(19) Japan Patent Office (JP)
`
`(51) Int. Cl. 6
`B 60 K 31/00
`B 60 R 21/00
`F 02 D 29/02
`
`Recognition codes
`Z
`C
`301 D
`
`(12) Japanese Unexamined Patent
`Application Publication (A)
`
`(11) Japanese Unexamined Patent Applica-
`tion Publication Number
`
`
`
`H07-125567
`
`
`
`(43) Publication date: May 16, 1995
`
`Patent Office Serial Numbers F1
`
`
`9434-3D
`
`4240-5J
`
`
`
`Technology Indication Area
`
`
`B
`A
`
`G 01 S 11/00
`17/88
`
`
`Request for Examination: Not Made Number of inventions 1 OL (total 7 pages) Continued on last page
`
`000006286
`Mitsubishi Motors Corporation
`5-33-8 Shiba, Minato-ku, Tokyo
`WATANABE, Takeshi
`c/o Mitsubishi Motors Corporation
`5-33-8 Shiba, Minato-ku, Tokyo
`KISHI, Makoto
`c/o Mitsubishi Motors Corporation
`5-33-8 Shiba, Minato-ku, Tokyo
`HAYAFUNE, Kazuya
`c/o Mitsubishi Motors Corporation
`5-33-8 Shiba, Minato-ku, Tokyo
`KOSEKI, Toshio Patent Attorney (and 1
`Other)
`
`(71) Applicant
`
`(72) Inventor
`
`(72) Inventor
`
`(72) Inventor
`
`(74) Representative
`
`
`
`(21) Application number
`(22) Date of application
`
`H05-275184
`November 4, 1993
`
`
`
`
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`
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`(54) Preceding car detecting mechanism of car cruise control ap-
`paratus
`
`(57) Abstract
`
`To detect a preceding car rapidly reducing the
`PURPOSE:
`time required for image processing.
`
`CONSTITUTION: A laser radar 2 detects a preceding object by
`emitting a laser beam in the front direction while scanning. Addi-
`tionally, a stereoscopic camera 1 captures an image of the scene in
`front of one's own car and transmits the image thus captured to an
`image processing part 61. A processing area setting part 64 sets the
`processing areas 61Q1 and 61Q2 in the picture plane 61P of the
`image processing part 61 corresponding to the position of the
`object which has been detected by the laser radar 2. The image
`processing part 61 recognizes the preceding car by processing only
`the image data within the processing area which has been thus set.
`
`
`
`IPR2013-00419 - Ex. 1007
`Toyota Motor Corp., Petitioner
`1
`
`

`
`
`
`(2)
`
`Japanese Unexamined Patent Application Publication 07-125567
`
`
`
`
`
`0006
`Problems the Invention Is Intended to Resolve
`
`However, in the "constant travel speed apparatus" of the prior
`art, when following a preceding vehicle which is traveling at low
`speed, the driver must reduce speed and disengaged the constant
`travel speed control. Thus, on congested roads, this operation is
`complex, troublesome and increases risk.
`0007
`
`Meanwhile, in "inter-vehicle distance control apparatus" of
`the prior art, control cannot be performed when there is no preced-
`ing vehicle.
`0008
`
`The inventors of this application have developed a "vehicle
`travel control apparatus" that combines the functions of a constant
`travel speed apparatus and an inter-vehicle distance control appa-
`ratus. As will be described in detail below, cars that are equipped
`with this "car cruise control apparatus" maintains a preset constant
`travel speed even when there is no preceding car present, follows
`the preceding car while maintaining the target inter-vehicle dis-
`tance when there is a preceding car present, and moreover per-
`forms braking control when a vehicle cuts in ahead or one's own
`vehicle is traveling at high speed and begins following a preceding
`vehicle which is traveling at low speed. By using this "preceding
`car cruise control apparatus" when traveling in the main lanes of an
`expressway, the driver can drive the vehicle simply by using steer-
`ing wheel controls to realize so-called "easy driving." Moreover,
`the apparatus can contribute to increased safety in view of the fact
`that it is possible to avoid the danger of coming too close to pre-
`ceding cars and having a rear end collision, even if the driver is
`distracted and looks off to the side or falls asleep at the wheel.
