Distance measurement system and distance measurement method
A technology of distance measurement and distance, which is applied in the field of distance measurement system and can solve problems such as difficulty in obtaining high-precision distance information
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no. 1 example
[0033] refer to figure 1 Turning to FIG. 8, a description is given of an embodiment of the distance measuring system of the present invention. The distance measuring system according to the present embodiment is provided for a vehicle such as a passenger car. figure 1 Shown is a vehicle MB mounted with the distance measuring system of the present embodiment. The distance measurement system includes the first and second light projection devices 1L and 1R, the imaging device 2, and the control unit CU of FIG. 5 .
[0034] The first light-projecting device 1L and the second light-projecting device 1R are disposed near the left end and the right end of the front bumper 3 of the vehicle MB, respectively. The first light projecting device 1L and the second light projecting device 1R respectively project laser beams from the internal laser sources to detection target areas in front of the vehicle. The projection devices 1L and 1R project in left and right directions when projectin...
no. 2 example
[0092] 12 to 15, a description is given of a second embodiment of the present invention. The first embodiment described above shows an example in which the reflection surface (side surface of the vehicle MB1) on which multiple reflection occurs is parallel to the vehicle MB (see Figure 8B ). The second embodiment is configured to accurately measure the distance to the reflection point of the multiple reflection light even when the reflection surface on which the multiple reflection occurs (the side surface of the vehicle MB1) is not parallel to the vehicle MB. Hereinafter, an explanation is given using FIGS. 12 to 15 for the case where the reflection surface (the side surface of the vehicle MB1 ) where the multiple reflection occurs is not parallel to the vehicle MB. Parts in FIGS. 12 to 15 corresponding to parts of FIGS. 5 , 7 , 8B and 10 are assigned the same reference numerals or signs.
[0093] FIG. 12 shows the control unit CUA of the distance measuring system of the p...
no. 1 example 1
[0095] Like the first embodiment, two distances to the point P5 and the virtual point p7 are calculated along the optical path of the multiple reflection light LB2. Therefore, the multiple reflection judging unit 33 of FIG. 12 judges that in Figure 13 There are also multiple reflections in the case of .
[0096] Figure 14 Schematically shows Figure 13 status. exist Figure 14 , the reflected light reflected at point P5 is incident on the same pixel of imaging device 2 in the two images captured with the measuring beams projected at the two projection angles α and β. In other words, among a plurality of images captured during one scan from projection angles α1 to αj, the same pixel is designated as a pixel having the largest pixel value in some of the images. exist Figure 14 In , the shooting angle of the reflected light incident on the pixel is represented by γ. In this case, as described in the first embodiment, for the same pixel receiving reflected light at the s...
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