIYOSHI
Application Number:
JP6688386A
Publication Date:
September 30, 1987
Filing Date:
March 24, 1986
Export Citation:
Assignee:
TOYODA AUTOMATIC LOOM WORKS
International Classes:
G05D1/02; (IPC1-7): G05D1/02
Domestic Patent References:
| JPS6086675A | 1985-05-16 |
Attorney, Agent or Firm:
Hironobu Onda
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