Object detection using radar and vision defined image detection zone

• US 10,145,951 B2
• Filed: 03/30/2016
• Issued: 12/04/2018
• Est. Priority Date: 03/30/2016
• Status: Active Grant

• Current Assignee: Aptiv Technologies AG (Aptiv PLC)
• Original Assignee: Aptiv Technologies Limited (Aptiv PLC)
• Inventors: Izzat, Izzat H., Mv, Rohith
• Primary Examiner(s): Gregory, Bernarr E
• Application Number:
  US15/084,914
• Publication Number:
  US 20170285161A1
• Time in Patent Office: 979 Days
• CPC Class Codes: G01S 13/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S13/46
• CPC Class Codes: G01S 13/723 by using numerical data
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 17/66 Tracking systems using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 2013/9323 Alternative operation using light waves
• CPC Class Codes: G01S 7/41 using analysis of echo signal for target characterisation; Target signature; Target cross-section
• CPC Class Codes: G06T 7/521 from laser ranging, e.g. using interferometry; from the projection of structured light
• 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

Abstract

An object-detection system includes a radar sensor, a camera, and a controller. The radar-sensor is suitable for mounting on a vehicle and is used to detect a radar-signal reflected by an object in a radar-field-of-view. The radar-signal is indicative of a range, range-rate, and a direction to the object relative to the vehicle. The camera is used to capture an image of a camera-field-of-view that overlaps the radar-field-of-view. The controller is in communication with the radar-sensor and the camera. The controller is configured to determine a range-map for the image based on the range and the direction of the radar detection, define a detection-zone in the image based on the range-map, and process only the detection-zone of the image to determine an identity of the object.

Claims

1. An object-detection system, said system comprising:

a radar-sensor used to detect a radar-signal reflected by an object in a radar-field-of-view, said radar-signal indicative of a range and a direction to the object relative to the radar-sensor;

a camera used to capture an image of a camera-field-of-view that overlaps the radar-field-of-view; and

a controller in communication with the radar-sensor and the camera, said controller configured to determine a range-map for the image based on the range and the direction, define a detection-zone in the image based on the range-map, and process only the detection-zone of the image to determine an identity of the object, wherein the radar-signal is also indicative of an RDU range-rate of the object, and the controller is further configured to determine a TTC based on the RDU range and the RDU range-rate.

2. The system in accordance with claim 1, wherein the controller is further configured to adjust a size and a location of the detection-zone based on the range-map.

3. The system in accordance with claim 1, wherein the controller is further configured to determine a scale-factor based on the range-map, said scale-factor used to determine the identity of the object.

4. The system in accordance with claim 1, wherein the radar-signal is also indicative of a RDU range-rate of the object, and the controller is further configured to determine the identity of the object as one of a nearby-object and an occluded-object based on the RDU range and the RDU range-rate.

5. The system in accordance with claim 1, wherein the radar-signal is also indicative of a RDU range-rate and a direction of the object, and the controller is further configured to determine a subsequent-zone in a subsequent-image based on the detection-zone, the RDU range-rate, and the direction.

6. The system in accordance with claim 1, wherein the controller is further configured to determine an occupancy-grid of the image based on the range-map.

7. The system in accordance with claim 1, wherein the radar-signal is also indicative of a RDU range-rate of the object, and the controller is further configured to determine an occupancy-grid of the image based on the range-map and the RDU range-rate.

8. The system in accordance with claim 1, wherein the controller is further configured to determine an interval-map of the image based on the range-map.

9. The system in accordance with claim 1, wherein the radar-signal is also indicative of a range-rate of the object, and the controller is further configured to determine an interval-map of the image based on the range-map and the RDU range-rate.

10. An object-detection system, said system comprising:

a radar-sensor used to detect a radar-signal reflected by an object in a radar-field-of-view, said radar-signal indicative of a range and a direction to the object relative to the radar-sensor;

a camera used to capture an image of a camera-field-of-view that overlaps the radar-field-of-view; and

a controller in communication with the radar-sensor and the camera, said controller configured to determine a range-map for the image based on the range and the direction, define a detection-zone in the image based on the range-map, and process only the detection-zone of the image to determine an identity of the object, wherein the radar-signal is also indicative of a RDU range-rate of the object, and the controller is further configured to determine the identity of the object as one of a nearby-object and an occluded-object based on the RDU range and the RDU range-rate.

11. The system in accordance with claim 10, wherein the controller is further configured to adjust a size and a location of the detection-zone based on the range-map.

12. The system in accordance with claim 10, wherein the controller is further configured to determine a scale-factor based on the range-map, said scale-factor used to determine the identity of the object.

13. The system in accordance with claim 10, wherein the radar-signal is also indicative of an RDU range-rate of the object, and the controller is further configured to determine a TTC based on the RDU range and the RDU range-rate.

14. The system in accordance with claim 10, wherein the radar-signal is also indicative of a RDU range-rate and a direction of the object, and the controller is further configured to determine a subsequent-zone in a subsequent-image based on the detection-zone, the RDU range-rate, and the direction.

15. The system in accordance with claim 10, wherein the controller is further configured to determine an occupancy-grid of the image based on the range-map.

16. The system in accordance with claim 10, wherein the radar-signal is also indicative of a RDU range-rate of the object, and the controller is further configured to determine an occupancy-grid of the image based on the range-map and the RDU range-rate.

17. The system in accordance with claim 10, wherein the controller is further configured to determine an interval-map of the image based on the range-map.

18. The system in accordance with claim 10, wherein the radar-signal is also indicative of a range-rate of the object, and the controller is further configured to determine an interval-map of the image based on the range-map and the RDU range-rate.