Detecting visibility of a vehicle to driver of other vehicles

• US 10,115,025 B2
• Filed: 06/13/2016
• Issued: 10/30/2018
• Est. Priority Date: 06/13/2016
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Jain, Jinesh J, Banvait, Harpreetsingh
• Primary Examiner(s): Osifade, Idowu O
• Application Number:
  US15/181,263
• Publication Number:
  US 20170357859A1
• Time in Patent Office: 869 Days
• Field of Search: None
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: B60R 1/006 Side-view mirrors, e.g. V-shaped mirrors located at the front or rear part of the vehicle combined with rear-view mirrors B60R1/08; side-view periscopes B60R1/10
• CPC Class Codes: B60R 2300/307 virtually distinguishing relevant parts of a scene from the background of the scene
• CPC Class Codes: B60R 2300/8026 in addition to a rear-view mirror system
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G06V 40/161 Detection; Localisation; Normalisation

Abstract

Example blind spot detection systems and methods are described. In one implementation, a primary vehicle detects a secondary vehicle ahead of the primary vehicle in an adjacent lane of traffic. A method determines dimensions of the secondary vehicle and estimates a vehicle class associated with the secondary vehicle based on the dimensions of the secondary vehicle. The method also identifies a side-view mirror location on the secondary vehicle and determines a blind spot associated with the secondary vehicle based on the vehicle class and the side-view mirror location.

Claims

1. A method comprising:

detecting, by a computer in a primary vehicle, a secondary vehicle ahead of the primary vehicle;

receiving an image of the secondary vehicle from a camera mounted to the primary vehicle, the camera being forward facing;

identifying, by the computer, an image of a side-view mirror in the received image;

analyzing, by the computer, a reflected image within the image of the side-view mirror to determine a head position of a secondary vehicle driver by applying a facial recognition algorithm to determine if the face of the secondary vehicle driver is visible in the reflected image; and

determining, by the computer, whether the driver can see the primary vehicle based on the head position of the driver.

2. The method of claim 1, wherein analyzing the reflected image further comprises determining a gaze direction of the driver of the secondary vehicle.

3. The method of claim 2, wherein determining whether the driver can see the primary vehicle is further based on the gaze direction of the driver of the secondary vehicle.

4. The method of claim 1, wherein detecting the secondary vehicle is based on data received from at least one sensor mounted to the primary vehicle.

5. The method of claim 4, wherein the sensor mounted to the primary vehicle is one of a Radar sensor, a LIDAR sensor or an ultrasound sensor.

6. The method of claim 1, wherein detecting the secondary vehicle is based on data received from at least one camera mounted to the primary vehicle.

7. The method of claim 1, further comprising alerting a driver of the primary vehicle responsive to determining that the secondary vehicle driver cannot see the primary vehicle.

8. The method of claim 1, wherein alerting the driver of the primary vehicle includes generating at least one of an audible alert, a visual alert, and a haptic alert.

9. The method of claim 1, further comprising automatically adjusting the speed of the primary vehicle responsive to determining that the secondary vehicle driver cannot see the primary vehicle.

10. The method of claim 1, further comprising automatically adjusting the driving activities of the primary vehicle responsive to determining that the secondary vehicle driver cannot see the primary vehicle.

11. A method comprising:

detecting, by a blind spot detection system in a primary vehicle, a secondary vehicle ahead of the primary vehicle in an adjacent lane of traffic;

receiving an image of the secondary vehicle from a camera mounted to the primary vehicle, the camera being forward facing;

identifying an image of a side-view mirror in the received image;

analyzing a reflected image within the image of the side-view mirror to determine whether a face of a driver of the secondary vehicle is visible within the side-view mirror by applying a facial recognition algorithm to the reflected image to determine whether the face of the driver of the secondary vehicle driver is visible within the side-view mirror;

determining that the driver of the secondary vehicle is not likely to see the primary vehicle based on the head position of the driver of the secondary vehicle in the reflected image; and

alerting a driver of the primary vehicle responsive to determining that the secondary vehicle driver cannot see the primary vehicle.

12. The method of claim 11, wherein analyzing the reflected image further comprises determining a gaze direction of the driver of the secondary vehicle.

13. The method of claim 11, wherein detecting the secondary vehicle is based on data received from at least one sensor mounted to the primary vehicle.

14. The method of claim 13, wherein the sensor mounted to the primary vehicle is one of a Radar sensor, a LIDAR sensor or an ultrasound sensor.

15. The method of claim 11, wherein alerting the driver of the primary vehicle includes generating at least one of an audible alert, a visual alert, and a haptic alert.

16. The method of claim 11, further comprising automatically adjusting the driving activities of the primary vehicle responsive to determining that the face of the driver of the secondary vehicle is not visible within the side-view mirror.

17. An apparatus comprising:

an image processing module configured to detect a secondary vehicle ahead of a primary vehicle, the image processing module further configured to receive an image of the secondary vehicle from a camera mounted to the primary vehicle;

a vehicle mirror detector configured to identify an image of a side-view mirror in the received image; and

a facial analysis module configured to analyze a reflected image within the image of the side-view mirror to determine a head position of a driver of the secondary vehicle, the facial analysis module further configured to determine whether the driver of the secondary vehicle can see the primary vehicle based on the head position of the driver.

18. The apparatus of claim 17, further comprising a blind spot alert module configured to alert a driver of the primary vehicle if the driver of the secondary vehicle cannot see the primary vehicle.