Collision avoidance using limited range gated video

• US 6,975,246 B1
• Filed: 05/13/2003
• Issued: 12/13/2005
• Est. Priority Date: 05/13/2003
• Status: Active Grant

• Current Assignee: Elbit Systems of America LLC (Elbit Systems Limited)
• Original Assignee: ITT Manufacturing Enterprises, Inc. (ITT, Inc.)
• Inventors: Trudeau, Tim K.
• Primary Examiner(s): Crosland, Donnie L.
• Application Number:
  US10/436,695
• Time in Patent Office: 945 Days
• Field of Search: 340/903, 340/961, 340/435, 340/438, 340/555, 340/557, 180/167, 180/168, 180/169, 180/271, 180/274, 382/103, 382/106, 348/135, 342/455, 342/357, 701/301, 701/302, 356/3
• US Class Current: 340/903
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: G01S 13/18 wherein range gates are used
• CPC Class Codes: G01S 13/881 for robotics
• CPC Class Codes: G01S 13/89 for mapping or imaging
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/9316 combined with communication equipment with other vehicles or with base stations
• CPC Class Codes: G01S 2013/9318 Controlling the steering
• CPC Class Codes: G01S 2013/93185 Controlling the brakes
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/9323 Alternative operation using light waves
• CPC Class Codes: G01S 2013/9324 Alternative operation using ultrasonic waves
• CPC Class Codes: G05D 1/0202 specially adapted to aircraft

Abstract

A collision avoidance system for a vehicle includes a collision avoidance processor, and an active sensor for obtaining successive range measurements to objects along a path transversed by the vehicle. The active sensor includes a near range gate for obtaining a near range measurement to objects located at a range less than a first predetermined range, and a far range gate for obtaining a far range measurement to objects located at a range greater than a second predetermined range. The near and far range measurements are provided to the collision avoidance processor for maneuvering of the vehicle.

Claims

1. A collision avoidance system for a vehicle comprising

a collision avoidance processor,

a single active sensor for obtaining successive range measurements to objects along a path transversed by the vehicle, the single active sensor including

a near range gate for obtaining a near range measurement to objects located at a range less than a first predetermined range, and

a far range gate for obtaining a far range measurement to objects located at a range greater than a second predetermined range,

wherein the near and far range measurements are provided to the collision avoidance processor from the single active sensor for maneuvering of the vehicle.

2. The collision avoidance system of claim 1 wherein

the active sensor includes a transmitter for transmitting pulses toward the objects, and a receiver for receiving the pulses reflected from the objects,

the near range gate is configured to be gated ON between a time of transmission of a pulse and a time of reception of the pulse reflected from an object located at a range less than the first predetermined range, and

the far range gate is configured to be gated ON at a time of reception of a pulse reflected from an object located at a range greater than the second predetermined range.

3. The collision avoidance system of claim 2 wherein

the near and far range gates are both configured to be gated OFF between a time of reception of a pulse reflected from an object located at a range greater than the first predetermined range and a time of reception of a pulse reflected from an object located at a range less than the second predetermined range.

4. The collision avoidance system of claim 2 wherein

the active sensor is configured to transmit pulses having leading and trailing edges,

the near range gate is configured to receive the leading edges of the pulses, and

the far range gate is configured to receive the trailing edges of the pulses.

5. The collision avoidance system of claim 1 wherein

the active sensor includes a laser light transmitted toward objects, and

a camera for receiving light reflected from the objects to form an image.

6. The collision avoidance system of claim 5 wherein

the laser light includes pulses having leading and trailing edges,

the near range gate is configured to receive the leading edges of the pulses and ignore the trailing edges of the pulses, and

the far range gate is configured to receive the trailing edges of the pulses and ignore the leading edges of the pulses.

7. The collision avoidance system of claim 6 wherein

the near range gate is configured to receive a leading edge of a respective pulse transmitted concurrently with a shutter opening of the camera, and

a trailing edge of the respective pulse is configured to occur after a shutter closing of the camera.

