Abstract: There is provided a calibrating apparatus for an on-board camera of a vehicle, which allows speedy, yet reliable decision of acceptance/rejection of calibration result, with a simple apparatus construction, without depending on or being influenced by the calibration environment. An image processing target region on which an image processing for detection of each calibration point in each one of calibration markers in a camera-captured image which is a projecting plane of a camera coordinate system is displayed as a region frame in the form of a graphic image, in superposition with the camera-captured image.

Abstract: For use in calibration of an onboard camera, there are provided a calibration index free of erroneous detection and a method of calibrating an onboard camera using such calibration index. The calibration index for use in onboard camera calibration includes a curved graphic formed of a curved line surrounding a predetermined region and a linear graphic comprising at least two straight lines forming an intersection point within the region surrounded by the curved graphic, the curved graphic and the linear graphic being formed in a same plane. A plurality of segments separated by the curved line forming the curved graphic and the straight lines forming the linear graphic are colored in a checkered pattern.

Abstract: Provided is a calibrating apparatus for an on-board camera of a vehicle, which apparatus allows completion of calibration process with a simple additional calibration, even when rejection has issued on the result of automatic calibration. Based upon a camera parameter obtained at the time of completion of adjustment by an automatic adjusting section, a confirmation marker indicating the position of coordinate of a calibration point is displayed in superposition with a camera-captured image. A manual adjusting section adjusts the camera parameter, based on an amount of displacement of the coordinate of the calibration point corresponding to an amount of movement of the confirmation marker moved in response to input of adjustment instruction.

Abstract: For use in calibration of an onboard camera, there are provided a calibration index free of erroneous detection and a method of calibrating an onboard camera using such calibration index. The calibration index for use in onboard camera calibration includes a curved graphic formed of a curved line surrounding a predetermined region and a linear graphic comprising at least two straight lines forming an intersection point within the region surrounded by the curved graphic, the curved graphic and the linear graphic being formed in a same plane. A plurality of segments separated by the curved line forming the curved graphic and the straight lines forming the linear graphic are colored in a checkered pattern.

Abstract: There is provided a calibrating apparatus for an on-board camera of a vehicle, which allows speedy, yet reliable decision of acceptance/rejection of calibration result, with a simple apparatus construction, without depending on or being influenced by the calibration environment. An image processing target region on which an image processing for detection of each calibration point in each one of calibration markers in a camera-captured image which is a projecting plane of a camera coordinate system is displayed as a region frame in the form of a graphic image, in superposition with the camera-captured image.

Abstract: Provided is a calibrating apparatus for an on-board camera of a vehicle, which apparatus allows completion of calibration process with a simple additional calibration, even when rejection has issued on the result of automatic calibration. Based upon a camera parameter obtained at the time of completion of adjustment by an automatic adjusting section, a confirmation marker indicating the position of coordinate of a calibration point is displayed in superposition with a camera-captured image. A manual adjusting section adjusts the camera parameter, based on an amount of displacement of the coordinate of the calibration point corresponding to an amount of movement of the confirmation marker moved in response to input of adjustment instruction.

Abstract: A radar device in which a much more precise demodulation can be made with an inexpensive circuit, free of the output variation of the frequency-modulated transmission signal. The radar device includes an oscillator which produces and outputs a frequency-modulated electromagnetic wave to a switching circuit by way of a directional coupler. The switching circuit uses switching modulation to radiate the electromagnetic wave from a transmitting antenna. The radiated electromagnetic wave after being reflected from an obstacle is received at a reception antenna. A mixer mixes this reception signal and a local signal fed from the directional coupler to produce a mixing signal which is to be fed to a high pass filter. The high pass filter deletes a low frequency output variation noise which is contained in the mixing signal and which occurs in the frequency modulation in the oscillator. The resulting mixing signal is, with the noise deleted, fed by way of an AC amplifier, to a switching demodulating circuit.

Abstract: A radar device in which a much more precise demodulation can be made with an inexpensive circuit, free of the output variation of the frequency-modulated transmission signal. The radar device includes an oscillator which produces and outputs a frequency-modulated electromagnetic wave to a switching circuit by way of a directional coupler. The switching circuit uses switching modulation to radiate the electromagnetic wave from a transmitting antenna. The radiated electromagnetic wave after being reflected from an obstacle is received at a reception antenna. A mixer mixes this reception signal and a local signal fed from the directional coupler to produce a mixing signal which is to be fed to a high pass filter. The high pass filter deletes a low frequency output variation noise which is contained in the mixing signal and which occurs in the frequency modulation in the oscillator. The resulting mixing signal is, with the noise deleted, fed by way of an AC amplifier, to a switching demodulating circuit.

Abstract: An onboard forward monitoring system is disclosed in which three television cameras, each supported by a steering mechanism, take picture of a road surface located forward of a vehicle at near distance, a medium distance and a far distance zone to detect white lines which partition a lane on the road surface, thus detecting a vehicle running ahead on the lane which is defined by the white lines. To enable a reliable detection and tracking of the vehicle running ahead in any zone of the road surface even when the road is curved, the individual television cameras are steered so that a vehicle running ahead is positioned at the center of the screen whenever such vehicle is present and so that a center across the width of the lane is positioned at the center of screen when a vehicle running ahead is not detected.

Abstract: Each of feature points (Xs, Ys) in X and Y orthogonal coordinate system of an image taken by a television camera is converted into a group of points (.rho., .theta.) of polar coordinate system. Memory includes addresses allotted to each one of polar coordinates (.rho., .theta.) for storing frequency data. Each time the feature point is converted, the frequency data at addresses corresponding to the converted points (.rho., .theta.) is incremented. A particular point (.rho.m, .theta.m) where the stored frequency data is at maximum is picked out, and a rectilinear line corresponding to the particular point (.rho.m, .theta.m) is determined to be a rectilinear line which approxiates a succession of feature points (Xs, Ys). In this manner, a method of detecting a rectilinear line appearing on a photographed image is provided. This processing operation is repeated in a plurality of runs for the same succession of feature points.

Abstract: A cruise control system for vehicles uses a video camera to follow a vehicle driving ahead at a constant distance and speed on a highway. The system detects the distance to a vehicle and a relative speed to set the upper and lower limitations for the distance and the speed. The system controls a speed of the vehicle in accordance with the comparisons of the detected distance and speed with the limitations.

Abstract: A vehicle cruising control device includes a detecting device for detecting the current speed of the vehicle, a constant speed control device for maintaining the speed of the vehicle at a selected speed, a measuring device for measuring the current inter-vehicle distance between the vehicle and an advance vehicle and an inter-vehicle distance control device for maintaining the inter-vehicle distance between the vehicle and the advance vehicle at a predetermined distance based on the degree of danger determined by the relationship of the current distance between vehicles and the relative speed between the vehicles. A switching device is provided for turning on either of the constant speed control device and the inter-vehicle distance control device.

Abstract: A video camera for an automobile is mounted on the arm which carries a rear view mirror. The camera is directed forwardly to take pictures through the front windshield of an automobile and a boot is connected between the camera and the windshield to isolate the camera lens from moisture and dust. An air duct may be connected between the boot and the air conditioner to provide a flow of air through the boot.