Autonomous guidance system

• US 10,209,717 B2
• Filed: 12/07/2015
• Issued: 02/19/2019
• Est. Priority Date: 02/06/2015
• Status: Active Grant

• Current Assignee: Aptiv Technologies AG
• Original Assignee: Aptiv Technologies Limited (BorgWarner Incorporated)
• Inventors: Hazelton, Lawrence Dean
• Primary Examiner(s): Soofi, Yazan A
• Application Number:
  US15/545,944
• Publication Number:
  US 20180004220A1
• Time in Patent Office: 1,170 Days
• Field of Search: 701 28
• 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 2013/93276 in the windshield area
• CPC Class Codes: G01S 7/412 based on a comparison between measured values and known or stored values
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0257 using a radar radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931

Abstract

An autonomous guidance system that operates a vehicle in an autonomous mode includes a camera module, a radar module, and a controller. The camera module outputs an image signal indicative of an image of an object in an area about a vehicle. The radar module outputs a reflection signal indicative of a reflected signal reflected by the object. The controller determines an object-location of the object on a map of the area based on a vehicle-location of the vehicle on the map, the image signal, and the reflection signal. The controller classifies the object as small when a magnitude of the reflection signal associated with the object is less than a signal-threshold.

Claims

1. An autonomous guidance system that operates a vehicle in an autonomous mode, said system comprising:

a camera module that outputs an image signal indicative of an image of an object in an area about a vehicle;

a radar module that outputs a reflection signal indicative of a reflected signal reflected by the object; and

a controller that determines an object-location of the object on a predetermined map of roadways proximate to the area based on a vehicle-location of the vehicle on the predetermined map, the image signal, and the reflection signal, wherein the controller classifies the object as small when a magnitude of the reflection signal associated with the object is less than a signal-threshold, and the object is not indicated on the predetermined map.

2. The system in accordance with claim 1, wherein the controller classifies the object as verified if the object is classified as small and the object is detected a plurality of occasions that the vehicle passes through the area.

3. The system in accordance with claim 2, wherein the controller adds the object to the predetermined map after the object is classified as verified.

4. The system in accordance with claim 1, wherein the controller determines a size of the object based on the image signal and the reflection signal, and classifies the object as verified if the object is classified as small and a confidence level assigned to the object is greater than a confidence-threshold, wherein the confidence-threshold is based on the magnitude of the reflection signal and a number of occasions that the object is detected.

5. The system in accordance with claim 4, wherein the controller adds the object to the predetermined map after the object is classified as verified.