PROBLEM TO BE SOLVED: To provide a peripheral part monitoring device for vehicle in which a caution to a driver can be more appropriately performed by discriminating the possibility of collision by more exactly detecting the motion of an object such as animal existent around a vehicle. SOLUTION: The position of an object around the vehicle on a three- dimensional coordinate is detected from images provided by two infrared cameras 1R and 1L. On the basis of plural time sequential position detection data concerning one object, the position of that object in a real space is calculated and the moving vector of the object is calculated from that real space position. On the basis of the moving vector calculated like this, the possibility of collision between that object and the relevant vehicle is discriminated. The moving vector is calculated by calculating an approximate straight line for approximating the relative moving locus of the object and correcting the detection position data while using that approximate straight line.

Peripheral part monitoring device for vehicle

The present invention provides a method of and an apparatus for measuring a distance using an ultrasonic wave. The method comprises steps of receiving through an ultrasonic sensor a signal generated from an ultrasonic transmitter according to a signal of ultrasonic transmission time, amplifying the received signal, filtering a high-frequency wave from the amplified signal, outputting only a signal corresponding to a predetermined signal size from the signal in which the high-frequency wave is filtered, and computing a distance value by calculating the period of the output signal. The apparatus comprises an ultrasonic transmitter for transmitting an ultrasonic wave, a device for transmitting a synchronized signal in a wired or wireless mode in order to an ultrasonic transmission signal, an ultrasonic sensor for receiving the ultrasonic signal transmitted from the ultrasonic transmitter, an amplifier for amplifying the received signal to the ultrasonic sensor, a filter for filtering a high-frequency signal from the amplified signal in the amplifier, a comparator for outputting only a signal corresponding to a predetermined signal size from the filtered signal, and an arithmetic unit for computing a distance value by calculating the period of the output signal.

Distance Measurement Method and Device Using Ultrasonic Waves

A method and system for assisting a driver operating a vehicle traveling on a road includes determining an obstacle as a target obstacle in the path of the vehicle and providing information on the target obstacle, regulating at least one of a reaction force input (F) to the driver, a driving force applied to the vehicle and a braking force applied to the vehicle in response to a control amount determined; measuring a width of the target obstacle; and correcting the control amount based on the measured width (w).

Method and vehicle reacting to the detection of an in-path obstacle

PROBLEM TO BE SOLVED: To improve safety when a vehicle deviates from a lane by quickly determining whether the vehicle is likely to collide with an obstacle while suppressing a malfunction of an operation device caused by an obstacle detecting device SOLUTION: This obstacle detector is provided with a radar system 1 for detecting an obstacle, and a control unit 5 for receiving information from the radar system 1 to control operation devices 7, 9 and 11 The obstacle detector is further provided with: an obstacle position determining part 5c for determining whether an obstacle is located within the lane, a departure predicting part 5f for predicting lane departure of the vehicle, and a collision predictive determining part 5d for predictively detecting a collision between the vehicle and the obstacle The collision predictive determining part 5d predictively determines a collision when the obstacle position determining part 5c determines that the obstacle is located within the lane, and on the other hand, when the obstacle position determining part 5c determines that the obstacle is not located within the lane, collision is predictively determined only when the departure predicting means 5f predicts the lane departure of the vehicle COPYRIGHT: (C)2009,JPO&INPIT

Obstacle detector for vehicle

PROBLEM TO BE SOLVED: To avoid making a misjudgment in which even a stationary object is determined as an approaching object and lessen a process burden of an entire system. SOLUTION: This rear monitor system identifies objects present in the rear and sideways of one's vehicle by an object identification means 6, on the basis of positional information on wave reflection points detected by a rear sensor 2 and a side sensor 20. Determining means 7, 8 calculate a relative speed of the identified object to the vehicle, thereby determining whether or not the identified object is approaching from the rear of the vehicle. A stationary object- determining means 6C measures a time difference after the side sensor 20 detects the object sideways of the vehicle, before the rear sensor 2 detects the object. The relative speed of the object is calculated on the basis of the measured time difference. When the object sideways of the vehicle is determined as a stationary object, the determining means 7, 8 eliminate objects at a side further out than the determined stationary object, when calculating the relative speed or eliminate from objects to be determined whether they are approaching objects or not.

