公开(公告)号：US5313295A

公开(公告)日：1994-05-17

申请号：US852652

申请日：1992-03-17

Applicant: Hiroyasu Taniguchi ,  Haruki Furusawa ,  Jun Hatakenaka ,  Akinobu Seki

Inventor： Hiroyasu Taniguchi ,  Haruki Furusawa ,  Jun Hatakenaka ,  Akinobu Seki

IPC: G01S3/786 ,  G01S11/12 ,  G08G1/04 ,  H04N7/18

CPC classification number: G08G1/04 ,  G01S11/12 ,  G01S3/7864

Abstract: A moving body measuring device, having an image taking unit for taking an image of a moving body, a controller for controlling the image taking unit and a frame memory for memorizing an image data of the image of the image taking unit, which processes the image data, detects the moving body and obtains an information of the moving body which comprises an existence domain setting circuit for previously setting an existence domain of the moving body extended along a moving path of the moving body based on the image data, a sampling circuit for sampling a data showing the moving body based on the image data in the existence domain, and a timewise data accumulating circuit for timewisely and continuously accumulating at every constant period, the data showing the moving body sampled by the sampling circuit which detects a timewise change of the moving body moving in the previously set existence domain.

Abstract translation: 一种移动体测量装置，具有用于拍摄移动体的图像的摄像单元，用于控制摄像单元的控制器和用于存储图像拍摄单元的图像的图像数据的帧存储器，该图像数据处理图像 数据，检测移动体并获得移动体的信息，其包括用于基于图像数据预先设定沿着移动体的移动路径延伸的移动体的存在区域的存在域设置电路，用于 基于存在域中的图像数据对表示移动体的数据进行采样，以及用于每个恒定周期时间和连续地累积的时间数据累积电路，示出由采样电路采样的移动体的数据，该采样电路检测时间上的变化 移动体在先前设定的存在域中移动。

公开(公告)号：US5282013A

公开(公告)日：1994-01-25

申请号：US903921

申请日：1992-06-26

Applicant: Dennis J. Gregoris

Inventor： Dennis J. Gregoris

IPC: F41G7/22 ,  G01C3/08 ,  G01S11/12 ,  F41G7/00 ,  G01J1/20

CPC classification number: G01S11/12 ,  F41G7/2226 ,  F41G7/2253 ,  F41G7/2286 ,  F41G7/2293 ,  G01C3/08

Abstract: In an IRST system, a determination of the range and type of a detected target may be made as follows. Atmospheric transmittance and background spectral radiance is estimated from available meteorological data and then, at each of consecutive scans, the contrast irradiance in the direction of a target is measured as well as the azimuth and elevation of said target. A target type is selected from a library of target types storing signatures of the target types considering the measured contrast irradiance as well as the measure of the contrast irradiance at the previous scan (if any). The range of the target is calculated considering the selected target type, the estimated atmospheric parameters and the measured contrast irradiance. Where the target has other than a radially inbound trajectory the trajectory of the target is estimated and the target type selected from the library, considering the estimated trajectory. The range of the target is estimated considering the selected target type, the angular movement of the target, and the range estimate for the target made during the last scan. Given two range estimates, the estimates are combined.

Abstract translation: 在IRST系统中，可以如下确定检测到的目标的范围和类型。 从可用的气象数据估计大气透射率和背景光谱辐射，然后在每个连续扫描中测量目标方向上的对比度辐射以及所述目标的方位角和仰角。 考虑到测量的对比度辐照度以及先前扫描（如果有的话）的对比度辐照度的测量，从存储目标类型的签名的目标类型的库中选择目标类型。 考虑到所选择的目标类型，估计的大气参数和测量的对比度辐照度来计算目标的范围。 在目标具有不同于径向入站轨迹的情况下，考虑到估计的轨迹，估计目标的轨迹并从图书馆中选择目标类型。 考虑到所选择的目标类型，目标的角度运动以及在最后一次扫描期间进行的目标的范围估计，估计目标的范围。 给出两个范围估计值，估计数合并。

公开(公告)号：US5257209A

公开(公告)日：1993-10-26

申请号：US928521

申请日：1992-08-10

Applicant: Vishal Markandey

Inventor： Vishal Markandey

IPC: G01S11/12 ,  G06T7/20 ,  G06F15/50

CPC classification number: G01S11/12 ,  G06T7/20 ,  G06T7/2033

Abstract: A method for using a computer-based imaging system, which may be in motion, to observe a moving object and determine its motion. The imaging system is used to obtain at least two images separated by a known time interval. The apparent motion of the observed object is expressed in terms of its true optical flow parameters with coefficients that represent the camera motion, projection geometry, and time interval. The result is a system of equations that may be solved for the true optical flow parameters.