`0009
`
`It is therefore an objective of the "car travel control appa-
`ratus" of this invention to make it possible to perform image pro-
`cessing rapidly and without error to recognize preceding vehicles
`when controlling the pursuit of preceding vehicles.
`0010
`Means of Solving the Problems
`To achieve this objective, a preceding car detecting mecha-
`
`nism of car cruise control apparatus which performs image pro-
`cessing of images obtained by capturing images of the situation in
`front of one's own car and recognizing preceding vehicles with a
`camera means, and which controls engine output so as to travel
`while following the preceding vehicle has: a
`laser
`radar
`that
`emits a laser beam in the horizontal plane to scan in the direction
`in front of one's own car and that receives the reflected laser beam
`to detect the position of objects present in front of one's own car;
`and an image processing means that sets the processing area in the
`picture plane corresponding to the position of objects that have
`been detected by the laser radar when the image undergoes image
`processing and a preceding car is recognized, and that performs
`image processing only of these processing areas to recognize pre-
`ceding cars.
`0011
`Operation of the Invention
`
`In this invention, laser radar is used to detect the position of
`objects present in front of one's own vehicle, the processing area
`within the picture plane is set to coincide with the detection posi-
`tion, image processing is performed for this processing area, and
`preceding vehicles are identified thereby. For example, when there
`is a great distance to the object detected, the processing area is
`made small, when this distance is close, the processing area is
`increased, and when the detected object shifts to the left or right,
`the processing area is shifted to the left or right.
`0012
`Embodiment of the Invention
`
`
`
`
`
`
`
`CLAIMS
`Claim 1 A preceding car detecting mechanism of car cruise
`control apparatus which performs image processing of images
`obtained by capturing images of the situation in front of one's own
`car and recognizing preceding s with a camera means, and which
`controls engine output so as to travel while following the preceding
`vehicle has:
`
`a laser radar that emits a laser beam in the horizontal plane to
`scan in the direction in front of one's own car and that receives the
`reflected laser beam to detect the position of objects present in
`front of one's own car; and
`
`an image processing means that sets the processing area in
`the picture plane corresponding to the position of objects that have
`been detected by the laser radar when the image undergoes image
`processing and a preceding car is recognized, and that performs
`image processing only of these processing areas to recognize pre-
`ceding cars.
`Detailed Description of the Invention
`0001
`Area of Use in Industry
`
`The present invention pertains to car cruise control apparatus.
`More specifically, it pertains to apparatus intended to recognize
`preceding cars by image processing and to facilitate rapid image
`processing and reduce misrecognition when a car is traveling while
`following the recognized preceding vehicle.
`0002
`Prior Art
`
`Constant travel speed control apparatus as well as apparatus
`to control inter-vehicle distance have been commercialized to
`reduce the operations associated with driving a car.
`0003
`
`"Constant travel speed control apparatus" is also known as
`"automatic speed control" or "cruise control." The speed that has
`been set in cars equipped with this apparatus is maintained by
`pushing a switch and removing one's foot from the accelerator
`pedal. The speed setting can be changed by using a control switch.
`This function is canceled when the driver presses the brake pedal,
`the clutch pedal, or operates the gear shift, or the like.
`0004
`
`The following functions have been added in order to maintain
`safety when using this sort of constant travel speed control appa-
`ratus. Thus, a laser radar or the like is used to detect the distance
`from the preceding car, and warning is issued to the driver when
`the car traveling in front becomes abnormally close, and the gear
`shift is shifted down from fourth gear (overdrive) to third gear to
`turn overdrive off and make use of engine braking.
`0005
`
`By pressing a switch in a car equipped with "apparatus to
`control inter-vehicle distance," the target inter-vehicle distance is
`calculated from the speed of one's own vehicle at that time, the
`inter-vehicle distance to the preceding car is detected thereby, and
`engine braking or the brake are used so that the inter-vehicle dis-
`tance with the preceding car is brought to the target inter-vehicle
`distance, and one's own car travels behind the preceding car at that
`distance. In this case, the detection of the inter-vehicle distance
`from the preceding car is found by image processing of the image
`captured by a camera, or is calculated from laser radar, or the like.