8. The collision avoidance system of claim 6 wherein

the far range gate is configured to receive a trailing edge of a respective pulse transmitted prior to a shutter opening of the camera, and

the shutter opening of the camera is configured to occur at 2 times the second predetermined range divided by the speed of light.

9. The collision avoidance system of claim 5 wherein

the first predetermined range is based on turning velocity of the vehicle, and

the second predetermined range is based on a difference between a maximum range of the camera and a depth of field of the camera.

10. A method of collision avoidance for a vehicle comprising the steps of:

(a) measuring, using a near range sate of a single sensor, a near range to objects located at a range less than a first predetermined range;

(b) measuring, using a far range sate of the same single sensor, a far range to objects located at a range greater than a second predetermined range;

(c) steering the vehicle in response to the single sensor measuring the objects located at the range greater than the second predetermined range; and

(d) modifying step (c) in response to the single sensor measuring the objects located at the range less than the first predetermined range.

11. The method of claim 10 in which

steps (a) and (b) includes transmitting pulses toward the objects, receiving reflected pulses from the objects, and measuring the range to the objects using a near range gate and a far range gate.

12. The method of claim 11 in which

step (a) includes gating the near range gate ON between a time of transmission of a leading edge of a pulse and a time of reception of a leading edge of a reflected pulse, and

step (b) includes gating the far range gate ON at a time of reception of a trailing edge of a pulse reflected off an object located at the range greater than the second predetermined range.

13. The method of claim 10 including the steps of:

(e) transmitting a laser light toward the objects; and

(f) receiving the laser light reflected from the objects with a camera.

14. The method of claim 13 in which

step (e) includes transmitting the laser light as pulses having leading edges and trailing edges, and

step (f) includes gating ON a shutter of the camera between a time of transmission of a leading edge of a pulse and a time of reception of a leading edge of a pulse reflected off an object located at the range less than the first predetermined range, and

gating ON the shutter of the camera at a time of reception of a trailing edge of a reflected pulse located at a range greater than the second predetermined range.

15. The method of claim 14 in which

step (f) includes gating OFF the shutter of the camera between a time of reception of a pulse reflected from an object located at a range greater than the first predetermined range and a time of reception of a pulse reflected from an object located at a range less than the second predetermined range.

16. The method of claim 10 in which

step (c) includes steering the vehicle to an aim point located at the range greater than the second predetermined range, and

step (d) includes modifying at least one of direction and velocity of the vehicle to avoid an object located at the range less than the first predetermined range.

17. A method of collision avoidance for a vehicle comprising the steps of:

(a) imaging, using a near range gate of a sensor, a scene located at a first predetermined range;

(b) imaging, using a far range sate of the same sensor, a scene located at a second predetermined range, the second predetermined range being greater than the first predetermined range;

(c) locating at least one low density region in the scene imaged by the sensor at the second predetermined range;

(d) selecting a low density region from low density regions located in step (c), and using the selected low density region as a steering aim point for the vehicle; and

(e) modifying at least one of direction and velocity of the vehicle, while being steered toward the steering aim point, to avoid objects located by the sensor at the first predetermined range.

18. The method of claim 17 including the steps of:

(f) detecting edges of objects imaged in step (b);

(g) identifying interrupted edges of objects detected in step (f);

(h) interpolating interrupted edges of objects identified in step (g); and

(i) updating a map scene density using the interpolated interrupted edges of objects; and

step (c) includes locating the low density region in the scene imaged at the second predetermined range using the updated map scene density.

19. The method of claim 17 including the steps of:

(f) steering the vehicle to a global goal using a velocity vector;

(g) selecting a velocity tuple from a set of velocity tuples that satisfy the conditions of

(i) steering the vehicle to the low density region selected in step (d) and

(ii) steering the vehicle to the global goal using the velocity vector of step (f).

20. The method of claim 17 including the step of:

(f) detecting objects imaged in the scene located at the first predetermined range; and

step (e) includes modifying the at least one of direction and velocity of the vehicle to avoid the objects detected in step (f).