Object detection system
First Claim
1. An object detection system suitable for use in a vehicle, said object detection system comprising:
- a camera vision module and a Lidar module;
wherein said camera vision module is configured for mounting at an in-cabin side of a windshield of a vehicle equipped with said object detection system;
wherein said Lidar module is configured for mounting at a front exterior portion of the vehicle equipped with said object detection system;
wherein said camera vision module comprises an imaging device viewing to the exterior of the equipped vehicle when said camera vision module is mounted at the windshield of the equipped vehicle, said imaging device having a field of view exterior of the equipped vehicle and operable to capture image data representative of a scene exterior the equipped vehicle;
said imaging device comprising a two-dimensional pixelated imaging array having a plurality of photo-sensing pixels arranged on a semiconductor substrate;
wherein said Lidar module comprises a Lidar device that, with said Lidar module mounted at the front exterior portion of the equipped vehicle, scans a region forward of the equipped vehicle;
wherein the scanned region overlaps with the field of view of said imaging device;
wherein, based at least in part on processing of captured image data by an image processor using vision processing algorithms and based at least in part on distance data provided by said Lidar device, 3-dimensional information relative to the equipped vehicle of an object present exterior of the equipped vehicle is algorithmically constructed;
wherein said 3-dimensional information comprises (i) the X and Y coordinates of the object present exterior of the equipped vehicle, (ii) the distance (Z) between the object and the equipped vehicle and (iii) the time of possible collision of the object and the equipped vehicle; and
wherein vehicles present in the field of view of said imaging device are assigned high priority scores when they have one or more characteristic selected from the group comprising (i) are closing with the equipped vehicle and collision will happen in a pre-determined time, (ii) are in the same lane as that of the equipped vehicle and (iii) are moving to the same lane as that of the equipped vehicle so as to cut in the lane at a close distance in front of the equipped vehicle.
0 Assignments
0 Petitions
Accused Products
Abstract
An object detection system for a vehicle includes a camera vision module and a Lidar module. The camera vision module includes an imaging device viewing to the exterior of the vehicle and operable to capture image data representative of a scene exterior and forward of the vehicle. The Lidar module includes a Lidar device that, with the Lidar module mounted at a front exterior portion of the vehicle, scans a region forward of the vehicle that overlaps with the field of view of the imaging device. Based at least in part on processing of captured image data by an image processor using vision processing algorithms and based at least in part on distance data provided by the Lidar device, 3-dimensional information relative to the vehicle of an object present exterior of the vehicle is algorithmically constructed.
-
Citations
31 Claims
-
1. An object detection system suitable for use in a vehicle, said object detection system comprising:
-
a camera vision module and a Lidar module; wherein said camera vision module is configured for mounting at an in-cabin side of a windshield of a vehicle equipped with said object detection system; wherein said Lidar module is configured for mounting at a front exterior portion of the vehicle equipped with said object detection system; wherein said camera vision module comprises an imaging device viewing to the exterior of the equipped vehicle when said camera vision module is mounted at the windshield of the equipped vehicle, said imaging device having a field of view exterior of the equipped vehicle and operable to capture image data representative of a scene exterior the equipped vehicle; said imaging device comprising a two-dimensional pixelated imaging array having a plurality of photo-sensing pixels arranged on a semiconductor substrate; wherein said Lidar module comprises a Lidar device that, with said Lidar module mounted at the front exterior portion of the equipped vehicle, scans a region forward of the equipped vehicle; wherein the scanned region overlaps with the field of view of said imaging device; wherein, based at least in part on processing of captured image data by an image processor using vision processing algorithms and based at least in part on distance data provided by said Lidar device, 3-dimensional information relative to the equipped vehicle of an object present exterior of the equipped vehicle is algorithmically constructed; wherein said 3-dimensional information comprises (i) the X and Y coordinates of the object present exterior of the equipped vehicle, (ii) the distance (Z) between the object and the equipped vehicle and (iii) the time of possible collision of the object and the equipped vehicle; and wherein vehicles present in the field of view of said imaging device are assigned high priority scores when they have one or more characteristic selected from the group comprising (i) are closing with the equipped vehicle and collision will happen in a pre-determined time, (ii) are in the same lane as that of the equipped vehicle and (iii) are moving to the same lane as that of the equipped vehicle so as to cut in the lane at a close distance in front of the equipped vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
-
-
19. An object detection system suitable for use in a vehicle, said object detection system comprising:
-