`
`
`
`2
`
`

`
`
`
`(3)
`
`Japanese Unexamined Patent Application Publication 07-125567
`
`
`11, 12 as shown in FIG. 5 are designated as f; the length of the
`optical axis between the left and right cameras 11, 12 is designated
`as L; the pixel pitch of the CCD is designated as P; the number of
`pixels by which the right-hand image is shifted to find the match of
`the car images to the left and right in FIG. 4 (a) (b) is designated as
`n, then the distance to the car traveling ahead of one's own car (the
`inter-vehicle distance) R can be calculated according to triangula-
`tion using the following formula:
`R = (f  L) (n  P)
`0019
`
`When the throttle actuator 3 is actuated by command from
`the controller to increase the throttle opening, the engine RPM
`increases and the speed increases. Conversely, when the throttle
`opening decreases, engine braking reduces the speed of the car.
`Following travel control and constant travel speed control, to be
`described below, adjusts the throttle opening. Further, when the
`brake actuator 4 operates in response to a command from the con-
`troller 6 and the brakes are applied, [car] will slow down rapidly.
`This rapid speed braking is performed when another car cuts di-
`rectly in front of one's own car, when brake control is performed as
`described below, or other situations in which one's own car has
`been traveling at a high rate of speed and approaches a preceding
`vehicle which is traveling at a low rate of speed and the in-
`ter-vehicle distance become shorter than that the safe inter-vehicle
`distance. In this system, panic stops are performed only when the
`driver depresses the brake pedal, and not by a panic stop by con-
`troller 6 command, even when there is a sudden decrease in speed.
`0020
`
`Based on FIG. 6, the following is a general description of
`travel control performed primarily by the controller 6. The image
`processing part 61 of the controller 6 performs image processing of
`images captured by the stereoscopic camera 1, the image of the car
`in the scene in front of [one's own car] is recognized by the vehicle
`recognition part 61a, the white line indicating the lane in which
`one's own cars traveling is recognized by the lane recognition part
`61b, and the inter-vehicle distance between the preceding car and
`one's own car is recognized by the inter-vehicle distance recogni-
`tion part 61c. The target vehicle following recognition part 62
`recognizes cars that are traveling in the lane in which one's own
`car is traveling as target vehicles to follow.
`0021
`
`When the target vehicle to follow is recognized by the target
`vehicle following recognition part 62, the settings command part
`63 performs the following target vehicle control. Thus, the settings
`command part 63 uses the inter-vehicle distance recognition part
`61c or the laser radar 2 to find the inter-vehicle distance D to the
`target vehicle which is to be followed, multiplies the setting time
`(for example, 2 seconds) in one's own vehicle speed Va obtained
`from the speed sensor 7, and finds the target inter-vehicle distance
`D0. The throttle actuator 3 is actuated so as to make the in-
`ter-vehicle distance D equal to the target inter-vehicle distance D0,
`and controls engine RPM (i.e., throttle opening). In so doing, in a
`state where the target inter-vehicle distance D0 is taken according
`to the vehicle speed, one's own vehicle travels while following the
`target vehicle. Thus, when the target vehicle’s speed is a high rate
`of speed (for example, 120 km/h), the inter-vehicle distance D0
`will increase (for example, to 66.7m), and one’s own vehicle will
`travel at high speed (for example, 120 km/h) while following the
`target vehicle. Moreover, when the target vehicle is traveling at
`low speed (for example, 60 km/h), the target inter-vehicle distance
`
`
`
`
`Overall Description of the "Car Travel Control Device"
`
`The following is a description of the car travel control appa-
`ratus. This car travel control apparatus is used when traveling on
`expressways and dedicated car roads (hereinafter "expressways").
`0013
`FIG. 1 shows a car provided with car travel control apparatus.
`In this drawing, 1 is a stereoscopic camera, 2 is a laser radar, 3 is a
`throttle actuator, 4
`is a brake actuator, 5
`is a control
`switch-information display part, 6 is a controller, 7 is a car speed
`sensor, 7a is a steering wheel angle sensor, 7b is a brake switch, 7c
`is a brake pedal switch, and 7d is an accelerator pedal switch.
