JP2909318B2 - Inter-vehicle distance detection device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an inter-vehicle distance measuring device for measuring the inter-vehicle distance of an automobile, and more particularly to an inter-vehicle distance measuring apparatus for tracking a preceding vehicle based on an image signal of the preceding vehicle captured by an image sensor. The present invention relates to an inter-vehicle distance measuring device for measuring a distance.

[0002]

2. Description of the Related Art FIG. 9 is a block diagram showing the configuration of a conventional optical distance measuring apparatus disclosed in Japanese Patent Publication No. 63-38085 or Japanese Patent Publication No. 63-46363. In the figure, reference numerals 1 and 2 denote distance measurement target objects (hereinafter simply referred to as “objects”) 18 as left and right targets, for example, CC.
An optical lens 19 which forms an image on the image sensors 3 and 4 formed by D and the like, 19 calculates the distance from the lenses 1 and 2 to the object 18 while sequentially shifting the image signals of the image sensors 3 and 4. It is a signal processing device.

Next, an outline of the operation of the conventional apparatus will be described.
The left and right lenses 1 and 2 forming the optical system are separated from each other by a base length L as viewed from the optical axis of each lens, and image sensors 3 and 4 are provided at the focal length f of each lens 1 and 2 respectively. . Then, the object 18 is formed on the image sensors 3 and 4 by the lenses 1 and 2. Thus, object 1
In the state where the image 8 is formed, the signal processing device 19 takes out the image signals of the image sensors 3 and 4 while shifting them sequentially and superimposes them electrically. At this time, the distance R from the lenses 1 and 2 to the object 18 is calculated according to the following equation (1) based on the principle of triangulation from the shift amount 1 when the two image signals match best.

R = f · L / l (1)

[0005] On the other hand, a preceding vehicle image tracking device that uses an object imaged by an image sensor as a preceding vehicle, displays the image of the preceding vehicle on a display, and tracks the preceding vehicle is disclosed in Japanese Patent Publication No. Sho 60-3.
No. 3,352,335. That the tracking gate the apparatus surrounding the preceding vehicle to be tracked (window) operator to set while watching the display screen, always windows the preceding vehicle is imaged by the image sensor the preceding vehicle while driving the vehicle in earthenware pots by such It is.

[0006]

Since the conventional inter-vehicle distance detecting device is configured as described above, the inter-vehicle distance with the preceding vehicle which the user wants to follow in combination with the conventional preceding vehicle tracking device is continuously detected. When the preceding vehicle tracking type inter-vehicle distance detection device is configured, the headlight of the own vehicle is accurately detected when the preceding vehicle exists at a distance at night or in a tunnel, or when the preceding vehicle turns a curve at night. Therefore, there is a problem that it is difficult to image the preceding vehicle with the image sensor, and the inter-vehicle distance cannot be detected.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problems, and constantly irradiates the headlight light of the own vehicle to the preceding vehicle stably irrespective of the deterioration of the imaging environment, thereby ensuring the image quality. It is an object of the present invention to obtain an inter-vehicle distance detecting device capable of detecting an inter-vehicle distance by imaging with a sensor.

[0008]

According to a first aspect of the present invention, there is provided an inter-vehicle distance detecting apparatus which captures an image of a preceding vehicle while illuminating the vehicle with headlights, and displays the image of the captured preceding vehicle. A display, a window forming means for forming a tracking window for a preceding vehicle displayed on the display, and an image in the window, and the host vehicle and the vehicle based on a pixel signal stored in a memory. a distance measuring means for measuring the distance between the preceding vehicle, the preceding depending on the measured inter-vehicle distance
Beam switching means for switching the beam of the headlight of the host vehicle to irradiate the vehicle to high or low.

According to a second aspect of the present invention, there is provided an inter-vehicle distance detecting apparatus which captures an image of a preceding vehicle while illuminating the vehicle with headlights, a display for displaying the image of the preceding vehicle captured, and a display on the display. Window forming means for forming a tracking window with respect to the preceding vehicle image displayed in the above, and a distance between the host vehicle and the preceding vehicle based on a pixel signal constituting an image in the window and stored in the memory Distance measuring means for measuring
Beam adjusting means for adjusting the beam spread of the headlights of the vehicle according to the measured inter-vehicle distance.