Abstract translation: 一种使用可能运动的基于计算机的成像系统来观察移动物体并确定其运动的方法。 成像系统用于获得由已知时间间隔分开的至少两个图像。 观察对象的视在运动由其真实光流参数表示，其系数表示相机运动，投影几何和时间间隔。 结果是可以为真实光流参数求解的方程组。

公开(公告)号：US5257022A

公开(公告)日：1993-10-26

申请号：US670559

申请日：1991-03-18

Applicant: Tatsuji Irie

Inventor： Tatsuji Irie

IPC: G01C3/06 ,  G01S11/12 ,  G08G1/16 ,  G08G1/123

CPC classification number: G01S11/12 ,  G08G1/166

Abstract: A method and an apparatus for following a vehicle are disclosed by which the distance from a vehicle to a preceding target vehicle running ahead thereof can be exactly measured and, based on the thus measured distance, an appropriate vehicle following window can be automatically set with respect to a target image of the preceding vehicle at the start of vehicle following. Images of objects including the preceding vehicle are taken from two different points. The distance to the preceding vehicle is measured based on the images thus taken from the two points. On the basis of the measured distance, the size of an image-following window to be set within an image area displayed on a screen of a display is determined for following the preceding vehicle. The image of the preceding vehicle is found among various images of objects in the image area on the screen, and the position of the window on the screen is properly set and then temporarily stored in a memory. From various images of objects presently taken from the one of the two points, a new image is found which most resembles the image of the preceding vehicle in the last window stored in the memory. Based on the new image, a new window containing it is set on the screen. The position of the new window is adjusted to a location at which the best symmetry of the image within the new window is obtained while shifting the window stepwise. Then, the above steps are repeated.

Abstract translation: 公开了一种用于跟随车辆的方法和装置，通过该方法和装置可以精确地测量从车辆到前方的前一目标车辆的距离，并且基于如此测量的距离，可以相对于 到车辆跟随开始时的前一车辆的目标图像。 包括前方车辆在内的物体的图像取自两个不同点。 基于从两点得到的图像来测量与前一车辆的距离。 基于测量的距离，确定要在显示在显示器的屏幕上的图像区域内设置的图像跟随窗口的大小用于跟随前一车辆。 在屏幕上的图像区域中的对象的各种图像中找到前一车辆的图像，并且将屏幕上的窗口的位置适当地设置，然后临时存储在存储器中。 从目前从两点之一拍摄的目标物体的各种图像中，发现最近类似于存储在存储器中的最后窗口中的前一车辆的图像的新图像。 根据新的图像，屏幕上会显示一个包含它的新窗口。 新窗口的位置被调整到在逐步移动窗口的同时获得新窗口内的图像的最佳对称性的位置。 然后，重复上述步骤。

公开(公告)号：US5255064A

公开(公告)日：1993-10-19

申请号：US735565

申请日：1991-07-25

Applicant: Hiroko Maekawa

Inventor： Hiroko Maekawa

IPC: G01C3/06 ,  G01S11/12 ,  G06T1/00 ,  G01C3/00 ,  B60T7/16 ,  G01C5/00

CPC classification number: G01S11/12

Abstract: The present invention provides a distance-measuring equipment for measuring the distance from a moving target on the principle of triangulation by electrically detecting the relative dislocations of first and second images focused on the image sensors of paired first and second optical systems through the comparison of image signals respectively provided by the image sensors comprising: a windowing unit for forming a window by selecting specific image signal from either of the image signals stored in the respective memory means, and storing it as a reference image signal in a window memory; and also having a window reforming function for reforming the window at predetermined time intervals, characterized in that a microprocessor compares the reference image signal and another image signal by shifting the latter signal each time for one or more than one bit in accordance with a predetermined shift pattern, and having an interpolation calculating function so as to improve the resolution for detecting the dislocation of the two image signals more precisely and calculating the distance from the moving target. By use of the equipment as constructed above, the time required for calculation can be greatly reduced, yet precision of the distance measurement is improved and thereby reliability thereof can also be improved.