`0014
`As shown in the front few in FIG. 2, the stereoscopic camera
`1 comprises two CCD cameras 11, 12 that acquire images of the
`scene in front of the car, and imaging board, aperture board, and
`other such electronic components are mounted within the body 13
`thereof. This stereoscopic camera 1 is mounted in the vicinity of
`the rearview mirror on the interior of the car. The view field angles
`of each of the cameras 11, 12 are each 23° in the horizontal plane.
`Video signals indicating the images which have been captured by
`the cameras 11, 12 are transmitted to the controller 6.
`0015
`
`The following types of recognition are performed on the
`images captured by the two cameras 11, 12 by image processing in
`the image processing part of the controller 6:
` Recognition of cars traveling ahead (preceding cars).
` Recognition of the white line indicating that, out of the
`multiple lanes comprising the expressway, this is the
`lane in which one's own vehicle is traveling.
` Recognition of the inter-vehicle distance between the
`preceding car and one's own car.
`
`0016
`
`Recognition of the preceding car as in , above, can be done
`for example as follows. The area surrounded by straight lines in the
`longitudinal direction in the image is extracted and the object that
`has left-right symmetry in the area that is extracted and whose
`position does not change very much in the image that is sequen-
`tially acquired is recognized as the preceding car.
`0017
`
`The recognition of the white lines indicating the lane of trav-
`el of one's own car as in , above, can be recognized for example
`as follows. As shown in FIG. 3 (a), the road surface ahead of the
`stereoscopic camera 1 is taken in and next, and the brightness of
`the pixels running along the four lines W1 – W4 in the horizontal
`direction as shown in FIG. 3 (b) is checked and the bright is se-
`lected as the candidate for the white line, and as shown in FIG. 3
`(c), the linear portion from the candidate point at the top and the
`candidate point at the bottom are interpolated and connected to be
`extracted as the white line.
`0018
`
`The recognition of the inter-vehicle distance between the
`preceding car and one's own car as in , above, is performed as
`follows. To images as shown in FIG. 4 (a) and (b) are obtained
`from the two cameras 11, 12 of the stereoscopic camera 1 The
`image which is the same as the car image surrounded by the win-
`dow on the right hand side of the image is somewhat displaced to
`the side in the image on the right hand side. The position of the
`picture having the best match is found while shifting the car image
`on the right hand side which is surrounded by the window one
`pixel at a time within the image search region on the right-hand
`side. Here, when the focal length of the lenses of the cameras
`
`
`
`
`
`
`
`3
`
`

`
`
`
`(4)
`
`Japanese Unexamined Patent Application Publication 07-125567
`
`
`constant speed travel control, cutting-in control, or braking travel
`control are performed, the system shifts to manual operations when
`the driver presses the accelerator pedal, the brake pedal, or oper-
`ates the directional signal. At this time, the control command from
`the settings command part 63 to the throttle actuator 3 and the
`brake actuator 4 is released and priority is given to driver operation.
`When the set switch (described below) is turned on when the sys-
`tem is in manual operation, the system shifts to following travel
`control or constant speed travel control.
`0028
`Description of Portions Corresponding to the Salient Features of
`This Invention
`
`The following is a description of the portions corresponding
`to the salient features of this invention. As shown in FIG. 8, the
`laser beam 2a that is emitted in the forward direction from the laser
`radar 2 which is installed in one's own vehicle scans within the
`horizontal plane. Therefore, by receiving the reflected laser beam
`2a the laser radar 2 can detect the position of an object present in
`front of it. As shown in FIG. 8, the Y-axis is the front of one's own
`vehicle, and the X-axis is the width direction of one's own vehicle,
`and thus the detection position is outputted as information de-
`scribed by the coordinates (x. y). Further, the laser radar can be
`installed in the central portion of the vehicle, as shown in FIG. 10.
