System and method for determining the distance to an energy emitting object

• US 5,249,128 A
• Filed: 11/16/1990
• Issued: 09/28/1993
• Est. Priority Date: 11/16/1990
• Status: Expired due to Term

• Current Assignee: Texas Instruments, Inc.
• Original Assignee: Texas Instruments, Inc.
• Inventors: Hollister, Floyd H., Flinchbaugh, Bruce, Markandey, Vishal
• Primary Examiner(s): Black, Thomas G.
• Assistant Examiner(s): AUCHTERLONIE, THOMAS
• Application Number:
  US07/614,814
• Time in Patent Office: 1,047 Days
• Field of Search: 180/167-170, 340/903, 356/1, 356/4, 356/5, 356/9, 356/141, 356/152, 364/424.01, 364/426.04, 364/460, 364/461, 364/565, 364/458, 364/561
• US Class Current: 701/96
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: B60W 2050/0052 Filtering, filters
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: G01S 11/12 using electromagnetic waves other than radio waves

Abstract

A method and system for range detection using a passive infrared sensing device (10) is disclosed. The method includes determining a region (35,38) on a moving object, such as an automobile (13, 36, 37), the region (35, 38) having a size characteristic of the object and emitting energy (14) characteristic of the object. The next step is to characterize the region by a plurality of feature points (31, 32, 33, 34) and sense the energy emitting from the feature points. The next step is to calculate the distance between the sensing device (10) and the moving object as a function of the feature points. The method has application in adaptive cruise control for automobiles (13, 36, 37). The method includes the use of perspective projection formulae to determine the distance between the sensing device (10) and the moving object 13, 36, 37). To smooth measurements to each other, one embodiment of the method includes the use of an Euler predictor to integrate measurements across measurement firmness.

Claims

1. A method for measuring distance between a first moving object and a second moving object, said second moving object emits infrared energy, comprising the steps of:

operating an infrared energy-sensing device to detect an image of the infrared energy emitted by said second object;

determining a region in said image, said region having a size characteristic of said second object and said region corresponding to a region on said second object emitting infrared energy characteristic of the object;

characterizing said region by a plurality of feature points;

sensing said feature points in said image; and

ascertaining the distance between the sensing device and the moving object as a function of said feature points using perspective projection geometry.

2. The method of claim 1, wherein said energy sensing device is a passive infrared imaging sensor.

3. The method of claim 1, wherein said moving energy-emitting object is an automotive vehicle.

4. The method of claim 1, wherein said region determining step comprises identifying an extended hot spot on said object, said extended hot spot occurring proximate to the point that the moving object exhausts combustion gases.

5. The method of claim 1, wherein said moving object is an automotive vehicle and said region determining step comprises the step of determining an extended hot spot on said automotive vehicle, said extended hot spot occurring at the interface of the road and the automotive vehicle.

6. The method of claim 5, wherein said region characterizing step comprises the step of identifying a plurality of feature points on said extended hot spot, said feature points being relatively uniform across all classes of automotive vehicles.

7. The method of claim 1, wherein said distance ascertaining step includes the step of ascertaining the distance between the moving object and the sensing device as a function of said feature points using perspective projection formulae.

8. The method of claim 1, further comprising the step of integrating a plurality of sense range measurements.

9. The method of claim 8, wherein said integrating step is performed by an Euler predictor.

10. The method of claim 8, wherein said integrating step comprises the use of a Kalman filter for filtering said feature point measurements.

11. The method of claim 1, wherein said sensing device measures said feature points with a subtended solid angle of measurement of not more than 0.1 milliradians.

12. A device for measuring distance between a first moving object and second moving object, said second moving object is an infrared energy emitting object, comprising:

an infrared energy sensing device operable to obtain images of the infrared energy emitted from said second object;

circuitry for determining a region in said image, said region having a size characteristic of said second object and corresponding to a region of said second object emitting infrared energy characteristic of the object;

circuitry for characterizing said region by a plurality of feature points;

circuitry for sensing said feature points within said images; and

circuitry for ascertaining the distance between said first object and said second object as a function of said feature points.

13. The apparatus of claim 12, wherein said energy sensing device is a passive infrared imaging sensor.

14. The apparatus of claim 12, wherein said second object is an automotive vehicle.

15. The apparatus of claim 12, comprising circuitry for identifying an extended hot spot on said object, said extended hot spot occurring at the point that the moving object exhausts combustion gases.

16. The apparatus of claim 12, wherein said second object is an automotive vehicle and said circuitry for determining a region includes circuitry for determining an extended hot spot on said vehicle, said extended hot spot occurring at the interface of the road and the automotive vehicle.

17. The apparatus of claim 16, wherein said region characterizing step comprises circuitry for identifying a plurality of feature points on said extended hot spot, said feature points being relatively uniform across all classes of automotive vehicles.

18. The apparatus of claim 12, wherein said circuitry for ascertaining the distance includes circuitry for ascertaining the distance between said first object and said second object as a function of said feature points using perspective projection formulae.

19. The apparatus of claim 12, further comprising circuitry for integrating a plurality of range measurements.

20. The apparatus of claim 19, wherein said integrating step is performed by an Euler predictor.

21. The apparatus of claim 19, wherein said integrating step comprises the use of a Kalman filter for filtering said feature point measurements.

22. The apparatus of claim 12, wherein said sensing device measures said feature points with a subtended solid angle of measurement of not more than 0.1 milliradians.

23. A vehicle speed control system for adaptively responding to distances between a first moving object and a second moving object, wherein said second moving object is an infrared energy emitting object, comprising:

an infrared energy sensing device for obtaining images of the infrared energy emitted from said second moving object;

an adaptive cruise control device;

a range detecting device associated with said adaptive cruise control device, said range detecting device including;

circuitry connected to said energy sensing device for determining a region in said images, said region having a size characteristic of the object and corresponding to a region of said second object emitting infrared energy characteristic of the object;

circuitry for characterizing said region by a plurality of feature points;

circuitry for sensing said feature points;

circuitry for ascertaining the distance between the sensing device and the moving object as a function of said feature points; and

circuitry for transmitting a signal representative of said distance from said range detecting device to said adaptive cruise control device.

24. The system of claim 23, wherein said energy sensing device is a passive infrared imaging sensor.

25. The system of claim 23, wherein said moving energy emitting object is an automotive vehicle.

26. The system of claim 23, wherein said vehicle speed control apparatus is an adaptive cruise control device.

27. The system of claim 23, wherein said region determining step comprises circuitry for identifying an extended hot spot on said object, said extended hot spot occurring at the point that the moving object exhausts combustion gases.

28. The system of claim 23, wherein said moving object is an automotive vehicle and said region determining step comprises circuitry for determining an extended hot spot on said vehicle, said extended hot spot occurring at the interface of the road and the automotive vehicle.

29. The system of claim 28, wherein said region characterizing step comprises circuitry for identifying a plurality of feature points on said extended hot spot, said feature points being relatively uniform across all classes of automotive vehicles.

30. The system of claim 23, wherein said distance ascertaining step includes circuitry for ascertaining the distance between the moving object and the sensing device as a function of said feature points using perspective projection formulae.

31. The system of claim 23, further comprising circuitry for integrating a plurality of range measurements.

32. The system of claim 31, wherein said integrating step is performed by an Euler predictor.

33. The system of claim 31, wherein said integrating step comprises the use of a Kalman filter for filtering said feature point measurements.

34. The system of claim 23, wherein said sensing device measures said feature points with a subtended solid angle of measurement of not more than 0.1 milliradians.