Object recognizing apparatus for vehicle and the method thereof

A driving assist system for a vehicle having a pair of cameras mounted on said vehicle for taking a stereoscopic picture of an object in front of said vehicle, a left driving wheel driven by a left wheel driving motor provided on a left side of said vehicle and a right driving wheel driven by a right wheel driving motor provided on a right side of said vehicle, comprising:

• stereoscopic image processing means for recognizing said object and for deriving a distance information from said stereoscopic picture about said object being in a visual field of said pair of cameras;
• object recognizing means for recognizing said object and for calculating relative position of said object with respect to said vehicle;
• object position memory means for memorizing said relative position of said object when said object is in a predetermined area outside of said vehicle including out of said visual field of said pair of cameras;
• traveling amount calculating means for calculating said vehicle traveling amount;
• object positional information calculating means for updating said relative position of said object based on said vehicle traveling amount so as to recognize a current relative position of said object being out of said visual field of said pair of cameras;
• and
• running control means for deciding a running direction of said vehicle by judging whether or not there is a possibility of a contact between said vehicle and said object by comparing said relative position with a predetermined information about said vehicle stored in a memory and for driving said left and right motors so as to make said vehicle run precisely on a predetermined course only by said left and right driving wheels.

A driving assist system method for a vehicle having a pair of cameras mounted on said vehicle for taking a stereoscopic picture of an object in front of said vehicle, comprising:

• deriving a distance information from said stereoscopic picture about said object being in a visual field of said pair of cameras;
• recognizing said object and for calculating a relative position of said object with respect to said vehicle;
• memorizing said relative position of said object when said object is in a predetermined area outside of said vehicle including out of said visual field of said pair of cameras;
• calculating said vehicle traveling amount;
• and
• updating said relative position of said object based on said vehicle traveling amount so as to recognize a current relative position of said object being out of a visual field of said pair of cameras.

A driving assist method for a vehicle having a pair of cameras mounted on said vehicle for taking a stereoscopic picture of an object in front of said vehicle, left driving wheel driven by a left wheel driving motor provided on a left side of said vehicle and a right driving wheel driven by a right wheel driving motor provided on a right side of said vehicle, comprising:

• deriving a distance information from said stereoscopic picture about said object being in a visual field of said pair of cameras;
• recognizing said object and calculating a relative position of said object with respect to said vehicle;
• memorizing said relative position of said object when said object is in a predetermined area outside of said vehicle including out of said visual field of said pair of cameras;
• calculating said vehicle traveling amount;
• updating said relative position of said object based on said vehicle traveling amount so as to recognize a current relative position of said object being out of said visual field of said pair of cameras;
• and
• deciding a running direction of said vehicle by judging whether or not there is a possibility of a contact between said vehicle and said object by comparing said relative position with a predetermined information about said vehicle stored in a memory and for driving said left and right motors so as to make said vehicle run precisely on a predetermined course only by said left and right driving wheels.