JPH08201530A - Obstacle detection device - Google Patents
Obstacle detection deviceInfo
- Publication number
- JPH08201530A JPH08201530A JP3451595A JP3451595A JPH08201530A JP H08201530 A JPH08201530 A JP H08201530A JP 3451595 A JP3451595 A JP 3451595A JP 3451595 A JP3451595 A JP 3451595A JP H08201530 A JPH08201530 A JP H08201530A
- Authority
- JP
- Japan
- Prior art keywords
- obstacle
- vehicle
- vehicle body
- image
- image processing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
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- Geophysics And Detection Of Objects (AREA)
- Emergency Alarm Devices (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、自動車等の車両の周囲
における障害物の存在を検知して運転者に認識せしめ、
車両を安全に運転可能とする障害物検知装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention detects the presence of an obstacle around a vehicle such as an automobile and makes the driver aware of it.
The present invention relates to an obstacle detection device that enables safe driving of a vehicle.
【０００２】[0002]
【従来の技術】車両の進行方向前方に存在する障害物の
存在を検知して運転者に認識せしめる障害物検知装置の
１例として特開平２−１５８９００号の発明が提供され
ている。2. Description of the Related Art The invention of Japanese Patent Application Laid-Open No. 2-158900 is provided as an example of an obstacle detecting device for detecting the presence of an obstacle existing in the forward direction of a vehicle and making the driver recognize it.
【０００３】この発明においては、車両の前方の光景を
撮影する赤外線センサと、この赤外線センサからの検知
信号により車両前方の光景の温度分布画像を作る画像化
手段と、画像の中から高温領域を抽出する抽出手段と、
前記高温領域と車両との距離を測定する手段とを備え、
赤外線センサからの車両前方の光景から車両前方の温度
分布画像を作成し、これの高温領域を抽出して障害物の
存在と、これと車両との距離、方向を検出するように構
成されている。According to the present invention, an infrared sensor for photographing a scene in front of the vehicle, an image forming means for forming a temperature distribution image of the scene in front of the vehicle by a detection signal from the infrared sensor, and a high temperature region in the image are displayed. Extraction means for extracting,
A means for measuring the distance between the high temperature region and the vehicle,
The temperature distribution image in front of the vehicle is created from the scene in front of the vehicle from the infrared sensor, and the high temperature area is extracted to detect the presence of the obstacle and the distance and direction between the obstacle and the vehicle. .
【０００４】[0004]
【発明が解決しようとする課題】前記技術においては、
赤外線センサを使用しているので、夜間においても障害
物の存在を正確に検知でき、また車両と障害物との間の
距離及び方向も検知可能であるという大きな利点がある
反面、障害物の検知可能域は車両の進行方向前方に限ら
れる。SUMMARY OF THE INVENTION In the above technique,
Since the infrared sensor is used, the presence of obstacles can be accurately detected even at night, and the distance and direction between the vehicle and the obstacle can also be detected, but the obstacles can be detected. The possible range is limited to the forward direction of the vehicle.
【０００５】このため、車両の駐車時に車両の車体下部
に障害物が既に存在しあるいは侵入してきていた場合に
は障害物の存在を検知することはできず、運転者が障害
物の存在を認識しないまま車両を発進せしめた場合、障
害物が人間であった場合は、死傷事故という重大事故の
発生につながる可能性が強い。特に外部より子供等が侵
入し易い路上若しくは子供の遊び場に隣接する駐車内で
は、駐車中のトラック等の車両の下に入り込む恐れがあ
り、死傷事故という重大事故の発生につながり易い。又
前記障害物が荷物や石等の場合には、該荷物の破損や車
体側の破損につながる また、前記従来技術では高価な赤外線センサを使用する
ので装置が高コストとなる。Therefore, when an obstacle is already present or has entered the lower part of the vehicle body when the vehicle is parked, the presence of the obstacle cannot be detected, and the driver recognizes the presence of the obstacle. If the vehicle is started without doing so, and if the obstacle is a human being, there is a strong possibility that a serious accident such as a fatal accident may occur. In particular, on the road where children or the like are likely to enter from the outside or in the parking area adjacent to the children's playground, there is a risk of entering under a vehicle such as a parked truck, which easily leads to a serious accident such as a fatal accident. Further, when the obstacle is a baggage, a stone, or the like, the baggage may be damaged or the vehicle body may be damaged. Further, since the expensive infrared sensor is used in the prior art, the cost of the device becomes high.
