초록 ▼

A camera and a beam-scan type laser radar whose optical axes are coincident are mounted on a vehicle. A lane detector detects the vehicle\s own lane on a display image by processing an image picked up by the camera. A coordinate transforming device transforms the coordinates of positional informatio

A camera and a beam-scan type laser radar whose optical axes are coincident are mounted on a vehicle. A lane detector detects the vehicle\s own lane on a display image by processing an image picked up by the camera. A coordinate transforming device transforms the coordinates of positional information of an object, most likely a vehicle, detected by the laser radar in conformity with coordinates on the image of the camera. Another detector compares a position of the vehicle\s own lane with a position of the detected object, judges whether or not the detected object is within the vehicle\s own lane, and separates the detected object within the vehicle\s own lane from objects detected outside the vehicle\s own lane. A failure detection method and a corresponding apparatus are provided to determine whether the optical axes of the camera and the laser radar are coincident.

대표청구항 ▼

A surroundings monitoring apparatus for monitoring the surroundings of a vehicle comprising: a camera having an optical axis, said camera being mounted on said vehicle for detecting an image of a road; a lane detecting means for detecting coordinates of a lane wherein said vehicle is located by proc

A surroundings monitoring apparatus for monitoring the surroundings of a vehicle comprising: a camera having an optical axis, said camera being mounted on said vehicle for detecting an image of a road; a lane detecting means for detecting coordinates of a lane wherein said vehicle is located by processing image signals output from said camera onto a display image having coordinate axes; a beam-scan type laser radar mounted on said vehicle and installed such that an optical axis center thereof is coincident with the optical axis of said camera; a coordinate transforming means for transforming the coordinates of an object detected by said laser radar in conformity with the coordinate axes of said display image to provide transformed coordinates; and a forward vehicle detecting means for separating objects detected within said lane from objects detected outside said lane by comparing said transformed coordinates with the coordinates of said lane.