JPH0511052A - Vehicle mounted type obstacle detecting apparatus - Google Patents

Abstract

PURPOSE:To display the data of the advancing direction, the speed and the like of a specified obstacle on an infrared image. CONSTITUTION:A field of view 2 on of an infrared-ray image sensing device 1 and a field of view 4 of a laser radar device 3 are set on the same field of view with a scanning device 5. At the time when the position of an obstacle in the infrared image agrees with the position of a scanning angle sensor 6, the advancing direction and the speed of a specified obstacle in time series are computed based on the distance data from the laser radar device 3 and the data of a vehicle speed sensor 7. The obstacle, the distance, the advancing direction and the speed are displayed on the infrared image on a monitor 9. Therefore, the data of the distance, the advancing direction and the speed can be added to the image data of the obstacle. At the same time, the additional data with respect to a plurality of the obstacles can be obtained.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle-mounted obstacle detection device mounted on a vehicle to detect obstacles.

[0002]

2. Description of the Related Art Conventionally, as a vehicle-mounted obstacle detection device, for example, there is an infrared imaging device, which obtains a two-dimensional infrared image within a field of view and displays it on a monitor. Also,
Conventionally, as this type of obstacle detection device, there is a laser radar device, which determines the presence or absence of an obstacle in a fixed field of view and measures the distance to the obstacle.

[0003]

However, in the conventional obstacle detecting device, the former infrared imaging device only acquires a thermal image of an object which may be an obstacle in the visual field. However, it has been difficult to obtain information on the direction in which the obstacle object is located, information on the distance to the obstacle object, the traveling direction, and the speed.

On the other hand, in the latter laser radar device, the distance to the obstacle is measured by irradiating the entire visual field with laser light and receiving the reflected light from the obstacle. It is difficult to specify the distance measurement target when there are a plurality of physical objects.

The present invention has been made in view of the above problems, and provides a vehicle-mounted obstacle device capable of identifying an obstacle in a visual field and obtaining information on the obstacle. To aim.

[0006]

In order to achieve the above object, a vehicle-mounted obstacle detection device of the present invention comprises an infrared image pickup device for picking up an infrared image of an obstacle and an obstacle detection device for irradiating a laser beam. A laser radar device that measures the distance to an obstacle by receiving reflected light, a scanner that scans the laser light of the laser radar device within the field of view of the infrared imaging device, and a scanning angle that the scanner operates. And a scanning angle sensor for detecting the obstacle angle from the infrared image at the scanning angle detected by the scanning angle sensor and the distance measurement value corresponding to the obstacle is extracted by the laser radar device, and these are also extracted. A signal processor that calculates the advancing direction and speed of the obstacle based on the result and the vehicle speed of the mounted vehicle, and a monitor that displays the information calculated by the signal processor at the same time as the infrared image. E was there as a constituent.

[0007]

According to the vehicle-mounted obstacle detection device having the above-described structure, the infrared imaging device and the laser radar device having the scanner are combined, and the field of view of the infrared imaging device and the field of view of the laser radar device are the scanner. When the position of the obstacle in the infrared image and the position of the scanning angle sensor coincide with each other, the signal processor based on the distance information from the laser radar device and the vehicle speed information makes a time series The traveling direction and speed of the specific obstacle in the outer image are calculated, and the calculation result is displayed on the monitor together with the infrared image.
Therefore, information on the distance, the traveling direction, and the speed can be added to the image information of the obstacle. Also, additional information can be obtained for a plurality of obstacles at the same time.

[0008]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing a vehicle-mounted obstacle detection device according to an embodiment of the present invention.

In the figure, reference numeral 1 denotes an infrared image pickup device for picking up an obstacle with an infrared image. Reference numeral 2 denotes the field of view of the infrared imaging device 1. A laser radar device 3 measures the distance to the obstacle by irradiating the laser light and receiving the reflected light from the obstacle. Reference numeral 4 is a field of view of the laser radar device 3. Reference numeral 5 is a scanner for scanning the inside of the visual field 4 so as to be the same visual field as the visual field 2. Reference numeral 6 denotes a scanning angle sensor for detecting the scanning angle within the field of view 4.

Reference numeral 7 indicates a vehicle speed sensor of a vehicle, 8 indicates a signal processor, and 9 indicates a monitor. The signal processor 8 extracts an object which is an obstacle from the infrared image at the scanning angle detected by the scanning angle sensor 6 and extracts a distance measurement value corresponding to the obstacle by the laser radar device 3 and It has a function of calculating the traveling direction and speed of the obstacle by combining the extraction result and the vehicle speed detected by the vehicle speed sensor 7 of the mounted vehicle.

The monitor 9 displays the calculation result calculated by the signal processor 8 and the vehicle speed together with the infrared image.

Therefore, according to the vehicle-mounted obstacle detection device according to this embodiment, first, the signal processor 8 extracts a thermal object that may become an obstacle from the infrared image obtained from the infrared imaging device 1. Information on the angular direction in which it is located is acquired. The signal processor 8 obtains the distance measurement value sent from the laser radar device 3, that is, the distance information to the object which is an obstacle when the obtained information on the angle direction and the angle information from the scanning angle sensor 7 match. To do.

Further, the signal processor 8 processes this distance information and the vehicle speed of the mounted vehicle from the vehicle speed sensor 7 in time series to obtain information on the traveling direction and traveling speed of the obstacle object.

Then, the above information is displayed on the same monitor 9 through the signal processor 8 for each obstacle object.

[0015]

As described above, according to the vehicle-mounted obstacle detection device of the present invention, the infrared imaging device is combined with the laser radar device equipped with the scanner for scanning the laser beam and the scanning angle sensor. Since each signal is processed at the same time by the signal processor based on the vehicle speed of the vehicle, the extraction of the obstacle object from the infrared image and the distance, traveling direction and speed of the obstacle can be performed in real time on the same monitor. Can be displayed. Therefore, there is an effect that the obstacle in the visual field can be specified and the information of the obstacle can be obtained, and the additional information can be simultaneously obtained for each of the plurality of obstacles.

[Brief description of drawings]

FIG. 1 is a block diagram showing a vehicle-mounted obstacle detection device according to an embodiment of the present invention.

[Explanation of symbols]

 1 Infrared Imaging Device 2 Field of View of Infrared Imaging Device 1 Laser Radar Device 4 Field of View of Laser Radar Device 5 Scanner 6 Scanning Angle Sensor 7 Vehicle Speed Sensor 8 Signal Processor 9 Monitor

Claims (1)

Claim: What is claimed is: 1. An infrared image pickup device for picking up an infrared image of an obstacle, and a laser for measuring a distance to the obstacle by irradiating a laser beam and receiving reflected light from the obstacle. A radar device, a scanner for scanning the laser light of the laser radar device in the field of view of the infrared imaging device, a scanning angle sensor for detecting a scanning angle operated by the scanner, and a scanning angle detected by the scanning angle sensor. In addition to extracting the obstacle from the infrared image in the and the distance measurement value corresponding to the obstacle by the laser radar device is extracted, based on the extraction result and the vehicle speed of the vehicle equipped with A vehicle-mounted obstacle detection device comprising: a signal processor for calculating a speed; and a monitor for displaying information calculated by the signal processor simultaneously with an infrared image.