According to a third aspect of the present invention, there is provided an inter-vehicle distance detecting apparatus which irradiates a headlight of an own vehicle with an image of a preceding vehicle, a display for displaying the image of the preceding vehicle, and a display on the display. Window forming means for forming a tracking window with respect to the preceding vehicle image displayed in the above, and a distance between the host vehicle and the preceding vehicle based on a pixel signal constituting an image in the window and stored in the memory Distance measuring means for measuring
The amount of movement of the window is detected and the left and right
A moving amount detecting means for the amount of movement, to adjust the optical axis of the headlight of the vehicle according to the detected movement amount,
The destination of the projection light from this headlight is
And an optical axis adjusting means for following the movement of the optical axis.

According to a fourth aspect of the present invention, there is provided an inter-vehicle distance detecting apparatus for capturing an image of a preceding vehicle while illuminating the vehicle with a headlight, a display for displaying an image of the preceding vehicle, and a display for displaying the image of the preceding vehicle. Window forming means for forming a tracking window with respect to the preceding vehicle image displayed in the above, and a distance between the host vehicle and the preceding vehicle based on a pixel signal constituting an image in the window and stored in the memory Distance measuring means for measuring
Light amount adjusting means for adjusting the light amount of the headlight of the host vehicle according to the measured inter-vehicle distance.

According to a fifth aspect of the present invention, there is provided an inter-vehicle distance detecting apparatus which captures an image of a preceding vehicle while illuminating the vehicle with a headlight, a display for displaying the image of the captured preceding vehicle, and a display on the display. Window forming means for forming a tracking window with respect to the preceding vehicle imaged in the above, moving amount detecting means for detecting the moving amount of the window and setting the left and right moving amount of the preceding vehicle; Moving the optical axis of the headlight of the vehicle according to the amount of movement ,
Optical axis moving means for causing the destination of the projection light to follow the movement of the preceding vehicle .

[0013]

The beam switching means according to the first aspect of the present invention switches the headlight beam to a high beam when the inter-vehicle distance to the preceding vehicle is long, and irradiates sufficient light to the preceding vehicle.
A clear preceding vehicle image is obtained.

The beam adjusting means according to the second aspect of the present invention comprises:
When the inter-vehicle distance from the preceding vehicle is long, the spread of the beam of the headlight is reduced, so that the projection light of the headlight reaches far and the preceding vehicle can be easily imaged.

The optical axis adjusting means according to the invention of claim 3, projection light to an appropriate probability relative to the preceding vehicle by moving the optical axis of the headlight according to the movement amount of the window to be moved together with the moving of the preceding vehicle , It is easy to image the preceding vehicle.

According to a fourth aspect of the present invention, the light amount adjusting means increases the light amount of the headlight so as to facilitate the imaging of the preceding vehicle when the inter-vehicle distance from the preceding vehicle is long, and when the inter-vehicle distance is short. Reduces the light amount so as to protect the field of view of the driving vehicle of the preceding vehicle.

The optical axis adjusting means according to the invention of claim 5, in accordance with the movement amount of the window to be moved together with the movement of the preceding vehicle both by moving the optical axis of the headlight, a projection to apply probability against the preceding vehicle Light is applied to facilitate imaging.

[0018]

[Embodiment 1] An embodiment of the present invention will be described below with reference to the drawings. still,
In the figure, the same reference numerals as those in FIG. 9 indicate the same or corresponding parts. In the figure, reference numeral 5 denotes a following vehicle that follows, and forms an image on the image sensors 3 and 4 by the lenses 1 and 2 to image the preceding vehicle 5. A / Ds 6 and 7 are provided for each of the image sensors 3 and 4, and convert an analog image signal obtained from each of the image sensors 3 and 4 into a digital signal at a predetermined sampling cycle.
The converters 8, 9 are memories for storing digital image signals (hereinafter simply referred to as image signals) output from the A / D converters 6, 7, 10A are CPUs, and the memories 8, 9
Processing the image (preceding vehicle image) signal stored in the vehicle and calculating the inter-vehicle distance between the own vehicle and the preceding vehicle by triangulation;
In addition, a window for tracking is applied to the image of the preceding vehicle and displayed on the display 11.