【０００６】本発明の目的は簡単な構造かつ低コストの
装置で以て、車体の下部における障害物の存在を検知
し、運転者に認識せしめることにより、車両の安全な運
転を可能とすることである。It is an object of the present invention to enable a safe driving of a vehicle by detecting the presence of an obstacle in the lower part of the vehicle body with a device having a simple structure and a low cost and letting the driver recognize it. Is.
【０００７】[0007]
【課題を解決するための手段】本発明は前記問題点を解
決するためになされたもので、その第１の特徴とする点
は、車体下方に該空間の光景を検出する検出手段を設
け、該検出手段からの検出信号に基づき車体下部空間の
光景を画像表示する表示装置と、該表示装置に表示され
る車両の駐車前後の車体下部空間の画像を比較し、画像
の相違から障害物の存在の有無を判定する画像処理部と
を備えたことである。SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and the first characteristic of the present invention is to provide a detecting means for detecting a scene of the space below the vehicle body, A display device that displays an image of the scene of the lower space of the vehicle body based on a detection signal from the detection means is compared with images of the lower space of the vehicle body before and after parking of the vehicle displayed on the display device. And an image processing unit for determining the presence / absence of the existence.
【０００８】また本発明の第２の特徴とする点は、前記
検出手段をＣＣＤカメラにて構成するとともに、障害物
の存在の有無を判定する画像処理部に微小障害物その他
のノイズ除去機能が付設されていることにある。A second feature of the present invention is that the detecting means is composed of a CCD camera, and the image processing section for judging the presence or absence of obstacles has a function of removing noises such as minute obstacles. It is attached.
【０００９】さらに本発明の第３の特徴とする点は前記
画像処理部に、画像の相違が生じたとき警報を発信する
警報装置を接続したことである。A third feature of the present invention is that the image processing unit is connected with an alarm device for issuing an alarm when an image difference occurs.
【００１０】[0010]
【作用】本発明は前記のように構成されているので、Ｃ
ＣＤカメラ等よりなる検出手段にて車両の駐車前後にお
ける車体下部空間の光景を検出（撮影）して表示装置に
入力し、該表示装置にて車体下部空間の画像を作成表示
する。Since the present invention is constructed as described above, C
A scene of the vehicle lower space before and after the vehicle is parked is detected (photographed) by a detection means such as a CD camera and input to a display device, and an image of the vehicle lower space is created and displayed on the display device.
【００１１】画像処理部においては、前記画像を表示装
置から受け取り、車両の駐車前（障害物なし）と現時点
との車両下部空間の画像を比較し、画像に相違があった
とき、車体下部空間に障害物が在るものと判定し、警報
装置にて警報を発信すること等により、運転者に認識せ
しめる。The image processing unit receives the image from the display device, compares the images of the space under the vehicle before parking (no obstacle) and the current time, and when there is a difference between the images, the space under the vehicle body is compared. It is determined that there is an obstacle in the vehicle, and the driver is made aware by issuing an alarm with an alarm device.
【００１２】これにより、従来検知できなかった車体下
部空間における障害物の有無を、車両の駐車前後の車体
下部空間における光景画像を比較するという極めて簡単
かつ低コストの手段で検知することができる。This makes it possible to detect the presence or absence of an obstacle in the lower space of the vehicle body, which could not be detected conventionally, by an extremely simple and low-cost means of comparing scene images in the lower space of the vehicle body before and after parking the vehicle.
【００１３】したがって、車体下部空間に障害物が存在
するままの状態で運転者が車両を発進させ、殊に障害物
が人間の場合には死傷事故という重大事故につながるの
を防止することができる。又前記障害物が荷物や石等の
場合には、該荷物の破損や車体側の破損を有効に防止で
きる。又ＣＣＤカメラを用いる事により、障害物の存在
の有無を判定する画像処理部に微小障害物その他のノイ
ズ除去機能が付設するのが容易となり、これにより風に
吹かれて車体下部空間に侵入した小さな小石やごみ等の
ノイズを除去でき、判定精度が向上する。Therefore, it is possible to prevent the driver from starting the vehicle in a state where the obstacle is present in the space below the vehicle body, and especially when the obstacle is a human being, leading to a serious accident such as a fatal accident. . Further, when the obstacle is a baggage, a stone, or the like, it is possible to effectively prevent damage to the baggage or damage to the vehicle body. Also, by using a CCD camera, it becomes easy to attach a function of removing minute obstacles and other noises to the image processing unit that determines the presence or absence of obstacles, whereby the wind blows into the space below the vehicle body. Noise such as small pebbles and dust can be removed, and the judgment accuracy improves.