Abstract translation: 本发明提供了一种距离测量设备，用于通过电子检测聚焦在成对的第一和第二光学系统的图像传感器上的第一和第二图像的相对位错，通过图像比较来测量与运动目标的距离。 分别由图像传感器提供的信号包括：窗口单元，用于通过从存储在各个存储器装置中的任一个图像信号中选择特定图像信号来形成窗口，并将其作为参考图像信号存储在窗口存储器中; 并且还具有用于以预定的时间间隔对窗口进行重整的窗口重整功能，其特征在于，微处理器通过根据预定的偏移量每次对一个或多于一个位移动后一信号来比较参考图像信号和另一图像信号 模式，并且具有插值计算功能，以便更精确地提高用于检测两个图像信号的位错的分辨率，并计算与移动目标的距离。 通过使用如上所述的设备，可以大大减少计算所需的时间，而提高距离测量的精度，从而提高其可靠性。

公开(公告)号：US5218414A

公开(公告)日：1993-06-08

申请号：US881861

申请日：1992-05-12

Applicant: Yasuya Kajiwara

Inventor： Yasuya Kajiwara

IPC: G01B11/24 ,  G01B11/245 ,  G01C3/06 ,  G01S11/12 ,  G02B7/36 ,  G03B7/28 ,  G06T1/00 ,  H04N5/232 ,  H04N5/235

CPC classification number: G01S11/12

Abstract: A distance measuring apparatus which can accurately measure the distance to an object and keep track of the object. In the apparatus, a pair of image-pickup optical systems pick up an object. A window including the object is set in an image picked up by one of the image-pickup optical systems. The distance to the object is measured by calculating correlation between the image in the window and an image picked up by the other image pickup optical system. Tracking an object is also possible by taking a correlation of images in the window formed in a time sequence. Adequate exposure is determined from an image signal in the window so that the image pickup optical systems are controlled to set the adequate exposure to the image in the window. Contrast of an image in the window becomes distinct, thus enabling accurate distance calculations and tracking of an object.

公开(公告)号：US5216408A

公开(公告)日：1993-06-01

申请号：US700990

申请日：1991-05-16

Applicant: Hiroyuki Shirakawa

Inventor： Hiroyuki Shirakawa

IPC: G01C3/06 ,  G01S11/12 ,  H04N7/18

CPC classification number: G01S11/12 ,  B60G2400/823 ,  B60G2401/142 ,  B60G2800/166

Abstract: An inter-vihicle distance detecting device for automatic tracking of a foregoing car which comprises: image sensors for taking images of a foregoing car; displaying means for displaying one of the images of the foregoing car being taken by the image sensors; an image taking window which repeats forward and backward movement horizontally from an end to the other end of a display of the displaying means at a predetermined speed; an image tracking starting switch being operable by a driver; image tracking means for tracking the image of the foregoing car, activated by the image tracking starting switch when the image of the foregoing car enters in the image taking window; and detecting means for detecting an inter-vehicle distance between a car of the driver and the foregoing car being displayed on the image taking window.

Abstract translation: 一种用于自动跟踪前述轿厢的行星体距离检测装置，包括：用于拍摄前述轿厢的图像的图像传感器; 用于显示由图像传感器拍摄的前述轿厢的图像之一的显示装置; 图像采集窗口，其以预定速度从显​​示装置的显示器的端部向另一端水平地重复前后移动; 图像跟踪启动开关可由驾驶员操作; 图像跟踪装置，用于跟踪前述轿厢的图像，当前述轿厢的图像进入图像拍摄窗口时，由图像跟踪开始开关激活; 以及检测装置，用于检测在图像拍摄窗口上显示的驾驶员的轿厢和前述轿厢之间的车辆间距离。

公开(公告)号：US5197562A

公开(公告)日：1993-03-30

申请号：US693261

申请日：1991-04-29

Applicant: Toshiaki Kakinami ,  Takashi Hida ,  Jun Sato ,  Mitsuyoshi Saiki

Inventor： Toshiaki Kakinami ,  Takashi Hida ,  Jun Sato ,  Mitsuyoshi Saiki

IPC: B60K31/02 ,  B60K31/00 ,  B60W30/00 ,  F02D29/02 ,  F02D45/00 ,  F16H61/21 ,  G01S11/12 ,  G05D1/02 ,  G08B21/00

CPC classification number: B60K31/0008 ,  B60W2540/12 ,  F16H61/21 ,  G01S11/12

Abstract: A vehicle cruising control device includes a detecting device for detecting the current speed of the vehicle, a constant speed control device for maintaining the speed of the vehicle at a selected speed, a measuring device for measuring the current inter-vehicle distance between the vehicle and an advance vehicle and an inter-vehicle distance control device for maintaining the inter-vehicle distance between the vehicle and the advance vehicle at a predetermined distance based on the degree of danger determined by the relationship of the current distance between vehicles and the relative speed between the vehicles. A switching device is provided for turning on either of the constant speed control device and the inter-vehicle distance control device.

