Process for detection of obstacles present, in particular, in front of an automotive vehicle

• US 5,296,924 A
• Filed: 05/07/1992
• Issued: 03/22/1994
• Est. Priority Date: 05/07/1991
• Status: Expired due to Term

• Current Assignee: Automobiles Citroen (Stellantis NV), Automobiles Peugeot (Stellantis NV)
• Original Assignee: Automobiles Citroen (Stellantis NV), Automobiles Peugeot (Stellantis NV)
• Inventors: Gallice, Jean, de Saint Blancard, Marie, Alizon, Joseph
• Primary Examiner(s): Britton, Howard W.
• Application Number:
  US07/879,281
• Time in Patent Office: 684 Days
• Field of Search: 358/93, 358/103, 358/107
• US Class Current: 348/118
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 17/931 of land vehicles

Abstract

The present invention concerns a process and an apparatus for the detection of obstacles. The apparatus includes a video camera (2) for the viewing of the scene, a range apparatus (3) to measure the distance d of obstacles, the range apparatus (3) being coupled to an assembly (6, 7) for the deflection of the pulsed radiation emitted by the telemetric apparatus (3), and signal conditioner (16) designed to produce, from the synchronization signals of the field (ST) and the line (SL) of a video signal of the camera (2), signals making it possible to cause, in the same uneven field, the emission of pulsed radiation and the horizontal scanning movement of a mirror. The conditioner (16) further makes possible the synchronous recording, on a standard video tape recorder, conventional video signals and digitally coded range signals.

Claims

1. A process for detecting the presence of obstacles, said process comprising the steps of:

providing, by means of a video camera, a video signal representative of a video image of a scene;

measuring the distances of the obstacles in the scene relative to the video camera by means of a ranging apparatus, pulsed waves of which scan the scene by successive horizontal range lines; and

synchronizing the pulsed waves and the scan of the pulsed waves by synchronization signals of the field and the line extracted from the video signal.

2. The process according to claim 1, wherein the pulsed waves are effected during each uneven field of the video image and an inscription of the range data is carried out during the following even field of the image.

3. The process according to claim 1, wherein the pulsed waves are emitted at a determined first clock frequency obtained from the frequency of the line synchronization signal, and further comprising the steps of digitalizing at least the range data relative to measured distances of impact points during the uneven range of the pulsed waves at a sampling frequency equal to the first clock frequency;

entering the range data digitalized during the uneven field into memory by a combination of the first clock frequency and a second clock frequency in order to avoid data conflicts; and

causing an inscription of the digitalized data during the following even field onto a certain number of consecutive video lines of the even frame at a third clock frequency obtained from the frequency of the line synchronization signal, said third clock frequency being higher than the first and the second clock frequencies.

4. The process according to claim 1, wherein the range data and the data of the video image are processed in real time.

5. The process according to claim 1, wherein the points of impact of the pulsed waves are placed in a zigzag pattern at the temporary shift of one range line, at the onset of each horizontal scan.

6. The process according to claim 1, wherein the range data are digitalized as 11 bits with a supplementary starting bit.

7. The process according to claim 1, wherein the range data and the data of the video image are recorded on a recording device.

8. The process according to claim 7, wherein the recording device is a video tape recorder.

9. The process according to claim 1, wherein the pulsed waves horizontally scan a range line of the scene during an uneven field at a first clock frequency and a beam of the pulsed waves is deflected vertically and horizontally during the following even field to an initial scanning position of a following range line, said scanning being effected during the following uneven field.

10. The process according to claim 9, further comprising the steps of digitalizing and entering into memory, at the end of the even field, the values of the initial scanning position of each scan of a range line;

and automatically reconstructing the position of the different impact points of the consecutive pulsed waves from a preestablished scanning curve.

11. The process according to claim 10, wherein the preestablished scanning curve is a ramp curve.

12. The process according to claim 1, further comprising the step of imparting onto the video image, in a synchronized manner, range data produced by the range apparatus, which are representative of the measured distance of the obstacles and coordinates of the points incident pulsed waves impact obstacles.

13. The process according to claim 12, wherein the pulsed waves are effected during each uneven field of the video image and an inscription of the range data is carried out during the following even field of the image.

14. The process according to claim 13, further comprising the steps of producing, at the onset of each even frame, a selection signal signifying the selection of the number of video lines onto which are inscribed the range data and producing, shortly after the selection signal, a second signal to validate the inscription of the range data onto the selected video lines.

15. The process according to claim 14, wherein said video lines upon which the range data are inscribed, are located in the upper part of the video image after several blank lines and comprise, from top to bottom, a general startup line, a line for the identification number of the video image and the lines of the inscription of the range data.

16. An apparatus for the detection of obstacles, said apparatus comprising:

a video camera for viewing a scene;

a range apparatus to measure the distance of obstacles in the scene relative to the video camera;

an assembly for the deflection of a pulsed radiation emitted by the range apparatus, the assembly including at least one mobile deflecting mirror causing the pulsed radiation to effect a horizontal scanning movement of the successive range lines of the scene; and

a signal conditioner designed to produce, from synchronization signals of an uneven field and a line of a video signal of the video camera, signals making it possible to cause, in the same uneven field, the emission of pulsed radiation and the horizontal scanning movement of the mirror, and signals capable of inscribing during the following even field, onto successive video lines of the video image, range data relative to the coordinates of impact points of the pulsed radiation on obstacles in the scene and relative to the measured distance of each point of impact relative to the video camera.

17. The apparatus according to claim 16, wherein said signal conditioner further comprises a plurality of electronic circuits designed to produce a first signal appearing prior to the start of an uneven field, and ending within the uneven field to define a window authorizing the acquisition of data relative to the initial positions of the horizontal and vertical deflection mirrors prior to the scanning of a range line, the horizontal scan, the emission of pulsed radiation and the incrementation of the vertical scanning mirror to a following range line, a second signal emitted after the start of each even field and making possible the selection of the number of video lines onto which the range data are inscribed, and a third signal emitted after the appearance of the second signal to validate the inscription of the range data onto each line selected.

18. The apparatus according to claim 16, wherein said signal conditioner further comprises a clamping stage permitting the production of clamping pulses for the correct alignment of the video and range signals.

19. The apparatus according to claim 16, further comprising a decoupling means for separating the emission and reception of the pulsed radiation to said at least one deflection mirror.

20. The apparatus according to claim 16, wherein said range apparatus includes a laser.

21. The apparatus according to claim 16, further comprising a computer utilizing the range and video data and generating signals to actuate safety devices of a vehicle.

22. The apparatus according to claim 16, further comprising two mobile mirrors for the horizontal and vertical deflection of the pulsed radiation, said mirrors being controlled during each even frame following an uneven field of horizontal scanning, so as to be returned to an initial position for the onset of a new range line.

23. The apparatus according to claim 22, wherein said signal conditioner comprises circuits and combinatory logic for extracting from the video signal from the video camera, field and line synchronization signals, and for determining the start and end of a field in order to cause at the start of an even field of the video image the displacement of the horizontal and vertical deflection mirrors into the position of the onset of scanning and, at the start of the following uneven field of the video image, the displacement of the mirror to carry out the scanning of a new range line.