【００１４】[0014]
【実施例】以下、図１〜図３を参照して本発明の実施例
につき詳しく説明する。但し、この実施例に記載されて
いる構成部品の寸法、材質、形状、その相対位置などは
特に特定的な記載がない限りは、この発明の範囲をそれ
のみに限定する趣旨ではなく単なる説明例に過ぎない。Embodiments of the present invention will be described in detail below with reference to FIGS. However, the dimensions, materials, shapes, relative positions, etc., of the components described in this embodiment are not intended to limit the scope of the present invention thereto, unless there is a specific description, and are merely illustrative examples. Nothing more than.
【００１５】図１には本発明の実施例に係るトラックの
障害物検知装置の外観斜視図が、図２には前記検出手段
のブロック図が、図３には作用フローチャートが夫々表
示されている。FIG. 1 is an external perspective view of an obstacle detecting device for a truck according to an embodiment of the present invention, FIG. 2 is a block diagram of the detecting means, and FIG. 3 is an operation flowchart. .
【００１６】図１において、１００は車両（トラッ
ク）、１０１は該車両の車体（荷台）、１０２は前輪、
１０３は後輪、１０４は運転室である。In FIG. 1, 100 is a vehicle (truck), 101 is a vehicle body (cargo) of the vehicle, 102 is a front wheel,
103 is a rear wheel and 104 is a driver's cab.
【００１７】前記車体１０１の下部空間１０５の前輪１
０２と後輪１０３との間の所定部位にはＣＣＤカメラ
（検出手段１）が取り付けられ、車体下部空間１０５の
光景を撮影するようになっている。そしてこのようなＣ
ＣＤカメラ１の取付け位置は車体下部空間１０５の光景
を現出できれば特に限定されないが、子供等が入りやす
い箇所は荷台下方空間であるために、例えば荷台下方に
設けたアンダーガード部１０６に取付け、受光方向を斜
め後方に向けて配設する事により、図１（Ｂ）に示すよ
うに、荷台下部空間１０５のほぼ全域が受光可能とな
る。この場合、ＣＣＤカメラ１には広角レンズ１ａを前
面に取付けることにより受光角度範囲を広くすることが
出来、好ましい。Front wheel 1 in the lower space 105 of the vehicle body 101
A CCD camera (detection means 1) is attached to a predetermined portion between 02 and the rear wheel 103 so as to photograph the scene of the vehicle lower space 105. And such a C
The mounting position of the CD camera 1 is not particularly limited as long as the scene of the lower space 105 of the vehicle body can be exposed, but since the place where children and the like can easily enter is the space under the loading platform, for example, it is mounted on the underguard section 106 provided under the loading platform By arranging the light receiving direction so as to be obliquely rearward, as shown in FIG. 1B, almost the entire lower space 105 of the platform can receive light. In this case, it is preferable to mount the wide-angle lens 1a on the front surface of the CCD camera 1 so that the light receiving angle range can be widened.
【００１８】また、車両の運転室１０４内には表示装置
２、画像処理部３、該画像処理部３用の記憶装置（図２
（Ａ）参照）、警報装置（図２（Ａ）参照）等の機器が
収容され、前記ＣＣＤカメラ１と電気回線にて接続され
ている。Further, in the driver's cab 104 of the vehicle, a display device 2, an image processing unit 3, and a storage device for the image processing unit 3 (see FIG. 2).
(See FIG. 2A), alarm devices (see FIG. 2A) and the like are housed and connected to the CCD camera 1 by an electric line.
【００１９】図２（Ａ）に示される前記障害物検知装置
のブロック図において、２はＣＣＤカメラ１から伝送さ
れる車体１０１の下部空間１０５の光景を画像にて表示
するモニタテレビ等の表示装置であり、該表示装置２の
画面に車体下部空間１０５の状態が表示される。In the block diagram of the obstacle detecting device shown in FIG. 2A, reference numeral 2 is a display device such as a monitor television for displaying an image of the scene of the lower space 105 of the vehicle body 101 transmitted from the CCD camera 1. The state of the vehicle body lower space 105 is displayed on the screen of the display device 2.
