Stereo vision sensor

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Stereo vision sensor

Yuhara, H. / Terauchi, A. / Saka, M. / Habaguch, M. / Kawai, M.

The external sensing technology becomes indispensable for safety technology in the future and to this end the vision sensor is developed. The research reported on here focuses on distance sensing through stereo vision and vehicle recognition based on distance information. In addition, this sensor was applied to a driving load reduction system in order to verify its effectiveness. The system enables the subject vehicle to follow a leading vehicle in motion (target) in low speed ranges when roads are congested. For that purpose, it carries out throttle control or brake control depending on the distance between the subjct vehicle and the target. The camera was mounted on the rear view mirror inside the vehicle compartment. First, a distance distribution map (distance map) is created based on the images captured through the stereo camera, and then a computer unit inside the vehicle compartment carries out target recognition and vehicle control. For the vehicle recognition process, a 16-bit 25 MHz CPU was included in the computer unit. In order to detect sensor failures, there is mutual monitoring beween the CPU in the stereo camera and the CPU in the computer unit, thereby improving reliability. Onboard evaluation and onboard system evaluation was conducted. With the use of a custom-made IC for comparing line sensor outputs, a small low-cost stereo vision sensor was developed, which is suitable for onboard use. By using a distance map obtained through the IC, a relatively simple and compact processing algorithm was developed, which can track the leading vehicle accurately.