Method and system for vehicular guidance using a crop image

• US 7,684,916 B2
• Filed: 12/16/2005
• Issued: 03/23/2010
• Est. Priority Date: 07/01/2005
• Status: Active Grant

• Current Assignee: Deere & Company, Kansas State University Research Foundation
• Original Assignee: Deere & Company, Kansas State University Research Foundation
• Inventors: Han, Shufeng, Wei, Jiantao
• Primary Examiner(s): Tran; Khoi
• Assistant Examiner(s): Peche; Jorge O
• Application Number:
  US11/303,789
• Publication Number:
  US 20070001096A1
• Time in Patent Office: 1,558 Days
• Field of Search: 701/23, 701/28, 701/50, 701/301, 700/50, 700/57, 700/58, 700/59, 700/61, 700/192, 700/259, 700/279, 382/100, 382/103, 382/104, 382/106, 382/107, 382/153, 382/162, 382/164, 382/165, 382/168, 382/173, 382/181, 382193-203, 382/224, 382/232, 382/256, 382/274, 382/276, 382/286, 382/312, 382/305, 56/135, 56/145, 56/146, 56/164.R, 345/158, 345/581, 345/589, 345/591, 345/597, 345/598, 345/599, 345/600, 345/634, 345/635
• US Class Current: 701/50
• CPC Class Codes: A01B 69/001 Steering by means of optical assistance, e.g. television cameras steering devices for road marking vehicles E01C23/163

Abstract

An imaging device collects color image data to facilitate distinguishing crop image data from background data. A definer defines a series of scan line segments generally perpendicular to a transverse axis of the vehicle or of the imaging device. An intensity evaluator determines scan line intensity data for each of the scan line segments. An alignment detector identifies a preferential heading of the vehicle that is generally aligned with respect to a crop feature, associated with the crop image data, based on the determined scan line intensity meeting or exceeding a maximum value or minimum threshold value. A reliability estimator estimates a reliability of the vehicle heading based on compliance with an intensity level criteria associated with one or more crop rows.

Claims

1. A method of determining reliability of vision data for guiding a vehicle, the method comprising:

collecting color image data to distinguish crop image data from background image data;

defining, by a data processor, a series of scan line segments generally perpendicular to a transverse axis of the vehicle or of an imaging system;

determining a scan line intensity for each of the scan lines with respect to corresponding crop image data;

identifying a preferential heading of the vehicle that is generally aligned with respect to a crop feature, associated with the crop image data, based on the determined scan line intensity meeting or exceeding a maximum value or minimum threshold value, wherein the minimum threshold value refers to a substantial alignment of the vehicle with the crop feature;

estimating a reliability of the vehicle heading based on compliance with an intensity level criteria associated with one or more crop rows;

determining a first intensity value associated with a first crop row and a second intensity value associated with a second crop row;

considering vision guidance data unreliable for a minimum time period if the first intensity value and the second intensity value do not comply with an individual predetermined threshold, an aggregate predetermined threshold, or both;

determining a spacing between a first crop row and a second crop row;

determining a maximum intensity value for the first crop row and the second crop row;

considering vision guidance data reliable for a time period if the first intensity value and the second intensity value comply with the individual predetermined threshold, the aggregate predetermined threshold, or both, if the determined spacing between the first crop row and the second crop row falls within a defined width range, and if the maximum intensity value is greater than a certain threshold value;

determining whether the vision guidance data is reliable; and

responsive to a determination that the vision guidance data is reliable, using the vision guidance data to guide a vehicle.

2. The method according to claim 1 further comprising:

considering vision guidance data unreliable for a minimum time period if the first intensity value differs from the second intensity value by more than a minimum threshold.

3. The method according to claim 1 further comprising:

determining a spacing between a first crop row and a second crop row; and

considering vision guidance data unreliable for a minimum time period if the spacing does not fall within a defined row width range.

4. The method according to claim 1 further comprising:

determining a maximum intensity value for the first crop row and the second crop row; and

considering vision guidance data unreliable for a minimum time period if the maximum intensity value is not greater than a certain threshold value.

5. A system of determining reliability of vision data for guiding a vehicle, the system comprising:

an imaging device for collecting color image data to distinguish crop image data from background image data;

a definer for defining a series of scan line segments generally perpendicular to a transverse axis of the vehicle or of an imaging system;

an intensity evaluator for determining a scan line intensity for each of the scan lines with respect to corresponding crop image data; and

an alignment detector for identifying a preferential heading of the vehicle that is generally aligned with respect to a crop feature, associated with the crop image data, based on the determined scan line intensity meeting or exceeding a maximum value or minimum threshold value, wherein the minimum threshold value refers to a substantial alignment of the vehicle with the crop feature;

a reliability estimator for estimating a reliability of the vehicle heading based on compliance with an intensity level criteria associated with one or more crop rows;

wherein the intensity evaluator determines a first intensity value associated with a first crop row and a second intensity value associated with a second crop row, the intensity evaluator determining a maximum intensity value for the first crop row and the second crop row;

a vehicle guidance controller considering vision guidance data unreliable for a minimum time period if the first intensity value and the second intensity value do not comply with an individual predetermined threshold, an aggregate predetermined threshold, or both;

a data processor determining a spacing between a first crop row and a second crop row;

the reliability estimator considering vision guidance data reliable for a time period if the first intensity value and the second intensity value comply with the individual predetermined threshold, the aggregate predetermined threshold, or both, if the determined spacing between the first crop row and the second crop row falls within a defined width range, and if the maximum intensity value is greater than a certain threshold value;

determining whether the vision guidance data is reliable; and

responsive to a determination that the vision guidance data is reliable, using the vision guidance data to guide a vehicle.

6. The system according to claim 5 further comprising:

the reliability estimator considering vision guidance data unreliable for a minimum time period if the first intensity value differs from the second intensity value by more than a minimum threshold.

7. The system according to claim 5 wherein the intensity evaluator determines a spacing between a first crop row and a second crop row;

and

the reliability estimator considering vision guidance data unreliable for a minimum time period if the spacing does not fall within a defined row width range.

8. The system according to claim 5 wherein the intensity evaluator determines a maximum intensity value for the first crop row and the second crop row;

and

the reliability estimator considering vision guidance data unreliable for a minimum time period if the maximum intensity value is not greater than a certain threshold value.