Rear monitor system for use in vehicle

PURPOSE: To obtain a detector having simple structure at low cost by providing a first searching unit directing sideways, a second searching unit directing obliquely rearward, an obstacle detection signal outputting means, etc. CONSTITUTION: First and second searching units are fixed to the right and left corner parts at the rear end of a vehicle 1 and connected with a controller 4 in the vehicle 1. Each unit 2 transmits a first searching signal A having outer sideward directivity intermittently while each unit 3 transmits a second searching signal B having obliquely rearward directivity intermittently and both units 2, 3 receive reflection signals from an obstacle. The controller 4 detects an obstacle within a predetermined sideward range based on a signal received from the unit 2 and sequentially operates the distance to the obstacle based on the time elapsed after transmission of the signal B from the unit 3 before reception of a reflection signal thus judging approach of the vehicle to an obstacle based on the variation of the distance. The controller 4 also determines the presence of any one of an obstacle detected based on the signal A and an obstacle detected based on the signal B and approaching to the vehicle 1 and delivers a detection signal to an alarm 5 and lights an alarm lamp.

PURPOSE: To obtain an ultrasonic distance-measuring apparatus by which a distance can be measured precisely by a method wherein a threshold value with reference to reflected waves is set at the level of reflected waves with reference to previous ultrasonic waves received at a point of time when next ultrasonic waves are being transmitted. CONSTITUTION: A microcomputer 8 turns on a starting signal F for a definite time, it drives a transmission pulse generator 1 at the timing, it outputs a transmission pulse signal A for a definite time, and it transmits ultrasonic waves for a wave transmitter-receiver 2 to a part within a measuring range. While the signal A is being outputted, a trigger pulse signal B is turned on from a trigger pulse generator 3. A counter circuit 7 is reset at the timing, and it starts a counting operation when the signal is turned off. The microcomputer 8 transmits first ultrasonic waves by the signal F, it reads out a counted value when a transmission time interval has elapsed, it finds a distance up to an object to be measured, it turns on a second signal F, and it transmits ultrasonic waves. When reflected waves at a threshold value Y or higher are received before the second signal F, a comparator 6 outputs a detection signal D, and the counted value of the circuit 7 is held by the signal. As a result, the distance can be computed precisely.

Ultrasonic distance-measuring apparatus

PURPOSE: To seek a distance of up to an obstacle so accurately without entailing any misconception between the already transmitted reflected wave and the newly transmitted one by outputting any distance information individually on the basis of a time difference ranging from the transmission time of each ultrasonic wave to the reception time of the reflected wave of corresponding frequency CONSTITUTION: Respective reflected waves of each ultrasonic wave are individually received at each one different in frequency by those of first, second and third receiving sensors 8a, 8b and 8c, and distance information is outputted individually at each one different in frequency by those of first, second and third distance arithmetic circuits 9a, 9b and 9c on the basis of a time difference ranging from the transmission time of each ultrasonic wave to the reception time of corresponding reflected waves respectively Therefore, it is not necessary to synchronize the transmission timing of each ultrasonic wave and the detection timing of electric signals corresponding to the reflected waves, any distance of up to an obstacle is accurately measurable without entailing any misconception between the already transmitted ultrasonic waves and the reflected waves of the newly transmitted ones

Ultrasonic distance measuring equipment

PURPOSE: To enable inexpensive and high speed processing in which a relative position and a relative speed between its own vehicle and an other vehicle are surely detected with simple hardware and processing algorithm. CONSTITUTION: The detector for relative speed of other vehicle is provided with two left/right two-dimension CCD cameras 1, 2 mounted on a vehicle to pick up an image within a prescribed visual field continuously and an image preocessing unit 3. The image processing unit 3 processes a video signal on some horizontal scanning lines within a processing object range to extract a moving vector at plural points on the other vehicle in the horizontal direction, the moving vector is related between the two cameras, and a relative position at two preceding and succeeding points of time with respect to its own vehicle and a relative speed vector between two preceding and succeeding points of time are obtained as to plural points on the other vehicle based on plural pairs of moving vectors related to each other.

Detector for relative speed of an other vehicle

PURPOSE: To surely detect the approaching state of an obstruction, to simplify hardware constitution and processing algorithm, to lower a cost and to perform a high-speed processing. CONSTITUTION: This obstruction approaching state detector is provided with a two-dimensional CCD camera 1 for continuously picking up images inside a prescribed visual field and an image processor 2 for judging whether or not the obstruction is in the approaching state by processing video signals for expressing the images of the camera 1 at the two sequential earlier and later points of time. The image processor 2 sets plural horizontal scanning lines including a processing object reference line as a processing object range for the images of the camera 1, uses the video signals on the processing object reference line at the earlier point of time and the video signals on the horizontal scanning lines within the processing object range at the later point of time corresponding to them, obtains motion vectors in the horizontal direction between the two sequential earlier and later points of time for plural points on the processing object reference line at the earlier point of time, detects the obstruction based on the motion vectors and judges whether or not the obstruction is in the approaching state.

Obstruction approaching state detector

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