Reference numeral 12 denotes a window signal generation circuit, which is an image tracking switch (hereinafter simply referred to as a tracking switch).
The image signal for forming the window is sent to the CPU 1
Output to 0A. 14A is a headlight attached to the own vehicle, and 15A is a beam switching circuit that switches the beam of the headlight 14A between a high beam and a low beam according to the inter-vehicle distance calculated by the CPU 10A. The CPU 10A includes a distance measuring unit, a window forming unit,
And beam switching means.

Next, the operation of this embodiment will be described. First, with respect to the image tracking operation of the preceding vehicle, for example, the preceding vehicle 5 to be followed by the right image sensor 4 is imaged, and the preceding vehicle image 5a is displayed on the display 11 according to the image signal based on this image as shown in FIG. You. Here, when the driver of the host vehicle checks the preceding vehicle 5 and operates the tracking switch 13, the CPU 10 </ b> A receives the image signal for window formation from the window formation circuit 12 and generates the window 15.

The window 15 is displayed on the image of the preceding vehicle 5a on the screen of the display 11. Thereafter, regardless of the direction in which the preceding vehicle image 5a moves on the screen of the display 11, the window 15 moves with it, and the image tracking of the preceding vehicle image 5a by the result 15 is automatically performed. Regarding this image tracking,
This is similar to the device disclosed in Japanese Patent Publication No.

The detection of the inter-vehicle distance between the host vehicle and the preceding vehicle using the pixel signals of the image in the window 15 is performed in the following manner. First, the CPU 10A obtains the preceding vehicle image 5
The pixel signal in the window 15 that is tracking a is read out from the memory 9 and is used as a reference image signal for calculating the following distance.
Then, the CPU 10A selects an image signal area corresponding to the window 15 in the memory 8 in which the image signal of the left image sensor 3 is stored, and the image signal of the memory 8 is pixel by pixel with respect to the reference image signal. While sequentially shifting, the sum of the absolute values of the signal differences is calculated for each of the left and right pixels.

That is, the position of the image that is most consistent with the image in the window 15 is determined while sequentially shifting one pixel at a time. At this time, as shown in FIG. 3, the image in the memory 8 corresponds to the reference image signal in the window 15 in the area involved in the calculation. Therefore, the pixels of the left and right images are compared, and the shift amount of the pixel when the sum of the absolute values of the difference signals is minimum is n, the pitch of the pixel is p, the base line length of the optical system is L, the lenses 1, 2 Let f be the focal length of the vehicle, the distance (inter-vehicle distance) R to the preceding vehicle can be obtained by the following equation (2).

R = f · L / (n · p) (2)

As described above, the tracking window 15 is applied to the preceding vehicle image 5a on the screen, and the pixel signal of the image in the window 15 is used as the basic signal of the inter-vehicle distance calculation. Even if the vehicle moves, it can be tracked to continuously determine the inter-vehicle distance to the own vehicle.

However, in the method of detecting an inter-vehicle distance based on a preceding vehicle image obtained by imaging the preceding vehicle using the image sensors 3 and 4, the preceding vehicle is required to be imaged from a distance even at night in order to image the preceding vehicle. A recognizable amount of light is required. However, when the preceding vehicle 5 is distant at night or in a tunnel or the like, the headlight of the own vehicle cannot sufficiently illuminate the preceding vehicle 5. Therefore, it becomes difficult to image the preceding vehicle 5 by the image sensors 3 and 4, and it may be impossible to detect the inter-vehicle distance.

In order to solve such a problem, a CPU
10A outputs to the beam switching circuit 15A an instruction to switch the beam of the headlight 14A of the own vehicle to a high beam or a low beam according to the calculated inter-vehicle distance, and switches the beam switching switch 15A1. If the switching instruction is a high beam switching instruction, the beam switching circuit 15A switches the headlight 14A to the high beam with the beam switching switch 15A1, and can sufficiently irradiate the preceding vehicle 5 located far away. Therefore,
Even if the vehicle travels far away at night, it can be imaged and the distance between vehicles can be measured.