【００２０】３は前記表示装置２から車体下部空間１０
５の状態を表わす画像が入力される、例えばＣＰＵ及び
専用プログラムが内蔵されたＲＯＭ等からなる画像処理
部であり、後述する手順により、車両１００の駐車前と
現時点（発車時等）との、車体下部空間１０５の状態が
表わされた画像データを比較し、その相違から前記空間
１０５内に障害物が存在するか否かを判定する。Reference numeral 3 denotes the display device 2 and a space 10 below the vehicle body.
5 is an image processing unit to which an image representing the state of 5 is input, which includes, for example, a CPU and a ROM in which a dedicated program is built. Image data representing the state of the vehicle body lower space 105 is compared, and it is determined whether or not an obstacle exists in the space 105 based on the difference.
【００２１】４は該画像処理部３に入出力するデータを
記憶する記憶装置で例えば画像ＲＡＭ等から構成され
る。画像ＲＡＭ４０には図２（Ｂ）に示すように、駐車
前の画像データを格納する領域４０Ａと、駐車後の画像
データを格納する領域４０Ｂとに分割され、前記ＣＣＤ
カメラ１にて撮像された駐車前後の画像データは表示装
置２とともに画像処理部３に入力され、２値化信号に変
換した後、画像ＲＡＭの夫々の対応する領域４０Ａ、４
０Ｂに格納される。Reference numeral 4 denotes a storage device for storing data to be input / output to / from the image processing unit 3, which is composed of, for example, an image RAM. As shown in FIG. 2B, the image RAM 40 is divided into an area 40A for storing image data before parking and an area 40B for storing image data after parking.
The image data before and after parking captured by the camera 1 is input to the image processing unit 3 together with the display device 2 and converted into a binarized signal, and then the corresponding regions 40A, 4A of the image RAM 4 and 4, respectively.
It is stored in 0B.
【００２２】そして前記空間１０５内に障害物が存在す
るか否かを判定するには図２（Ｂ）に示すように、前記
画像ＲＡＭの領域４０Ａ、４０Ｂより、対応する同一ア
ドレスの画像データを画像処理部３側に順次読み出し、
該処理部３側の比較器３０により前記２つの信号を順次
比較しながら駐車前後の画像データが相違する場合、そ
の相違する数を演算器３１ａにてカウントし、例えばそ
のカウントデータが、５０ｃｍ2の輪郭に対応する数以
上の場合に判定回路３１にて障害物が存在すると判定す
る。５は前記画像処理部３にて障害物の存在が判定され
たとき、警報を発信する警報装置である。Then, in order to determine whether or not an obstacle exists in the space 105, as shown in FIG. 2B, the corresponding image data of the same address is obtained from the areas 40A and 40B of the image RAM. Sequential reading to the image processing unit 3 side,
When the image data before and after parking is different while sequentially comparing the two signals by the comparator 30 on the processing unit 3 side, the different number is counted by the calculator 31a, and the counted data is, for example, 50 cm 2 If the number is equal to or larger than the number corresponding to the contours, the determination circuit 31 determines that there is an obstacle. Reference numeral 5 denotes an alarm device that issues an alarm when the image processing unit 3 determines the presence of an obstacle.