`0029
`
`As shown in FIG. 9, when the position coordinate data (X, Y)
`of a detected object is transmitted to the controller 6 from the laser
`radar 2, the controller 6 processing area setting part 64 sets the
`optimal processing area in the picture plane 61P of the image pro-
`cessing part 61. In other words, when distance to the detected
`object is short and the value of coordinate x is small, the entire area
`of the picture plane 61P is processed, and as the distance to the
`detected object becomes greater and the value of coordinate x
`increases, the processing areas become an hour, 61Q1, 61Q2. Also,
`the processing area which has been set based on the value of coor-
`dinate y is shifted to the left or right within the picture plane 61P.
`0030
`
`Specifically, the standard points α and β in the image coor-
`dinate system shown in FIG. 11 are calculated using the following
`formula:
`β = H LINE + A/Y (A: constant)
`α = CENTER + B ・ Ｘ/Ｙ (B: constant)
`r = B/Y… (1 meter's worth of pixels)
`Next, the processing area of the image coordinate system i, j are set
`as follows:
`Processing area = {(i, j) α – k1  r < i < α + k1  r
`β – k2 ・r ＜ j ＜β + k3 ・ｒ}
`k1, k2, and k3 are constants.
`k1 = 0.9 ~ 1.5 (m)
`k2 = 1.5 ~ 2.5 (m)
`k3 = 0.1 ~ 0.5 (m)
`0031
`
`The image processing part 61 performs image processing of
`only the image data within the processing area which has been set
`within the picture playing 61P and determines whether or not the
`object is a preceding car. The image processing flow is illustrated
`in FIG. 12.
`
`
`
`
`D0 become shorter (for example, 33.3 m), and one's own vehicle is
`made to follow the target vehicle while traveling at low speed
`(such as 60 km/h).
`0022
` When following travel control is performed, the target vehi-
`cle to be followed is traveling at a high rate of speed and moves
`ahead of one's own vehicle, and it becomes impossible to acquire
`the target vehicle to be followed by the stereoscopic camera 1 or
`the laser radar 2, or the target vehicle shifts to another lane, the
`settings command part 63 will control the throttle opening (i.e.,
`engine RPM) by means of the throttle actuator 3 so as to hold one's
`own vehicle speed only for a predetermined settings whole time
`(such as 2 seconds). In other words, the system will shift from
`following travel control to vehicle speed control hold control (see
`FIG. 7).
`0023
`
`When another preceding vehicle is recognized as the target
`vehicle to be followed before this hold time has elapsed, which is
`to say when a preceding vehicle is acquired in the travel lane of
`one's own vehicle, the system will once again shift to following
`travel control, as described above (see FIG. 7).
`0024
`
`When the system transitions to constant speed travel control,
`the settings control part 63 will control the throttle opening (i.e.,
`engine RPM) by means of the throttle actuator so that one's own
`vehicle's travel speed will be the rate of speed at the point when it
`became impossible to acquire a preceding vehicle or a preset set-
`ting speed VS. If a target vehicle to be followed is acquired during
`constant travel control, the system will shift to following travel
`control (see FIG. 7).
`0025
`
`When the system is in following travel control, vehicle hold
`control, or constant speed travel control, the system will shift to
`cutting-in control when the laser radar 2 detects the presence of a
`vehicle that has cut in front of [one's own vehicle], and the settings
`command part 63 will control the throttle actuator 3 so that the
`throttle is fully closed for a specific length of time. When this fully
`close time has elapsed, the system will shift to following travel
`control when a target vehicle has been acquired, or will shift to
`constant speed travel control when no target vehicle can be ac-
`quired (see FIG. 7).
`0026
`
`In following travel control, vehicle speed hold control, con-
`stant speed travel control, or cutting-in control, the system shifts to
`braking travel control when the presence of a preceding car in a
`position which is closer than the safe inter-vehicle distance (which
`is determined by the relative speeds of one's own vehicle and of
`the preceding vehicle, and the speed of one's own vehicle, to be
`described below). Thus, the settings command part 63 actuates the
`throttle actuator 3 and fully closes the throttle, and at the same time
`it actuates the brake actuator 4, applying the brakes and slowing
`the vehicle. This braking travel control is performed when one's
`own vehicle is traveling at a high rate of speed and is following a
`preceding vehicle traveling at a low rate of speed, or when the
`preceding car suddenly reduces speed, and other such circum-
`stances. Braking control is performed until the inter-vehicle dis-
`tance from the preceding car returns to a safe inter-vehicle distance.