Alternatively, if the beam switching instruction from the CPU 10A is a low beam switching, the beam switching circuit 15A switches the headlight 14A to the low beam with the beam switching switch 15A1, impairing the safety of the driver of the preceding vehicle 5 existing ahead. Irradiate the preceding vehicle without any.

Embodiment 2 FIG. In the first embodiment, the headlights 14A are set according to the following distance.
Is switched to a low beam or a high beam. In the second embodiment, the beam is expanded or narrowed according to the inter-vehicle distance. FIG. 4 is a configuration diagram illustrating the configuration of the following distance detection apparatus according to the present embodiment. In the drawing, the same reference numerals as those in FIG. 1 denote the same or corresponding parts. In the figure, reference numeral 10B denotes a CPU according to the present embodiment, which processes image signals stored in the memories 8 and 9 to calculate the inter-vehicle distance between the host vehicle and the preceding vehicle by triangulation and to track the preceding vehicle image 5a. Display 15 over window 15
1 and outputs an instruction to move the lamp in the headlights back and forth so as to obtain an appropriate beam according to the following distance. Reference numeral 14B1 denotes a headlight in the present embodiment, which is configured to be able to move the lamp 14B2 back and forth.

Reference numeral 15B1 denotes a beam adjusting circuit, which has a CPU
The worm gear 15B3 is rotated by a motor (not shown) in accordance with a lamp moving instruction from the lamp 10B, and the lamp 14B1 is slid vertically along the support shaft 15B2 with this rotation. At this time, when the lamp 14B2 moves upward, the beam spreads, and when the lamp 14B2 moves downward, the beam is narrowed. The CPU 10B constitutes a distance measuring unit, a window forming unit, and a beam adjusting unit.

Next, the operation of this embodiment will be described focusing on beam adjustment. For example, when the preceding vehicle 5 is traveling far away at night, the beam spread of the normal headlights cannot sufficiently illuminate the preceding vehicle 5, and the inter-vehicle distance cannot be measured. Therefore, the CPU 10B calculates the distance to the preceding vehicle captured in the window 15 on the display 11, and determines the optimum beam spread of the headlight 14B1 based on this distance.

At this time, if the inter-vehicle distance from the preceding vehicle 5 is long, an instruction to narrow the beam is issued to the beam adjusting circuit 15B1. Upon receiving the instruction, the beam adjusting circuit 15B1 rotates the worm gear 15B2 to slide the ramp 14B2 backward along the support shaft 15B2. This allows headlight 1
The beam of 4B1 is narrowed down to sufficiently irradiate the distant preceding vehicle 5 and imaging becomes easy. At the same time, the driver of the host vehicle can recognize the behavior of the preceding vehicle 5 and a change in road conditions at an early stage.

Further, when the inter-vehicle distance from the preceding vehicle 5 is short, an instruction to spread the beam is issued to the beam adjusting circuit 15B1. Upon receiving the instruction, the beam adjusting circuit 15B1 rotates the worm gear 15B2 to slide the ramp 14B2 forward along the support shaft 15B2. This allows headlight 1
The beam of 4B1 is expanded so that the driver of the preceding vehicle 5 does not feel the light of the headlights dazzling, and the driver of the own vehicle has an effect on safe driving such as widening the left and right front view.

Embodiment 3 FIG. In the second embodiment, the headlights 14A according to the inter-vehicle distance are used.
In the third embodiment, it is assumed that the optical axis of the headlight is moved according to the left and right movement of the preceding vehicle 5. FIG. 5 is a configuration diagram illustrating the configuration of the following distance detection apparatus according to the present embodiment. In the drawing, the same reference numerals as those in FIG. 1 denote the same or corresponding parts. In the figure, 1
Reference numeral 0C denotes a CPU according to the present embodiment, which processes image signals stored in the memories 8 and 9 to calculate the distance between the host vehicle and the preceding vehicle by triangulation, and to display the preceding vehicle image 5a in a window 15 for tracking. To display on the display 11 and output an instruction to move the optical axis of the headlight to the left or right according to the amount of movement of the preceding vehicle 5 to the left or right. 14
C is a headlight in the present embodiment, and is configured to be able to move the headlight itself right and left.

