Single camera system and method for range and lateral position measurement of a preceding vehicle
First Claim
1. A system for determining range of a vehicle, the system comprising:
- a camera configured to view a region of interest including the vehicle and generate an electrical image of the region;
a processor in electrical communication with the camera to receive the electrical image, wherein the processor is configured to identify a plurality of windows within the electrical image, each window of the plurality of windows corresponding to a predetermined physical size at a target range from the camera, the processor being further configured to evaluate characteristics of the electrical image in relation to each window to identify the vehicle;
wherein the processor is configured to determine a score indicating likelihood the vehicle is at the target range; and
wherein the processor is configured to determine the score based on a size ratio between each window and the characteristics of the electrical image.
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Abstract
A system for determining range and lateral position of a vehicle is provided. The system includes a camera and a processor. The camera is configured to view a region of interest including the vehicle and generate an electrical image of the region. The processor is in electrical communication with the camera to receive the electrical image. The processor analyzes the image by identifying a series of windows within the image each window corresponds to features of the vehicle at a different target range. For example, from the perspective of the camera the vehicle will appear larger when it is closer to the camera than if it is further away from the camera. Accordingly, each window is sized proportional to the vehicle as it would appear at each target range. The processor evaluates characteristics in the electrical image within each window to identify the vehicle. A score is determined indicating the likelihood that certain characteristics of the electrical image actually correspond to the vehicle and also that the vehicle is at target range for that window.
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Citations
44 Claims
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1. A system for determining range of a vehicle, the system comprising:
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a camera configured to view a region of interest including the vehicle and generate an electrical image of the region; a processor in electrical communication with the camera to receive the electrical image, wherein the processor is configured to identify a plurality of windows within the electrical image, each window of the plurality of windows corresponding to a predetermined physical size at a target range from the camera, the processor being further configured to evaluate characteristics of the electrical image in relation to each window to identify the vehicle; wherein the processor is configured to determine a score indicating likelihood the vehicle is at the target range; and wherein the processor is configured to determine the score based on a size ratio between each window and the characteristics of the electrical image. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. A method for determining range of a vehicle the method comprising:
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using one or more processor to receive an optical image of a region of interest onto a camera;
generating an electrical image based on the optical image;
identifying a plurality of windows within the electrical image, each window corresponding to a predetermined physical size at a target range from the camera; andevaluating characteristics of the electrical image within each window to identify the vehicle; determining a score indicating likelihood the vehicle is at the target range based on a size ratio between each window and the characteristics of the electrical image. - View Dependent Claims (20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44)
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Specification