`When braking travel control has been completed, the system shifts
`to following travel control when a target vehicle to be followed is
`acquired, or shifts to vehicle speed hold control when no target
`vehicle can be acquired.
`0027
`
`When following travel control, vehicle speed hold control,
`
`
`
`
`
`
`
`4
`
`

`
`
`
`(5)
`
`Japanese Unexamined Patent Application Publication 07-125567
`
`Symbols
`Stereoscopic camera
`1
`
`View field
`1a
`
`CCD camera
`11, 12
`Body
`13
`
`Laser radar
`2
`
`Laser beam
`2a
`
`Throttle actuator
`3
`
`Deflection part
`31
`
`Throttle command part
`32
`
`Brake actuator
`4
`
`Operating switch and information display part
`5
`
`Image processing part
`61
`
`Vehicle recognition part
`61a
`
`61b Lane recognition part
`61c
`
`Inter-vehicle distance recognition part
`62
`
`Target following vehicle recognition part
`63
`
`Settings command part
`64
`
`Processing area settings part
`7
`
`Speed sensor
`7a
`
`Steering wheel angle sensor
`7b
`
`Brake switch
`7c
`
`Brake pedal switch
`7d
`
`Accelerator pedal switch
`
`
`
`0032
`
`Since image processing is performed only of the data within the
`processing area which has been set by the image processing part 61,
`image processing can be done at high-speed and without errors in
`detecting objects in comparison to image processing in which data in
`the entire picture plane is processed.
`0033
`Effect of the Invention
`
`As specifically described in the foregoing embodiment, this
`invention reduces the image processing area according to the position
`of objects which have been detected by laser radar and facilitates
`high-speed processing and reduces the misrecognition of objects.
`Brief Description of the Drawings
`Block diagram of a car provided with car cruise con-
`FIG. 1
`trol apparatus.
`Front view of a stereoscopic camera.
`FIG. 2
`FIG. 3
`Explanatory drawing describing a method of detecting
`white lines by image processing.
`Explanatory drawing describing a method of detecting
`FIG. 4
`inter-vehicle distance by image processing.
`Explanatory drawing describing triangulation by
`FIG. 5
`means of a stereoscopic camera.
`Block diagram showing a controller.
`FIG. 6
`FIG. 7
`State diagram showing the transition states of travel
`control.
`Explanatory drawing showing the scanning state of a
`FIG. 8
`laser beam.
`Block diagram showing an embodiment of this inven-
`FIG. 9
`tion.
`FIG. 10 Explanatory drawing showing the scanning state of a
`laser beam.
`FIG. 11 Explanatory drawing showing an image coordinate
`system.
`Flowchart showing car recognition procedures using
`FIG. 12
`image processing.
`
`
`
`
`
`
`
`
`
`
`
`
`
`5
`
`

`
`(6)
`
`Japanese Unexamined Patent Application Publication 07-125567
`
`FIG. 4
`
`FIG. 5
`
`FIG. 8
`
`r
`
`FIG. 6
`
`6 Controller
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`FIG. 10
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`Preceding
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`r
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`FIG. II
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`FIG. 12
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`6
`
`

`
`
`
`(7)
`
`Japanese Unexamined Patent Application Publication 07-125567
`
`
`
`Patent Office Serial Number
`
`F1
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`Indication of technology
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`May 6, 2013
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`Park IP Translations
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`Certification
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`This is to certify that the attached translation is, to the
`best of my knowledge and belief, a true and accurate
`translation from Japanese into English of: Japanese
`Unexamined Patent Application Publication Number H07-125567.
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`_______________________________________
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`Abraham I. Holczer
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`Project Manager
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`Park Case # 39390
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`134 W. 29th Street 5th Floor  New York, N.Y. 10001
`Phone: 212-581-8870  Fax: 212-581-5577
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