| 摘要 |
PURPOSE:To ensure safety of a vehicle by detecting images in front of the vehicle by a camera and calculating a yaw rate of the vehicle according to a change in time patterns of the image data. CONSTITUTION:Image signals of two cameras 40a, 40b attached to the front of a vehicle are stored in image memories 51a, 51b, respectively, and a correlation function between the memories 51a, 51b is operated by a correlation device 52 with the result stored in a memory 53. The content of the memory 53 is copied to a next memory 54 every predetermined time, and a correlation function between the memories 53, 54 is operated by another correlation device 55 with the result stored in a memory 56. A yaw rate can be obtained from the correlation function value. Four wheels of the vehicle are equipped with a wheel speed sensor and a wheel cylinder, wherein hydraulic pressure from a master cylinder to each cylinder is controlled and distributed by a control circuit. Steering angle of a steering wheel is detected by a sensor, and brake pressure of each wheel is controlled so that the steering angle coincides with the yaw rate. Thus rotation around a yaw axis of the automobile can be accurately detected to ensure stability during control. |
