Systems and methods for detecting low-height objects in a roadway
First Claim
1. A driver-assist object detection system for a vehicle, the system comprising:
- at least one image capture device configured to capture a plurality of images representative of an area surrounding the vehicle;
a data interface; and
at least one processing device configured to;
receive, via the data interface, a first image from among the plurality of images and at least a second image from among the plurality of images;
analyze the first image and at least the second image to determine a reference plane corresponding to a road plane;
locate a target object in the first image and in the second image;
determine a difference in a size of at least one dimension of the target object between the first image and the second image;
use the determined difference in the size of the at least one dimension to determine at least a height of the target object relative to the road plane;
cause a change in at least a directional course of the vehicle if the determined height of the target object exceeds a predetermined threshold; and
determine a road clearance height of the vehicle;
wherein if the determined height of the target object is less than the road clearance height of the vehicle, the at least one processing device is further configured to;
determine that the vehicle can change directional course to drive over the object with the object oriented between the wheels of the vehicle; and
cause a steering system of the vehicle to change the directional course of the vehicle such that the vehicle drives over the object with the object oriented between the wheels of the vehicle.
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Accused Products
Abstract
Systems and methods use cameras to provide autonomous navigation features. In one implementation, a driver-assist object detection system is provided for a vehicle. One or more processing devices associated with the system receive at least two images from a plurality of captured images via a data interface. The device(s) analyze the first image and at least a second image to determine a reference plane corresponding to the roadway the vehicle is traveling on. The processing device(s) locate a target object in the first two images, and determine a difference in a size of at least one dimension of the target object between the two images. The system may use the difference in size to determine a height of the object. Further, the system may cause a change in at least a directional course of the vehicle if the determined height exceeds a predetermined threshold.
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Citations
16 Claims
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1. A driver-assist object detection system for a vehicle, the system comprising:
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at least one image capture device configured to capture a plurality of images representative of an area surrounding the vehicle; a data interface; and at least one processing device configured to; receive, via the data interface, a first image from among the plurality of images and at least a second image from among the plurality of images; analyze the first image and at least the second image to determine a reference plane corresponding to a road plane; locate a target object in the first image and in the second image; determine a difference in a size of at least one dimension of the target object between the first image and the second image; use the determined difference in the size of the at least one dimension to determine at least a height of the target object relative to the road plane; cause a change in at least a directional course of the vehicle if the determined height of the target object exceeds a predetermined threshold; and determine a road clearance height of the vehicle; wherein if the determined height of the target object is less than the road clearance height of the vehicle, the at least one processing device is further configured to; determine that the vehicle can change directional course to drive over the object with the object oriented between the wheels of the vehicle; and cause a steering system of the vehicle to change the directional course of the vehicle such that the vehicle drives over the object with the object oriented between the wheels of the vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A vehicle, comprising:
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a body; at least one image capture device configured to capture a plurality of images representative of an area surrounding the vehicle; a data interface; and at least one processing device configured to; receive, via the data interface, a first image from among the plurality of images and at least a second image from among the plurality of images; analyze the first image and at least the second image to determine a reference plane corresponding to a road plane; locate a target object in the first image and in the second image; determine a difference in a size of at least one dimension of the target object between the first image and the second image; use the determined difference in the size of the at least one dimension to determine at least a height of the target object relative to the road plane; cause a change in at least a directional course of the vehicle if the determined height of the target object exceeds a predetermined threshold; and determine a road clearance height of the vehicle; wherein if the determined height of the target object is less than the road clearance height of the vehicle, the at least one processing device is further configured to; determine that the vehicle can change directional course to drive over the object with the object oriented between the wheels of the vehicle; and cause a steering system of the vehicle to change the directional course of the vehicle such that the vehicle drives over the object with the object oriented between the wheels of the vehicle. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A computer-implemented method for detecting an object in a roadway, the method comprising:
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capturing, via at least one image capture device, a plurality of images representative of an area surrounding a vehicle; receiving, via at least one processing device, a first image from among the plurality of images and at least a second image from among the plurality of images; analyzing, via the at least one processing device, the first image and at least the second image to determine a reference plane corresponding to a road plane; locating, via the at least one processing device, a target object in the first image and in the second image; determining, via the at least one processing device, a difference in a size of at least one dimension of the target object between the first image and the second image; using, via the at least one processing device, the determined difference in the size of the at least one dimension to determine at least a height of the target object relative to the road plane; causing, via the at least one processing device, a change in at least a directional course of the vehicle if the determined height of the target object exceeds a predetermined threshold; determining, via the at least one processing device, a road clearance height of the vehicle; wherein if the determined height of the target object is less than the road clearance height of the vehicle, the method further comprises; determining, via the at least one processing device, that the vehicle can change directional course to drive over the object with the object oriented between the wheels of the vehicle; and causing, via the at least one processing device, a steering system of the vehicle to change the directional course of the vehicle such that the vehicle drives over the object with the object oriented between the wheels of the vehicle. - View Dependent Claims (16)
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Specification