Reference numeral 15C1 denotes an optical axis adjustment circuit,
The worm gear 15C3 coupled to the motor 15C2 is rotated according to the optical axis movement instruction from 0C, and with this rotation, the headlight 14C moves right and left, and the headlight 14C
The optical axis moves. The CPU 10C constitutes a distance measuring unit, a window forming unit, and an optical axis adjusting unit.

Next, the operation of this embodiment will be described focusing on the adjustment of the optical axis. For example, when the preceding vehicle 5 traveling distant at night approaches a curve or a slope, and the vehicle body moves irregularly in the left and right direction, the projection light of the headlight 14C does not sufficiently hit the preceding vehicle 5 and the measurement of the inter-vehicle distance is not possible. Will be possible. Therefore, the CPU 10C detects the amount of movement of the window 15 on the display 11, and calculates the amount of left and right movement of the headlight 14C based on the amount of movement.

When the preceding vehicle 5 has moved rightward by a predetermined amount, an instruction is issued to the optical axis adjusting circuit 15C1 to move the optical axis of the headlight 14C rightward by the amount of movement. Upon receiving the instruction, the optical axis adjusting circuit 15CB1
The worm gear 15C3 is rotated by the
4C is moved rightward so that the movement of the projection light follows the movement of the preceding vehicle 5. When the preceding vehicle 5 has moved leftward, the headlights 14C are moved leftward in a similar manner. Thereby, the headlight 14C can project light to the preceding vehicle 5 that moves irregularly in the distant left and right directions, thereby facilitating imaging.

At the same time, the driver of the own vehicle is
Can be recognized early, and the driver's field of view can be ensured, for example, by accurately illuminating the traveling direction of the host vehicle so that changes in road conditions can be detected early.

Embodiment 4 FIG. In the first embodiment, the headlights 14A are set according to the following distance.
Is switched to the low beam or the high beam. In the fourth embodiment, the light amount of the headlight is changed according to the inter-vehicle distance. FIG. 6 is a configuration diagram illustrating a configuration of the following distance detection apparatus according to the present embodiment. In the drawing, the same reference numerals as those in FIG. 1 denote the same or corresponding parts. In the figure, 1
0D is a CPU according to this embodiment, the window for tracking calculation of inter-vehicle distance to the preceding vehicle both the host vehicle by processing triangulate the image signal stored in the memory 8, 9, and the preceding vehicle image 5a In addition to displaying the number on the display 11, a command to adjust the light amount of the headlamp to an appropriate value according to the following distance is output. Reference numeral 14D denotes a headlight according to the present embodiment, which is configured so that the light amount of the lamp 14D2 can be changed.

Reference numeral 15D denotes a light amount adjusting circuit,
The variable resistance 15D1 is rotated by rotating the rotor of the variable resistance 15D1 with a motor (not shown) in accordance with the light amount variation instruction from D.
Of the head lamp 14D2, the current flowing from the battery 15D2 to the lamp 14D2 changes.
1 is adjusted. That is, by lowering the resistance value of the variable resistor 15D1, the current flowing through the lamp 14D2 increases and the light amount increases. The CPU 10D constitutes a distance measuring unit, a window forming unit, and a light amount adjusting unit.

Next, the operation of the present embodiment will be described focusing on light quantity adjustment. For example, when the preceding vehicle 5 is traveling far away at night, the headlight 14D1 cannot sufficiently illuminate the preceding vehicle 5, and the inter-vehicle distance cannot be measured. So, C
The PU 10D calculates the distance to the preceding vehicle captured in the window 15 on the display 11, and determines the optimal light amount of the headlight 14D1 based on this distance.

