Method and system for obstacle detection

• US 7,164,118 B2
• Filed: 10/29/2004
• Issued: 01/16/2007
• Est. Priority Date: 10/29/2004
• Status: Active Grant

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Anderson, Noel Wayne, Puhalla, Jeffrey Scott
• Primary Examiner(s): Epps; Georgia
• Assistant Examiner(s): LIVEDALEN, BRIAN J
• Application Number:
  US10/977,173
• Publication Number:
  US 20060091297A1
• Time in Patent Office: 809 Days
• Field of Search: 250/221, 250/559.28, 250/559.38, 250/206.1, 356/620, 356/622, 356/314, 356/603, 356/604
• US Class Current: 250/221
• CPC Class Codes: G01S 11/12 using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/08 for measuring distance only indirect measurement G01S17/46; active triangulation systems G01S17/48
• CPC Class Codes: G01S 17/87 Combinations of systems using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/931 of land vehicles

Abstract

A method and system for detecting the presence of an object or the distance between the system and an object supports the provision of rapid and reliable obstacle detection. A transmitter emits generally linear beams of electromagnetic radiation with a transmitted radiation pattern within a defined spatial zone. A camera collects an image of the defined spatial zone. A data processor detects a presence of an object in the collected image based on an observed illumination radiation pattern on an object formed by at least one of the generally linear beams. A distance estimator estimates a distance between the object and the optical device based on a change (e.g., an observed shift in one or more positions of generally linear beams) from the transmitted radiation pattern to the observed illumination radiation pattern.

Claims

1. A method for detecting a presence of an object or the distance of the object from an optical device, the method comprising:

emitting simultaneously a plurality of generally linear beams, where each linear beam comprises a generally spatially continuous line segment of electromagnetic radiation with a transmitted radiation pattern within a defined spatial zone;

collecting an image of the defined spatial zone;

detecting a presence of an object in the collected image based on an observed illumination radiation pattern on an object formed by at least one of the generally linear beams;

estimating a distance between the object and the optical device based on an observed change in one or more positions of the generally linear beams from the transmitted radiation pattern to the observed illumination radiation pattern;

the estimating of the distance is applied to a first zone from the optical device mounted on a vehicle, the first zone beginning at a first distance spaced apart from the vehicle and extending to a second distance spaced apart from the first distance; and

detecting whether an obstacle is present in a second zone closer to the vehicle than the first zone via a transmission of an ultrasonic signal and a receipt of a reflection of the ultrasonic signal.

2. The method according to claim 1 further wherein the estimating of the distance comprises:

establishing a reference illumination radiation pattern resulting from the transmitted radiation pattern being incident on a generally planar surface at a known fixed distance; and

determining a distance based on an observed change between the reference illumination radiation pattern and the observed illumination radiation pattern.

3. The method according to claim 1 wherein the generally linear radiation beams are substantially parallel to each other.

4. The method according to claim 1 wherein emitting comprises transmitting the electromagnetic radiation over a frequency range and wherein the collecting comprises filtering the image to attenuate signals outside the frequency range.

5. The method according to claim 1 wherein the emitting comprises transmitting one or more pulses of the electromagnetic radiation to increase human eye safety.

6. The method according to claim 1 wherein the collecting further comprises collecting first image data of an image when a pulse of the electromagnetic radiation is not emitted, and collecting a second image data of an image when a pulse of the electromagnetic radiation is emitted;

and further comprising;

subtracting the first image data from the second image data to derive the image to compensate for variation in illumination of at least one of the image and the object.

7. The method according to claim 1 wherein the transmitting comprises coordinating the transmission time of pulses with other optical units in a common geographic zone to avoid interference.

8. The method according to claim 1 further comprising:

generating a radiation pattern in a generally planar vertical wall extending from at least one side of the vehicle to determine spatial constraints during turning of the vehicle.

9. The method according to claim 1 wherein the defined spatial zone comprises a field of regard comprising a three-dimensional spatial zone extending in a direction of travel of a vehicle and having a height and width that is greater than the vehicle height and the vehicle width by a minimum spatial clearance.

10. The method according to claim 9 the depth of the three-dimensional spatial zone is defined by the at least one of the vehicular speed or velocity of the vehicle, minimum vehicle stopping distance plus a safety interval corresponding to the vehicular speed, maximum oncoming speed of oncoming objects, sampling rates of the collection of the image, and resolution of the image.

11. The method according to claim 1 wherein the emitting comprises emitting a first group of generally linear beams from a first emission source and emitting a second group of generally linear beams from a second emission source spaced apart from the first emission source.

12. A method for measuring a distance between an optical device and an object, the method comprising:

emitting simultaneously a plurality of generally linear beams, where each linear beam comprises a generally spatially continuous line segment of electromagnetic radiation at a transmission angle and height above ground with a transmitted radiation pattern within a defined spatial zone;

collecting an image of the defined spatial zone;

processing the image to identify pixels associated with the illumination of an object with one of the generally linear beams;

determining an observed height of the identified pixels; and

determining a distance between the object and the optical device based on a transmission angle, the mounting height above ground of the optical device, and the observed height of the identified pixels, wherein the transmission angle is determined in conformity with minimum vehicle stopping distance plus a safety interval.