【００２３】次に図３に示されるフローチャートを併用
してこの実施例に係る障害物検知装置の動作を説明す
る。先ず車両１００の駐車後のエンジンＯＦＦ時に、Ｃ
ＣＤカメラ１からの車体下部空間１０５の光景は表示装
置であるモニタテレビ２に画像表示されるとともに、画
像処理部３で２値化信号に変換した後、初期画像として
画像ＲＡＭの初期画像領域４０Ａに格納される。（ＳＴ
ＥＰ１１）Next, the operation of the obstacle detecting apparatus according to this embodiment will be described with reference to the flow chart shown in FIG. First, when the engine is turned off after the vehicle 100 is parked, C
The scene of the vehicle lower space 105 from the CD camera 1 is displayed as an image on the monitor television 2 which is a display device, and after being converted into a binarized signal by the image processing unit 3, the initial image area 40A of the image RAM is set as an initial image. Stored in. (ST
EP11)
【００２４】次いで駐車終了後、車両１００の発進時に
は、エンジンスタートスイッチＯＮ（ＳＴＥＰ２）と同
時にＣＣＤカメラ１がＯＮし、表示装置２にて車体下部
空間１０５が画像表示されるとともに、画像処理部３で
２値化信号に変換した後、画像ＲＡＭの現画像領域４０
Ｂに格納される。（ＳＴＥＰ３）Next, when the vehicle 100 starts after the parking is completed, the CCD camera 1 is turned on at the same time as the engine start switch is turned on (STEP 2), and the lower space 105 of the vehicle body is displayed on the display device 2 and the image processing unit 3 Current image area 40 of the image RAM after conversion into a binary signal by
Stored in B. (STEP3)
【００２５】そして初期画像領域４０Ａに初期画像が記
憶されている場合に判定動作を開始する。（ＳＴＥＰ
４） 先ず画像処理部３において、前記画像ＲＡＭの領域４０
Ａ、４０Ｂより、対応する同一アドレスの画像データを
画像処理部３側に順次読み出し（ＳＴＥＰ５）、該処理
部３側の比較器３０により前記２つの信号を順次比較し
ながら駐車前後の画像データが相違する場合、その相違
する数が例えば７×７ｃｍ（５０ｃｍ2）の輪郭に対応
する数以上の場合に、判定回路３１にて障害物が存在す
ると判定する。（ＳＴＥＰ６） これにより風に吹かれて車体下部空間に侵入した小さな
小石やごみ等のノイズを除去でき、判定精度が向上す
る。Then, when the initial image is stored in the initial image area 40A, the determination operation is started. (STEP
4) First, in the image processing unit 3, the area 40 of the image RAM
From A and 40B, the corresponding image data of the same address is sequentially read to the image processing unit 3 side (STEP 5), and the image data before and after parking is compared while sequentially comparing the two signals by the comparator 30 on the processing unit 3 side. If they differ, the determination circuit 31 determines that an obstacle exists when the number of differences is equal to or greater than the number corresponding to the contour of 7 × 7 cm (50 cm 2 ). (STEP 6) This makes it possible to remove noise such as small pebbles and dust that have entered the space under the vehicle body due to the wind, and the determination accuracy is improved.
【００２６】この判定結果により、障害物なしと判定し
た場合は、（ＳＴＥＰ９）に飛び、走行許可の信号が表
示装置（モニタテレビ）２に表示され、走行を行う。
（ＳＴＥＰ） 一方障害物のある場合は、警報装置５により警報が発信
せしめられて、運転者に障害物の存在を認識せしめる。
（ＳＴＥＰ７）If it is determined from this determination result that there is no obstacle, the process jumps to (STEP 9), a travel permission signal is displayed on the display device (monitor TV) 2, and the vehicle travels.
(STEP) On the other hand, when there is an obstacle, an alarm is issued by the alarm device 5 to let the driver recognize the existence of the obstacle.
(STEP7)
【００２７】運転者は前記判定結果を受けて車体下部空
間１０５を点検し、障害物を取り除く。（ＳＴＥＰ８） その後の車体下部空間１０５の状態はＣＣＤカメラ１に
て表示装置２に現画像表示を行い、（ＳＴＥＰ９）画像
処理部３に入力される。The driver receives the above determination result and inspects the lower space 105 of the vehicle body to remove obstacles. (STEP 8) The state of the vehicle lower space 105 thereafter is displayed on the display device 2 by the CCD camera 1, and is input to the image processing unit 3 (STEP 9).
【００２８】さらに画像処理部３において、前記障害物
除去後の画像と前記初期画像とを比較し、双方に相違が
ないと判定したとき、走行許可の信号を表示装置２に出
力する。（ＳＴＥＰ１０）Further, in the image processing unit 3, the image after the obstacle is removed is compared with the initial image, and when it is determined that there is no difference between them, a signal of travel permission is output to the display device 2. (STEP10)
【００２９】運転者は前記走行許可指令を受けて車両を
発車する。そして次の車両１００の駐車後のエンジンＯ
ＦＦ時に、ＣＣＤカメラ１からの車体下部空間１０５の
光景を、初期画像として画像ＲＡＭの初期画像領域に格
納される。（ＳＴＥＰ１１）The driver starts the vehicle in response to the travel permission command. The engine O after the next vehicle 100 is parked
At the time of FF, the scene of the vehicle lower space 105 from the CCD camera 1 is stored as an initial image in the initial image area of the image RAM. (STEP 11)
【００３０】以上の動作により、車体下部空間１０５内
における障害物の存在をノイズが生じる事無く車両の発
車前に正確に検知することができる。By the above operation, the presence of the obstacle in the vehicle lower space 105 can be accurately detected before the vehicle starts without generating noise.