At this time, if the inter-vehicle distance from the preceding vehicle 5 is long, the CPU 10D issues an instruction to the light amount adjusting circuit 15D to increase the light amount and obtain a sufficient irradiation amount. Upon receiving the instruction, the light amount adjustment circuit 15D rotates the rotor of the variable resistor 15D1 to lower the resistance value. This allows the headlight 14D
A large amount of current flows through the first lamp 14D2, the amount of light increases, and it is possible to sufficiently irradiate the distant preceding vehicle 5 to facilitate imaging. At the same time, the driver of the host vehicle can recognize the behavior of the preceding vehicle 5 and a change in road conditions at an early stage.

Further, when the inter-vehicle distance from the preceding vehicle 5 is short, an instruction to reduce the light amount is issued to the light amount adjustment circuit 15D. Upon receiving the instruction, the light quantity adjusting circuit 15D rotates the rotor in a direction to increase the resistance value of the variable resistor 15D1. As a result, the light amount of the headlight 14D1 is reduced, and the driver of the preceding vehicle 5 does not feel the light of the headlight dazzling.

Embodiment 5 FIG. The third embodiment aims at moving the optical axis of the headlight in accordance with the left and right movement of the preceding vehicle so as to obtain a preceding vehicle image for measuring the inter-vehicle distance, and sufficiently applying the headlight light to the preceding vehicle. Alternatively, the optical axis of the headlight may be moved in accordance with the left-right movement of the preceding vehicle simply to obtain an image of the preceding vehicle to be tracked. FIG. 7 is a configuration diagram showing the configuration of the following distance detection apparatus according to the present embodiment. In the drawing, the same reference numerals as those in FIG. 1 denote the same or corresponding parts. In the figure, reference numeral 10E denotes a CPU according to the present embodiment, which processes an image signal stored in the memory 9 and executes
a over the tracking window 15 and the display 11
And outputs an instruction to move the optical axis of the headlight to the left or right according to the amount of movement of the window 15 to the left or right. Reference numeral 14E1 denotes a headlight in this embodiment provided with a headlight lighting switch 14E2, which is configured to be able to move the headlight itself left and right.

Reference numeral 15E1 denotes an optical axis adjustment circuit,
The worm gear 15E2 connected to a motor (not shown) is rotated in accordance with an optical axis movement instruction from 0E, and with this rotation, the headlight 14E1 moves right and left and the optical axis moves.
The CPU 10E constitutes window forming means and optical axis moving means.

Next, the operation of this embodiment will be described focusing on the adjustment of the optical axis. For example, when the vehicle body is the preceding vehicle 5 is traveling on at night far Sashikakari the curve or slope such as irregularly moves in the lateral direction, the projection light of the headlight 14E1 is not hit enough to the preceding vehicle 5, the preceding for tracking The vehicle image 5a cannot be displayed on the display 11. So, CPU10E the window fin cylinder 1 on the display 11
5 is detected, and the left and right movement amounts of the headlight 14E1 are calculated based on the movement amounts.

When the preceding vehicle 5 has moved rightward by a predetermined amount, an instruction is issued to the optical axis adjusting circuit 15E1 to move the optical axis of the headlight 14E1 rightward by that amount.
In response to the instruction, the optical axis adjustment circuit 15E1 can rotate the worm gear 15E2 by the motor to move the headlight 14E1 rightward so that the movement of the projection light follows the movement of the preceding vehicle 5. When the preceding vehicle 5 moves leftward, the headlight 14E1 is moved leftward in the same manner. This allows the headlight 14E1
Can be projected onto a preceding vehicle 5 that moves irregularly in the distant left and right directions and can be tracked.

At the same time, the driver of the own vehicle is
Can be recognized early, and the driver's field of view can be ensured, for example, by accurately illuminating the traveling direction of the host vehicle so that changes in road conditions can be detected early.

[0049]

According to the first aspect of the present invention, an image sensor for capturing an image of a preceding vehicle while illuminating the headlight of the own vehicle, a display for displaying an image of the captured preceding vehicle, and an image on the display Window forming means for forming a tracking window for the displayed preceding vehicle, and measuring the distance between the host vehicle and the preceding vehicle based on a pixel signal which forms an image in the window and is stored in a memory. a distance measuring unit, wherein a beam switching means for switching the beam of the headlights of the vehicle at high or low, at the time of the preceding vehicle is traveling on a distant place head for irradiating the preceding vehicle in response to the measured inter-vehicle distance By switching the light to the high beam and projecting the light to the preceding vehicle, it is easy to image the preceding vehicle and a clear image of the preceding vehicle can be obtained. The effect of improving between the distance measurement accuracy.