13. The method according to claim 12 wherein the determining of the observed height comprises the height of the object at which the radiation pattern strikes the object.

14. The method according to claim 12 wherein the determining of the distance is accomplished in accordance with the following equation:

d=h/tan θ

, where d is the distance, θ

is the transmission angle measured from a generally horizontal axis, and h is an observed height less the mounting height of the optical device.

15. The method according to claim 12 wherein the transmission angle is determined in conformity with one or more of the following:

distance related to the maximum expected speed of any oncoming mobile objects, sampling rate of the collection of data, and resolution requirements.

16. The method according to claim 12 wherein emitting comprises transmitting the electromagnetic radiation over a frequency range and wherein the collecting comprises filtering the image to attenuate signals outside the frequency range.

17. The method according to claim 12 wherein the emitting comprises transmitting one or more pulses of the electromagnetic radiation to increase human eye safety.

18. The method according to claim 12 wherein the collecting further comprises collecting first image data of an image when a pulse of the electromagnetic radiation is not emitted, and collecting a second image data of an image when a pulse of the electromagnetic radiation is emitted;

and further comprising;

subtracting the first image data from the second image data to derive the image to compensate for variation in illumination of at least one of the image and the object.

19. The method according to claim 12 wherein the transmitting comprises coordinating the transmission time of pulses with other optical units in a common geographic zone to avoid interference.

20. The method according to claim 12 wherein the defined spatial zone comprises a field of regard comprising a three-dimensional spatial zone extending in a direction of travel of a vehicle and having a height and width that is greater than the vehicle height and the vehicle width by a minimum spatial clearance.

21. The method according to claim 12 the depth of the three-dimensional spatial zone is defined by the at least one of the vehicular speed or velocity of the vehicle, minimum vehicle stopping distance plus a safety interval corresponding to the vehicular speed, maximum oncoming speed of oncoming objects, sampling rates of the collection of the image, and resolution of the image.

22. The method according to claim 12 wherein the emitting comprises emitting a first group of generally linear beams from a first transmitter module and emitting a second group of generally linear beams from a second transmitter module spaced apart from the first transmitter module.

23. An obstacle detection system for detecting the presence of an object or a distance of the object from the system, the obstacle detection system comprising:

a transmitter for emitting simultaneously a plurality of generally linear beams, where each linear beam comprises a generally spatially continuous line segment of electromagnetic radiation with a transmitted radiation pattern within a defined spatial zone, the transmitter arranged to emit the transmitted radiation pattern in a first zone spaced apart from the transmitter by a first distance or radius;

a camera for receiving a reflection of one or more of the linear beams from an object in the defined spatial zone;

a data processor for determining at least one of a presence of and a distance of the object from the optical device based on an observed shift in one or more positions of the generally linear beams observable in a detected pattern of the reflection; and

a secondary obstacle detector for detecting an obstacle via a transmission of an ultrasonic signal and a receipt of a reflection in a second zone closer to the transmitter than the first zone.

24. The optical device according to claim 23 wherein the data processor is arranged to estimate a distance between the object and the optical device based on the observed shift in one or more positions of the generally linear beams from the transmitted radiation pattern to the observed illumination radiation pattern.

25. The system according to claim 23 further wherein the data processor establishes a reference illumination radiation pattern resulting from the transmitted radiation pattern being incident on a planar obstruction at a known fixed distance;

and determines a distance based on an observed shift between the reference illumination radiation pattern and the observed illumination radiation pattern.

26. The system according to claim 23 wherein the generally linear radiation beams are substantially parallel to each other.

27. The system according to claim 23 wherein the transmitter, the camera, and the data processor are mounted on a vehicle;

and further comprising;

a tertiary obstacle detector for generating a radiation pattern in a generally planar vertical wall extending from at least one side of a vehicle to determine spatial constraints during turning of the vehicle.

28. The system according to claim 23 wherein the defined spatial zone comprises a field of regard comprising a three-dimensional spatial zone extending in a direction of travel of a vehicle and having a height and width that is greater than the vehicle height and the vehicle width by a minimum spatial clearance.

29. The system according to claim 28 the depth of the three-dimensional spatial zone is defined by the at least one of the vehicular speed or velocity of the vehicle, minimum vehicle stopping distance plus a safety interval corresponding to the vehicular speed, maximum oncoming speed of oncoming objects, sampling rates of the collection of the image, and resolution of the image.

30. The system according to claim 23 wherein the transmitter comprises a first transmitter module for emitting a first group of generally linear beams, a second transmitter module for emitting a second group of generally linear beams, the second transmitter module spaced apart from the first transmitter module to form a generally linear array of the first transmitter module and the second transmitter module.