【００３１】また、前記障害物の他に、車体下部空間１
０５内における燃料漏れ等の不具合の発生を検知するこ
とも可能となる。In addition to the obstacles, the lower space 1 of the vehicle body
It is also possible to detect the occurrence of a problem such as fuel leakage in 05.
【００３２】[0032]
【発明の効果】以上のように本発明によれば、車体下部
空間の光景をＣＣＤカメラ等の検出手段にて検出し、該
検出手段からの検出信号を画像表示し、画像処理部にて
表示された画像の駐車前後の状態を比較し、状態に相違
があるとき車体下部空間における障害物の存在を判定す
るように構成したので、従来検知できなかった車体下部
空間における障害物の有無を、車両の駐車前後の車体下
部空間における光景画像を比較するという極めて簡単か
つ低コストの手段で以て検知することができる。As described above, according to the present invention, the scene of the space under the vehicle body is detected by the detection means such as a CCD camera, and the detection signal from the detection means is displayed as an image and displayed by the image processing section. Since it is configured to determine the presence of an obstacle in the lower space of the vehicle body by comparing the states before and after parking of the image displayed, when there is a difference in the state, the presence or absence of obstacles in the lower body space that could not be detected conventionally, This can be detected by an extremely simple and low-cost means of comparing the scene images in the space under the vehicle body before and after parking the vehicle.
【００３３】したがって、車体下部に障害物が存在する
ままの状態で運転者が車両を発進させ、殊に障害物が人
間の場合には死傷事故という重大事故につながるのを防
止することができる。Therefore, it is possible to prevent the driver from starting the vehicle in a state where there is an obstacle under the vehicle body, and especially when the obstacle is a human being, leading to a serious accident such as a fatal injury.
【００３４】さらに、請求項３の発明のように警報装置
を設置すれば、より正確に障害物の有無を把握すること
ができる。Further, if an alarm device is installed as in the third aspect of the invention, the presence or absence of the obstacle can be grasped more accurately.
【図１】（Ａ）は本発明の実施例に係るトラック用障害
物検知装置の全体配置を示す外観斜視図、（Ｂ）はＣＣ
Ｄカメラの受光領域をしめすトラック底面図。FIG. 1A is an external perspective view showing the entire arrangement of a truck obstacle detection device according to an embodiment of the present invention, and FIG. 1B is a CC.
FIG. 5 is a bottom view of the track showing the light receiving area of the D camera.
【図２】（Ａ）は前記障害物検知装置の全体ブロック
図、（Ｂ）は判定動作を示す要部ブロック図。FIG. 2A is an overall block diagram of the obstacle detection device, and FIG. 2B is a main block diagram showing a determination operation.
【図３】前記検知装置の作動フローチャート図。FIG. 3 is an operation flowchart of the detection device.
１ ＣＣＤカメラ（検出手段） ２ 表示装置（モニタテレビ） ３ 画像処理部 ４ 記憶装置 ５ 警報装置 １００ 車両 １０１ 車体 １０５ 車体下部空間 1 CCD camera (detection means) 2 display device (monitor TV) 3 image processing unit 4 storage device 5 alarm device 100 vehicle 101 vehicle body 105 underbody space
Claims (3)
を検出する検出手段と、 該検出手段からの検出信号に基づき車体下部空間の光景
を画像表示する表示装置と、 該表示装置に表示される車両の駐車前後の車体下部空間
の画像を比較し、該両画像の相違から障害物の存在の有
無を判定する画像処理部とを備えたことを特徴とする障
害物検知装置。1. A detection unit installed below a vehicle body for detecting a scene in a space below the vehicle body, a display device for displaying an image of the scene in the space below the vehicle body on the basis of a detection signal from the detection unit, and a display device for displaying the scene. An obstacle detection device, comprising: an image processing unit that compares images of a lower space of a vehicle body before and after parking of a vehicle, and determines presence or absence of an obstacle based on a difference between the images.
るとともに、障害物の存在の有無を判定する画像処理部
に微小障害物その他のノイズ除去機能が付設されている
請求項１記載の障害物検知装置。2. The obstacle according to claim 1, wherein the detecting means is composed of a CCD camera, and a minute obstacle or other noise removing function is additionally provided in an image processing unit for judging the presence or absence of the obstacle. Detection device.