a camera vision module and a Lidar module; wherein said camera vision module is configured for mounting at an in-cabin side of a windshield of a vehicle equipped with said object detection system; wherein said Lidar module is configured for mounting at a front exterior portion of the vehicle equipped with said object detection system; wherein said camera vision module comprises an imaging device viewing to the exterior of the equipped vehicle when said camera vision module is mounted at the windshield of the equipped vehicle, said imaging device having a field of view exterior of the equipped vehicle and operable to capture image data representative of a scene exterior the equipped vehicle; said imaging device comprising a two-dimensional pixelated imaging array having a plurality of photo-sensing pixels arranged on a semiconductor substrate; wherein said Lidar module comprises a Lidar device that, with said Lidar module mounted at the front exterior portion of the equipped vehicle, scans a region forward of the equipped vehicle; wherein the scanned region overlaps with the field of view of said imaging device; wherein, based at least in part on processing of captured image data by an image processor using vision processing algorithms and based at least in part on distance data provided by said Lidar device, 3-dimensional information relative to the equipped vehicle of an object present exterior of the equipped vehicle is algorithmically constructed; wherein said image processor processes captured image data to detect multiple objects in the field of view of said imaging device; wherein, at least in part responsive to image processing by said image processor of captured image data, said system prioritizes an individual object of said detected multiple objects based on at least one of (i) proximity of the individual object present exterior of the equipped vehicle to the equipped vehicle, (ii) speed of the individual object present exterior of the equipped vehicle relative to the equipped vehicle and (iii) location of the individual object present exterior of the equipped vehicle relative to the equipped vehicle; wherein, at least in part responsive to image processing by said image processor of captured image data, said system prioritizes the individual object of said detected multiple objects based on at least one of (i) the individual object being closing with the equipped vehicle and collision will happen in a pre-determined time, (ii) the individual object being in the same lane as that of the equipped vehicle and (iii) the individual object being moving to the same lane as that of the equipped vehicle so as to cut in the lane at a close distance in front of the equipped vehicle; and wherein the individual object present exterior of the equipped vehicle comprises a vehicle. - View Dependent Claims (20, 21, 22, 23)
-
-
24. An object detection system suitable for use in a vehicle, said object detection system comprising:
-
a camera vision module and a Lidar module; wherein said camera vision module is configured for mounting at an in-cabin side of a windshield of a vehicle equipped with said object detection system; wherein said Lidar module is configured for mounting at a front exterior portion of the vehicle equipped with said object detection system; wherein said camera vision module comprises an imaging device viewing to the exterior of the equipped vehicle when said camera vision module is mounted at the windshield of the equipped vehicle, said imaging device having a field of view exterior of the equipped vehicle and operable to capture image data representative of a scene exterior the equipped vehicle; said imaging device comprising a two-dimensional pixelated imaging array having a plurality of photo-sensing pixels arranged on a semiconductor substrate; wherein said Lidar module comprises a Lidar device that, with said Lidar module mounted at the front exterior portion of the equipped vehicle, scans a region forward of the equipped vehicle; wherein the scanned region overlaps with the field of view of said imaging device; wherein, based at least in part on processing of captured image data by an image processor using vision processing algorithms and based at least in part on distance data provided by said Lidar device, 3-dimensional information relative to the equipped vehicle of an object present exterior of the equipped vehicle is algorithmically constructed; wherein said image processor processes captured image data to detect multiple objects in the field of view of said imaging device; wherein, at least in part responsive to image processing by said image processor of captured image data, said system prioritizes an individual object of said detected multiple objects based on at least one of (i) proximity of the individual object present exterior of the equipped vehicle to the equipped vehicle, (ii) speed of the individual object present exterior of the equipped vehicle relative to the equipped vehicle and (iii) location of the individual object present exterior of the equipped vehicle relative to the equipped vehicle; wherein, at least in part responsive to image processing by said image processor of captured image data, said system prioritizes the individual object of said detected multiple objects based on at least one of (i) the individual object being closing with the equipped vehicle and collision will happen in a pre-determined time, (ii) the individual object being in the same lane as that of the equipped vehicle and (iii) the individual object being moving to the same lane as that of the equipped vehicle so as to cut in the lane at a close distance in front of the equipped vehicle; and wherein the individual object present exterior of the equipped vehicle comprises a pedestrian present in the field of view of said imaging device. - View Dependent Claims (25, 26, 27, 28, 29, 30, 31)
-
Specification