According to the second aspect of the present invention, an image sensor for capturing an image of the preceding vehicle illuminated by the headlights of the own vehicle, a display for displaying an image of the captured preceding vehicle, and an image for displaying the image on the display Window forming means for forming a tracking window in the preceding vehicle,
Distance measuring means for measuring a distance between the host vehicle and the preceding vehicle based on a pixel signal in a window; and beam adjustment for changing a beam spread of a headlight of the host vehicle according to the measured inter-vehicle distance. When the preceding vehicle travels in the distance, the beam of the headlights is narrowed and the light is projected far away when the preceding vehicle is traveling far away, so that it is easy to sufficiently illuminate the preceding vehicle and it is easy to take an image, and to measure the distance between vehicles. When the further preceding vehicle travels a short distance, the beam of the headlights is expanded so that the field of view in the left and right front is widened, thereby promoting safe driving.

According to the third aspect of the present invention, an image sensor that captures an image of a preceding vehicle while illuminating the vehicle with headlights, a display that displays an image of the captured preceding vehicle, and an image that is displayed on the display. Window forming means for forming a tracking window for the preceding vehicle, and a distance for forming an image in the window and measuring a distance between the host vehicle and the preceding vehicle based on pixel signals stored in a memory. Measuring means, moving amount detecting means for detecting the moving amount of the window to make the left and right moving amount of the preceding vehicle, and adjusting the optical axis of the headlight of the own vehicle according to the detected moving amount. Or this headlight
An optical axis adjusting means for causing the destination of the projection light to follow the movement of the preceding vehicle, and by appropriately moving the optical axis of the headlights with the movement of the preceding vehicle, Irradiation and imaging of the vehicle have an effect that stable inter-vehicle distance measurement can be performed despite irregular movement of the preceding vehicle.

According to the fourth aspect of the present invention, an image sensor for capturing an image of the preceding vehicle illuminated by the headlights of the own vehicle, a display for displaying an image of the captured preceding vehicle, and an image for displaying the image on the display. Window forming means for forming a tracking window in the preceding vehicle,
A distance measuring unit that measures a distance between the host vehicle and the preceding vehicle based on a pixel signal in a window; and a light amount adjusting unit that changes a light amount of a headlight of the host vehicle according to the measured inter-vehicle distance. Increasing the amount of headlights when the preceding vehicle travels far away makes it easy to illuminate the preceding vehicle easily, improves the accuracy of inter-vehicle distance measurement, and allows the preceding vehicle to travel closer. sometimes there is an effect that sharp leading vehicle image image regardless of the inter-vehicle distance for capturing the original preceding vehicle proper amount to lower the amount of light becomes possible headlights are obtained.

According to the fifth aspect of the present invention, an image sensor for capturing an image of the preceding vehicle while illuminating with the headlights of the own vehicle, a display for displaying an image of the captured preceding vehicle, and displaying an image on the display. Window forming means for forming a window for tracking with respect to the preceding vehicle;
A moving amount detecting means for the movement of both the left and right, moving the optical axis of the headlight of the vehicle in accordance with the detected amount of movement, before the destination of the projection light from the headlights
An optical axis moving means for following the movement of the preceding vehicle, and moving the optical axis of the headlights along with the movement of the preceding vehicle to accurately illuminate and image the preceding vehicle, thereby preventing the preceding vehicle from moving. There is an effect that stable automatic tracking can be performed even when moving to the rules.