じたとき警報を発信する警報装置に接続されている請求
項１記載の障害物検知装置。3. The obstacle detection device according to claim 1, wherein the image processing unit is connected to an alarm device that issues an alarm when the difference between the images occurs.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3451595A JP3158933B2 (en) | 1995-01-31 | 1995-01-31 | Obstacle detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3451595A JP3158933B2 (en) | 1995-01-31 | 1995-01-31 | Obstacle detection device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH08201530A true JPH08201530A (en) | 1996-08-09 |
| JP3158933B2 JP3158933B2 (en) | 2001-04-23 |
Family
ID=12416410
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP3451595A Expired - Fee Related JP3158933B2 (en) | 1995-01-31 | 1995-01-31 | Obstacle detection device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3158933B2 (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006279752A (en) * | 2005-03-30 | 2006-10-12 | Denso Corp | Vehicle direct image display control apparatus and vehicle direct image display control program |
| JP2007300181A (en) * | 2006-04-27 | 2007-11-15 | Denso Corp | Peripheral recognition device, peripheral recognition method, and program |
| JP2009056984A (en) * | 2007-09-03 | 2009-03-19 | Alpine Electronics Inc | Vehicle lower part entry warning device |
| US7684624B2 (en) * | 2003-03-03 | 2010-03-23 | Smart Technologies Ulc | System and method for capturing images of a target area on which information is recorded |
| JP2012224254A (en) * | 2011-04-20 | 2012-11-15 | Mitsubishi Motors Corp | Control device for vehicle |
| JP2016074314A (en) * | 2014-10-07 | 2016-05-12 | 株式会社デンソー | Warning device for vehicle |
| CN106915301A (en) * | 2015-12-28 | 2017-07-04 | 上海中科深江电动车辆有限公司 | Alarm protection device and prevent electric vehicle chassis battery bag from contacting to earth the method hit |
| JP2019055616A (en) * | 2017-09-19 | 2019-04-11 | ダイハツ工業株式会社 | Vehicle structure |
| JP2020152289A (en) * | 2019-03-22 | 2020-09-24 | ダイハツ工業株式会社 | Getting on/off support device |
| WO2023002913A1 (en) * | 2021-07-21 | 2023-01-26 | ダイムラー・アクチェンゲゼルシャフト | Truck vehicle |
-
1995
- 1995-01-31 JP JP3451595A patent/JP3158933B2/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7684624B2 (en) * | 2003-03-03 | 2010-03-23 | Smart Technologies Ulc | System and method for capturing images of a target area on which information is recorded |
| US8103057B2 (en) * | 2003-03-03 | 2012-01-24 | Smart Technologies Ulc | System and method for capturing images of a target area on which information is recorded |
| JP2006279752A (en) * | 2005-03-30 | 2006-10-12 | Denso Corp | Vehicle direct image display control apparatus and vehicle direct image display control program |
| JP2007300181A (en) * | 2006-04-27 | 2007-11-15 | Denso Corp | Peripheral recognition device, peripheral recognition method, and program |
| JP2009056984A (en) * | 2007-09-03 | 2009-03-19 | Alpine Electronics Inc | Vehicle lower part entry warning device |
| JP2012224254A (en) * | 2011-04-20 | 2012-11-15 | Mitsubishi Motors Corp | Control device for vehicle |
| JP2016074314A (en) * | 2014-10-07 | 2016-05-12 | 株式会社デンソー | Warning device for vehicle |
| CN106915301A (en) * | 2015-12-28 | 2017-07-04 | 上海中科深江电动车辆有限公司 | Alarm protection device and prevent electric vehicle chassis battery bag from contacting to earth the method hit |
| JP2019055616A (en) * | 2017-09-19 | 2019-04-11 | ダイハツ工業株式会社 | Vehicle structure |
| JP2020152289A (en) * | 2019-03-22 | 2020-09-24 | ダイハツ工業株式会社 | Getting on/off support device |
| WO2023002913A1 (en) * | 2021-07-21 | 2023-01-26 | ダイムラー・アクチェンゲゼルシャフト | Truck vehicle |
| JP2023016555A (en) * | 2021-07-21 | 2023-02-02 | メルセデス・ベンツ グループ アクチェンゲゼルシャフト | truck vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3158933B2 (en) | 2001-04-23 |
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