Infrared road line detector

• US 20030128106A1
• Filed: 12/24/2002
• Published: 07/10/2003
• Est. Priority Date: 05/24/2001
• Status: Active Grant

• Current Assignee: Uatc, LLC (Uber Technologies, Inc.)
• Original Assignee: Philip N. Ross
• Inventors: Ross, Phillip N.
• Granted Patent: US 6,741,186 B2
• Time in Patent Office: Days
• US Class Current: 340/435
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 17/88 Lidar systems specially adapted for specific applications
• CPC Class Codes: G01S 3/781 Details
• CPC Class Codes: G01S 7/4811 common to transmitter and receiver
• CPC Class Codes: G01S 7/4818 using optical fibres
• CPC Class Codes: G01S 7/497 Means for monitoring or calibrating

Abstract

A detector for detecting light, such as infrared light, reflected from discontinuous lane dividing lines or other lines on a highway surface from a moving motor vehicle to determine the position of the vehicle on the highway detects light reflected from the surface of the highway and includes circuitry to determine from the reflected light sensed not only the presence of a road line but a characteristic of the road line sensed to determine if the road line detected is consistent with previously detected road lines and therefore appears to be a valid road line. The alarm, when enabled, is activated unless a road line consistent with previously sensed road lines is sensed within successive fixed periods of time in which it is expected that a line should be sensed. By detecting the beginning and end of a signal, various characteristics of the sensed line can be determined, and such things as the type of line likely sensed or the speed of travel of the vehicle can also be determined.

Claims

1. A detector for detecting light reflected from discontinuous lane dividing lines on a highway surface from a moving motor vehicle, comprising:

a photodetector mounted to receive light reflected from the discontinuous lane dividing lines when the vehicle is properly within a lane but not otherwise;

circuitry to provide an indication for each lane dividing line sensed;

circuitry to provide an indication of a characteristic of the line sensed;

logic circuitry to determine if a line is sensed within successive fixed periods of time in which it is expected that a line should be sensed and, if a line is sensed, to determine if the characteristic sensed for that line is consistent with prior lines sensed; and

an alarm to, when enabled, provide an alarm indication if the logic circuitry determines that a line consistent with prior lines is not sensed within one of the successive fixed periods of time.

2. A detector for detecting light reflected from discontinuous lane dividing lines on a highway according to claim 1, wherein the characteristic of the line sensed is representative of the length of the line.

3. A detector for detecting light reflected from discontinuous lane dividing lines on a highway according to claim 2, wherein the circuitry to provide an indication for each lane dividing line sensed produces a pulse for each line sensed.

4. A detector for detecting light reflected from discontinuous lane dividing lines on a highway according to claim 3, wherein the circuitry to provide an indication for each lane dividing line sensed produces a pulse at the beginning of each line sensed.

5. A detector for detecting light reflected from discontinuous lane dividing lines on a highway according to claim 3, wherein the circuitry to provide an indication for each lane dividing line sensed produces a pulse at the end of each line sensed.

6. A detector for detecting light reflected from discontinuous lane dividing lines on a highway according to claim 3, wherein the circuitry to provide an indication for each lane dividing line sensed produces a pulse indicating the beginning of each line sensed and a pulse indicating the end of each line sensed.

7. A detector for detecting light reflected from discontinuous lane dividing lines on a highway according to claim 6, wherein the circuitry to provide an indication of a characteristic of the line sensed senses the time between the pulse indicating the beginning of the line and the pulse indication the end of the line.

8. A detector for detecting light reflected from discontinuous lane dividing lines on a highway according to claim 1, wherein the circuitry to provide an indication for each lane dividing line sensed produces a pulse indicating the beginning of each line sensed and a pulse indicating the end of each line sensed.

9. A detector for detecting light reflected from discontinuous lane dividing lines on a highway according to claim 8, wherein the circuitry to provide an indication of a characteristic of the line sensed senses the time between the pulse indicating the beginning of the line and the pulse indication the end of the line.

10. A detector for detecting light reflected from discontinuous lane dividing lines on a highway according to claim 1, additionally including a light source directed to illuminate the highway surface being sensed when ambient light is not sufficient to illuminate the lines for detection.

11. A detector for detecting light reflected from discontinuous lane dividing lines on a highway according to claim 10, wherein the light source produces infrared light.