Abstract translation: 车辆巡航控制装置包括用于检测车辆的当前速度的检测装置，用于将车辆的速度保持在选定速度的恒速控制装置，用于测量车辆与车辆之间当前车辆间距离的测量装置， 提前车辆和车辆间距离控制装置，用于基于由车辆之间的当前距离的关系确定的危险程度和车辆之间的相对速度之间的相对速度，将车辆与前进车辆之间的车辆间距离保持在预定距离 车辆。 提供了一种开关装置，用于接通恒速控制装置和车辆间距离控制装置中的任一个。

公开(公告)号：US5196689A

公开(公告)日：1993-03-23

申请号：US775134

申请日：1991-10-11

Applicant: Keizo Sugita ,  Shunei Saito ,  Akira Tajiri ,  Hitoshi Kaneko ,  Iwao Okamura ,  Kentaro Ishizuka

Inventor： Keizo Sugita ,  Shunei Saito ,  Akira Tajiri ,  Hitoshi Kaneko ,  Iwao Okamura ,  Kentaro Ishizuka

IPC: G01S3/781 ,  G01S3/783 ,  G01S5/16 ,  G01S11/12

CPC classification number: G01S3/781 ,  G01S11/12 ,  G01S3/783 ,  G01S5/16

Abstract: A device for detecting an object by detecting an infrared ray emitted from a moving object. The device includes a plurality of light receiving elements, each being disposed so as to receive infrared rays at a predetermined directional optical angle, and the position of and distance to the object is detected based on detection results by the respective light receiving elements. The moving speed and acceleration of the object are also detected from detection results by the respective light receiving elements, taking time-varying factors into consideration.

Abstract translation: 一种用于通过检测从移动物体发射的红外线来检测物体的装置。 该装置包括多个光接收元件，每个光接收元件被设置为以预定的定向光学角度接收红外线，并且基于各个光接收元件的检测结果来检测与物体的位置和距离。 考虑到时间变化的因素，也可以通过各个光接收元件的检测结果检测物体的移动速度和加速度。

公开(公告)号：US5165108A

公开(公告)日：1992-11-17

申请号：US663532

申请日：1991-03-04

Applicant: Yoshiaki Asayama

Inventor： Yoshiaki Asayama

IPC: G01C3/06 ,  B60Q1/52 ,  G01C11/00 ,  G01S3/782 ,  G01S11/12

CPC classification number: G01S11/12 ,  B60Q9/008 ,  B60G2400/823 ,  B60G2500/30 ,  B60G2600/1875 ,  B60G2800/222 ,  B60G2800/70 ,  B60G2800/914

Abstract: A vehicle-to-vehicle distance detecting apparatus for use in tracing a preceding vehicle is disclosed in which the driver is able to set a vehicle tracing window on a displayed picture image of the preceding vehicle in an easy manner while driving the vehicle. Even if there are a plurality of preceding vehicles, the driver is able to easily identify a particular one of them which his or her vehicle is tracing for measuring the distance therebetween. The apparatus is also able to automatically monitor objects ahead of a vehicle and warn the driver of a possible danger of collision with an obstacle when no instruction is given by the driver for setting an image-tracing window for tracing a preceding vehicle. When an instruction switch is turned on by the driver after the image of the preceding vehicle comes in the image-tracing window formed at a prescribed position, a microcomputer controls, based on the image signals from the image sensors, the image-tracing window so as to trace the picture image of a preceding vehicle on the screen. The microcomputer detects the distance from the specific vehicle to the preceding vehicle or obstacle displayed on the screen in the image-tracing window and the distance from the specific vehicle to the preceding vehicle being image-traced on the screen in the image-tracing window.

Abstract translation: 公开了一种用于跟踪前方车辆的车辆至车辆距离检测装置，其中驾驶员能够以驾驶车辆的方式容易地在前车辆的显示图像上设置车辆跟踪窗口。 即使存在多个先前的车辆，驾驶员能够容易地识别他或她的车辆正在跟踪的其中一个特定的一个以测量它们之间的距离。 该装置还能够自动监视车辆前方的物体，并且当驾驶员没有给出用于设置用于跟踪前方车辆的图像跟踪窗口的指令时，警告驾驶员可能与障碍物碰撞的危险。 当在前一车辆的图像进入形成在规定位置的图像跟踪窗口之后驾驶员接通指令开关时，微型计算机基于图像传感器的图像信号来控制图像跟踪窗口 以便在屏幕上追踪前方车辆的图像。 微型计算机检测在图像跟踪窗口中显示在屏幕上的特定车辆到前一车辆或障碍物的距离，并且在图像跟踪窗口中的屏幕上图像跟踪到特定车辆到前一车辆的距离。