Detection algorithm for vehicles with multi-line CCD sensors

摘要

We have been developing "side and rear warning system" and "rear-collision reduction system with rear collision prediction" to meet the increasing demands for the active safety of vehicles (Fig. 1). In realizing these systems, it is crucial to adequately detect vehicles around while driving, in addition to the establishment of appropriate interface to drivers such as warning tuning. In detecting vehicles around, white lines are often falsely detected as vehicles when there are up and down slopes on roads. Although the white lines on roads can be identified by carefully evaluating the distribution of points on a vertical plane (Fig. 9), it was difficult to get a close distance distribution with ordinary obstacle sensors. We employ multi-brie CCD sensors that make it possible to easily acquire detailed two-dimensional distance distribution and evaluate the subtle differences in data distribution on vertical plane. We have developed a detection technology to identify and eliminate the white lines effectively by defining the relative inclination between vehicle and road based on the two-dimensional distance distribution from the sensors. This detection technology enables us to detect vehicles around even with the changing pitch attitude of vehicles. We will describe the outline of multi-line CCD sensor, the details of the detection system and the results of its evaluation in applying to the detection of vehicles behind in an adjacent lane.