[Brief description of the drawings]

FIG. 1 is a configuration diagram showing the configuration of an embodiment of an inter-vehicle distance measuring device according to the invention of claim 1;

FIG. 2 is a diagram showing a preceding vehicle image displayed on a display of FIG. 1;

3 is a diagram showing a form of a preceding vehicle image stored in memories 8 and 9 of FIG. 1;

FIG. 4 is a configuration diagram showing a configuration of an embodiment of an inter-vehicle distance measuring device according to the invention of claim 2;

FIG. 5 is a configuration diagram showing a configuration of an embodiment of an inter-vehicle distance measuring device according to the invention of claim 3;

FIG. 6 is a configuration diagram showing a configuration of an embodiment of an inter-vehicle distance measuring device according to the invention of claim 4;

FIG. 7 is a configuration diagram showing a configuration of an embodiment of an inter-vehicle distance measuring device according to the invention of claim 5;

FIG. 8 is a diagram showing a preceding vehicle image displayed on the display of FIG. 7;

FIG. 9 is a configuration diagram showing a configuration of a conventional inter-vehicle distance measuring device.

[Explanation of symbols]

 5 preceding vehicle 5a preceding vehicle image 3,4 image sensor 8,9 memory 10A-10D CPU 11 display 12 window signal generation circuit 14 headlight 15A1 beam switching circuit 15B1 beam adjustment circuit 15C1,15E 1 optical axis adjustment circuit 15D light quantity adjustment circuit

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁶ , DB name) G08G 1/16 B60Q 1/02-1/24

Claims (5)

(57) [Claims] An image sensor for capturing an image of a preceding vehicle while illuminating the vehicle with a headlight of the host vehicle, a display for displaying an image of the captured preceding vehicle, and a tracking device for tracking the preceding vehicle displayed on the display. Window forming means for forming a window, distance measuring means for forming an image in the window and measuring a distance between the host vehicle and the preceding vehicle based on a pixel signal stored in a memory; and The preceding vehicle according to the following distance
An inter-vehicle distance measuring device, comprising: a beam switching unit that switches a beam of a headlight of the host vehicle to irradiate the beam to high or low. 2. An image sensor for capturing an image of a preceding vehicle while illuminating the vehicle with a headlight of the host vehicle, a display for displaying an image of the captured preceding vehicle, and tracking the preceding vehicle displayed on the display. Window forming means for forming a window for the vehicle, distance measuring means for forming an image in the window and measuring the distance between the host vehicle and the preceding vehicle based on pixel signals stored in a memory, An inter-vehicle distance measuring device, comprising: a beam adjusting means for adjusting a spread of a beam of a headlight of the own vehicle according to the inter-vehicle distance. 3. An image sensor for capturing an image of a preceding vehicle while illuminating the vehicle with a headlight of the own vehicle, a display for displaying an image of the captured preceding vehicle, and tracking the preceding vehicle displayed on the display. Window forming means for forming a window for use; distance measuring means for forming an image in the window and measuring a distance between the host vehicle and the preceding vehicle based on pixel signals stored in a memory; The amount of movement is detected and the preceding
Moving amount detecting means for moving the vehicle left and right, and adjusting the optical axis of the headlight of the host vehicle according to the detected moving amount so that the moving destination of the projection light from the headlight is
An inter-vehicle distance measuring device comprising: an optical axis adjusting means for following a movement of a preceding vehicle . 4. an image sensor for capturing a preceding vehicle while irradiating with headlights of the vehicle, a display for displaying the captured preceding vehicle image tracking against the preceding vehicle both displayed images on the display Window forming means for forming a window for the vehicle, distance measuring means for forming an image in the window and measuring the distance between the host vehicle and the preceding vehicle based on pixel signals stored in a memory, An inter-vehicle distance measuring device, comprising: light amount adjusting means for adjusting the amount of headlights of the vehicle according to the inter-vehicle distance. 5. An image sensor for capturing an image of a preceding vehicle while illuminating with a headlight of the own vehicle, a display for displaying an image of the captured preceding vehicle, and tracking the preceding vehicle for which an image is displayed on the display. Window forming means for forming a window for use, moving amount detecting means for detecting the moving amount of the window to make the left and right moving amount of the preceding vehicle, and the head of the own vehicle according to the detected moving amount. moving the optical axis of the light, the Heddora
An inter-vehicle distance measuring device , comprising: an optical axis moving means for causing the destination of the projection light from the light spot to follow the movement of the preceding vehicle .