Vehicle-to-vehicle distance calculation apparatus and method
The distance to a target vehicle is calculated comparatively accurately. To achieve this, a target vehicle traveling ahead of one's own vehicle is imaged by a camera and it is determined to what vehicle group the image of the target vehicle belongs. A first distance from one's own vehicle to the target vehicle is calculated by a circuit using the representative vehicle width of the vehicle group decided. A vanishing point is detected from the captured image by a vanishing point detection circuit and a second distance from one's own vehicle to the target vehicle is calculated utilizing the vanishing point. The distance to the target vehicle is decided from the first and second distances by a distance decision circuit, wherein the shorter the distance to the vanishing point, the more the value of a weighting coefficient of the second distance is reduced.
1. A vehicle-to-vehicle distance calculation apparatus comprising:
an imaging control device for controlling a camera, which has been mounted on one's own vehicle, so as to image a target vehicle present ahead of one's own vehicle;
a vehicle group decision device for deciding to what group the target vehicle belongs based upon an image obtained by imaging by the camera;
a target vehicle pixel count calculation device for calculating number of width or height pixels of a target image contained in an image obtained by imaging by the camera;
a first distance calculation device for calculating the distance to the target vehicle based upon a representative vehicle width or vehicle height of the vehicle group decided by said vehicle group decision device, the number of pixels calculated by the target vehicle pixel count calculation device and the number of width or height pixels of the image obtained by imaging by the camera;
a target-vehicle image detection device for detecting a target-vehicle image, which represents a target vehicle, from within the image obtained by imaging by the camera;
a vanishing point detection device for detecting a vanishing point from within the image obtained by imaging by the camera;
a second distance calculation device for calculating the distance to the target vehicle based upon a position of at least one of an upper edge and lower edge of the target-vehicle image detected by said target-vehicle image detection device and position of the vanishing point detected by said vanishing point detection device; and
a distance decision device for deciding the distance to the target vehicle from the first distance calculated by said first distance calculation device and the second distance calculated by said second distance calculation device upon applying weighting such that the closer together the position of the target-vehicle image detected by said target-vehicle image detection device and position of the vanishing point detected by said vanishing point detection device, the smaller the weight of the second distance calculated by said second distance calculation device becomes.
2. The apparatus according to claim 1 , further comprising a vehicle memory in which representative vehicle widths or vehicle heights have been stored beforehand on a per-vehicle-group basis;
wherein said first distance calculation device calculates the distance to the target vehicle based upon a representative vehicle width or vehicle height of the vehicle group, which has been decided by said vehicle group decision device, from among the representative vehicle widths or vehicle heights that have been stored in said vehicle memory, the number of pixels calculated by said target vehicle pixel count calculation device, and the number of width or height pixels of the image obtained by imaging by the camera.
3. The apparatus according to claim 1 , wherein said first distance calculation device includes:
a third distance calculation device for calculating a third distance to the target vehicle based upon the upper edge of the target-vehicle image detected by said target-vehicle image detection device and the position of the vanishing point detected by said vanishing point detection device; and
a fourth distance calculation device for calculating a fourth distance to the target vehicle based upon the lower edge of the target-vehicle image detected by said target-vehicle image detection device and the position of the vanishing point detected by said vanishing point detection device;
the distance to the target vehicle being calculated based upon the third distance calculated by said third distance calculation device and the fourth distance calculated by said fourth distance calculation device.
4. The apparatus according to claim 1 , further comprising:
a determination device for determining whether a tire of the target vehicle is absent below the lower edge of the target vehicle detected by said target-vehicle image detection device; and
a correction device for correcting the position of the lower edge of the target vehicle, which has been detected by said target-vehicle image detection device, in response to a determination by said determination device that a tire is absent;
wherein said second distance calculation device calculates the distance to the target vehicle using the position of the lower edge corrected by said correction device.
5. A vehicle-to-vehicle distance calculation method comprising the steps of:
controlling a camera, which has been mounted on one's own vehicle, so as to image a target vehicle present ahead of one's own vehicle;
deciding to what group the target vehicle belongs based upon an image obtained by imaging by the camera;
calculating number of width or height pixels of a target image contained in an image obtained by imaging by the camera;
calculating the distance to the target vehicle based upon a representative vehicle width or vehicle height of the vehicle group decided, the number of pixels calculated and the number of width or height pixels of the image obtained by imaging by the camera;
detecting a target-vehicle image, which represents a target vehicle, from within the image obtained by imaging by the camera;
detecting a vanishing point from within the image obtained by imaging by the camera;
calculating the distance to the target vehicle based upon a position of at least one of an upper edge and lower edge of the target-vehicle image detected and position of the vanishing point detected; and
deciding the distance to the target vehicle from the first distance calculated and the second distance calculated upon applying weighting such that the closer together the position of the target-vehicle image detected and position of the vanishing point detected, the smaller the weight of the second distance calculated becomes.