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Systems and methods for detecting low-height objects in a roadway

  • US 9,205,835 B2
  • Filed: 01/30/2015
  • Issued: 12/08/2015
  • Est. Priority Date: 01/30/2014
  • Status: Active Grant
First Claim
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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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