Method and system to determine vehicle speed

• US 10,176,386 B2
• Filed: 12/22/2015
• Issued: 01/08/2019
• Est. Priority Date: 12/29/2014
• Status: Active Grant

• Current Assignee: Westinghouse Air Brake Technologies Corporation
• Original Assignee: General Electric Company
• Inventors: Rao, Dattaraj Jagdish, Nelson, Scott Daniel, Naithani, Nidhi, Naphade, Nikhil Uday
• Primary Examiner(s): Smith, Jelani A
• Assistant Examiner(s): Alsomiri, Majdi
• Application Number:
  US14/979,011
• Publication Number:
  US 20160189393A1
• Time in Patent Office: 1,113 Days
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 40/105 Speed
• CPC Class Codes: G01P 3/38 using photographic means
• CPC Class Codes: G01S 11/12 using electromagnetic waves other than radio waves
• CPC Class Codes: G06T 2207/30256 Lane; Road marking
• CPC Class Codes: G06T 7/246 using feature-based methods, e.g. the tracking of corners or segments
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection
• CPC Class Codes: Y02T 10/72 Electric energy management in electromobility

Abstract

A vehicle speed determination system and method receive image data of a field of view of a camera operably disposed onboard a vehicle. A speed and/or heading of the vehicle are determined as the vehicle is moving based at least in part on one or more differences in the image data. In one aspect, pixel intensities in different images or frames may be examined to identify one or more features of interest in the images or frames. Movement of the one or more features of interest in the images or frames is correlated to movement of the vehicle along the route, and the time difference between when the images or frames are obtained can be used to determine the vehicle speed.

Claims

1. A system comprising:

one or more analysis processors configured to be operably disposed onboard a vehicle and configured to receive image data of a field of view of a camera operably disposed onboard the vehicle,

wherein the one or more analysis processors are further configured to;

identify at least one feature of interest of a route in the image data that moves in time across plural frames of the image data;

determine a total pixel distance by which the at least one feature of interest has moved;

determine a pixel rate of change based on the total pixel distance and a frame rate at which the image data is captured; and

determine a speed of movement of the vehicle as the vehicle is moving based on the pixel rate of change and a correlation of a unit pixel distance to a unit route distance.

2. The system of claim 1, wherein at least part of the field of view of the camera includes the route of the vehicle that is external to the vehicle.

3. The system of claim 2, further comprising the camera operably disposed onboard the vehicle and oriented such that the field of view of the camera includes the route, the route being one of a road surface or a guided track that the vehicle travels on.

4. The system of claim 1, further comprising a vehicle control system configured to be operably disposed onboard the vehicle, wherein the vehicle control system is configured to at least one of automatically control the vehicle based on the speed that is determined, to control display of the speed that is determined to an operator, to control storage onboard the vehicle of information of the speed that is determined, or to control communication off board the vehicle of the information of the speed that is determined.

5. The system of claim 1, further comprising a vehicle control system configured to be operably disposed onboard the vehicle, wherein the vehicle control system is configured to automatically control the vehicle based on the speed that is determined.

6. The system of claim 1, wherein the one or more analysis processors are configured to determine a heading of the vehicle by determining a direction in which the at least one feature of interest in the image data has changed and determining the heading of the vehicle based on the direction.

7. The system of claim 1, wherein the one or more analysis processors are configured to identify the at least one feature of interest based on pixel intensities in the image data.

8. A system comprising:

one or more analysis processors configured to be operably disposed onboard a vehicle and configured to receive image data of a field of view of a camera operably disposed onboard the vehicle,

wherein the one or more analysis processors also are configured to determine a speed of movement of the vehicle as the vehicle is moving based at least in part on one or more differences in the image data;

wherein the one or more analysis processors also are configured to determine at least one of the speed or a heading of the vehicle by identifying one or more features of interest in the image data and monitoring movement of the one or more features of interest in the image data, wherein the one or more analysis processors are configured to identify the one or more features of interest based on pixel intensities in the image data; and

wherein the one or more analysis processors are configured to apply one or more convolution filters to the image data in order to identify the one or more features of interest.

9. A method comprising:

receiving image data of a field of view a camera operably disposed onboard a vehicle; and

determining a speed of movement of the vehicle when the vehicle is moving based at least in part on one or more differences in the image data;

wherein the speed is determined by;

identifying at least one image feature of a route in the image data that moves in time across plural frames of the image data;

determining a total pixel distance by which the at least one image feature has moved;

determining a pixel rate of change based on the total pixel distance and a frame rate at which the image data is captured; and

determining the speed based on the pixel rate of change and a correlation of a unit pixel distance to a unit route distance.

10. The method of claim 9, wherein at least part of the field of view includes the route of the vehicle external to the vehicle.

11. The method of claim 9, wherein the camera is oriented such that the field of view of the camera includes the route, the route being one of a road surface or a guided track that the vehicle is traveling on.

12. The method of claim 9, further comprising one or more of controlling the vehicle based on the speed that is determined, controlling display of the speed that is determined to an operator, controlling storage onboard the vehicle of information of the speed that is determined, or controlling communication off board the vehicle of the information of the speed that is determined.

13. The method of claim 9, further comprising automatically controlling the vehicle based on the speed that is determined.

14. The method of claim 9, wherein receiving the image data and determining the speed of the vehicle are carried out automatically by one or more processors onboard the vehicle.

15. The method of claim 9, wherein the at least one image feature in the image data is identified based on pixel intensities in the image data.

16. A method comprising:

receiving image data of a field of view a camera operably disposed onboard a vehicle;

determining a speed of movement of the vehicle when the vehicle is moving based at least in part on one or more differences in the image data; and

identifying one or more features of interest in the image data based on pixel intensities in the image data and monitoring movement of the one or more features of interest in the image data, wherein the speed is determined based on the movement that is monitored;

wherein identifying the one or more features of interest includes applying one or more convolution filters to the image data.

17. A system comprising:

one or more processors configured to receive images obtained at different times from a camera onboard a vehicle moving along a route, the one or more processors configured to determine a difference between the images and to determine a speed of movement of the vehicle along the route based on the difference between the images;

wherein the one or more processors are configured to;

identify at least one feature of interest of the route in the images;

determine a total pixel distance by which the at least one feature of interest has moved between the images;

determine a pixel rate of change based on the total pixel distance and a frame rate at which the images are captured by a camera; and

determine the speed of the vehicle based on the pixel rate of change and a correlation of the total pixel distance to a route distance.

18. The system of claim 17, wherein the one or more processors are configured to determine a direction in which a location of the at least one feature of interest changed between the images and determine a heading of the vehicle based on the direction.

19. The system of claim 17, further comprising a vehicle control system configured to be operably disposed onboard the vehicle, wherein the vehicle control system is configured to at least one of automatically control the vehicle based on the speed that is determined, to control display of the speed that is determined to an operator, to control storage onboard the vehicle of information of the speed that is determined, or to control communication off board the vehicle of the information of the speed that is determined.