Title:
OUTER-VEHICLE MONITORING DEVICE
Document Type and Number:
Japanese Patent JP3349060
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To reduce a calculating processing by detecting an object such as a preceding vehicle or an obstacle and a structure along a road such as a guard rail by the same processing, and to exactly detect the position or behavior of an oblique front vehicle which is difficult to be exactly detected in a conventional way.
SOLUTION: A distance picture from an image processor 20 is read by a computer 30 for processing a picture, and a histogram is prepared for each block obtained by blocking the distance picture with prescribed intervals so that the present position and distance of a three-dimensional object can be calculated, and those in which the distance of each block is adjacent can be gathered as one group. Then, the group is divided at a part where the lining direction of data is largely changed for each group, and the groups are reunited from the mutual position relation of each group so that one three-dimensional object can be recognized as the combination of an object with a side wall. Then, the positions of the corner points of the three-dimensional object are calculated, and parameters such as the position and back and forth and right and left moving speeds of the three-dimensional object are calculated. Thus, a calculating processing can be reduced, and the position or behavior of the oblique front vehicle which is difficult to be exactly detected in a conventional way can be exactly detected.
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Inventors:
Keiji Hanawa
Application Number:
JP8687897A
Publication Date:
November 20, 2002
Filing Date:
April 04, 1997
Export Citation:
Assignee:
Fuji Heavy Industries Ltd.
International Classes:
B60R21/00; B60W30/00; G06T1/00; G06T7/00; G08G1/16; (IPC1-7): G06T1/00; B60R21/00; G06T7/00; G08G1/16
Domestic Patent References:
| JP6266828A | ||||
| JP6045882A | ||||
| JP5265547A | ||||
| JP10283462A | ||||
| JP4262498A |
Attorney, Agent or Firm:
Susumu Ito