12. A detector for detecting light reflected from discontinuous lane dividing lines on a highway according to claim 11, wherein the photodetectors detect reflected infrared light.

13. A detector for detecting light reflected from discontinuous lane dividing lines on a highway according to claim 1, wherein the detector additionally includes a plurality of photodetectors.

14. A detector for detecting light reflected from discontinuous lane dividing lines on a highway according to claim 1, wherein differences in light detected by different photodetectors indicate detection of the lane dividing line and position of the lane dividing line relative to the detector.

15. A detector for detecting light reflected from discontinuous lane dividing lines on a highway according to claim 14, wherein continuous lines are provided along an edge of a highway, and wherein the detector senses the continuous line with the differences in light detected by different photodetectors indicating the position of the continuous line relative to the detector.

16. A detector for detecting light reflected from discontinuous lane dividing lines on a highway according to claim 1, wherein the logic circuitry is a programmed computer.

17. A detector for detecting light reflected from discontinuous lane dividing lines on a highway according to claim 1, additionally including circuitry to provide an indication for each shadow sensed.

18. A detector for detecting light reflected from discontinuous lane dividing lines on a highway according to claim 17, wherein the logic circuitry distinguishes a shadow sensed from a line sensed.

19. A detector for detecting light reflected from discontinuous lane dividing lines on a highway according to claim 1, wherein the indication of a characteristic of the line sensed is indicated by category.

20. A detector for detecting light reflected from discontinuous lane dividing lines on a highway according to claim 19, wherein the categories represent a characteristic of high speed highway driving and a characteristic lower speed city highway driving.

21. A detector for detecting light reflected from discontinuous lane dividing lines on a highway according to claim 20, wherein the categories are defined by the number of lines expected to be detected in a set period of time.

22. A detector for detecting light reflected from discontinuous lane dividing lines on a highway according to claim 1, wherein the characteristic of the line sensed is the amplitude and time of the sensed signal which is compared to a model signal.

23. A detector for detecting light reflected from discontinuous lane dividing lines on a highway according to claim 1, wherein particular short discontinuous lines on a highway indicate an exit lane, and wherein the logic circuitry recognizes lines indicating an exit lane.

24. A detector for detecting light reflected from discontinuous lane dividing lines on a highway according to claim 1, wherein the logic circuitry senses when the vehicle is slowing down and disables the alarm when the vehicle speed drops below a preset speed.

25. A detector for detecting light reflected from discontinuous lane dividing lines on a highway surface from a moving motor vehicle, comprising:

a photodetector mounted to receive light reflected from the discontinuous lane dividing lines when the vehicle is properly within a lane but not otherwise;

detection means to provide an indication for each lane dividing line sensed;

detection means to provide an indication of a characteristic of the line sensed;

means to determine if a line is sensed within successive fixed periods of time in which it is expected that a line should be sensed and, if a line is sensed, to determine if the characteristic sensed for that line is consistent with prior lines sensed; and

an alarm to, when enabled, provide an alarm indication if the logic circuitry determines that a line consistent with prior lines is not sensed within one of the successive fixed periods of time.

26. A detector for detecting light reflected from discontinuous lane dividing lines on a highway according to claim 25, wherein the means to determine if a lane is sensed is a programmed computer.

27. A method for detecting whether a vehicle is maintaining position in a highway lane marked by at least one set of discontinuous lane dividing lines on the highway surface, comprising the steps of:

detecting, using a photodetector, discontinuous lane dividing lines marking the lane in which the vehicle is traveling;

determining, using the photodetector, a characteristic of the line sensed;

determining through logic circuitry if a line is detected in each of a succession of time periods in which it would be expected lines would be detected if the vehicle stayed in the lane and detected such lines and, if a line is detected, determining if the characteristic sensed for that line is consistent with prior lines sensed; and

giving an alarm if consistent lines are not detected in each of the expected successive time periods, such consistent lines not being detected indicating the lines are not being sensed and possible drift of the vehicle out of the lane.

28. A method for detecting whether a vehicle is maintaining position in a highway lane marked by at least one set of discontinuous lane dividing lines on the highway surface according to claim 27, wherein the step of determining through logic circuitry is performed by a programmed computer.