Vehicular path sensing system and method

• US 9,349,058 B2
• Filed: 10/15/2013
• Issued: 05/24/2016
• Est. Priority Date: 10/31/2012
• Status: Active Grant

• Current Assignee: Joyson Safety Systems Acquisition, LLC (Ningbo Junsheng Investment Group Co., Ltd.)
• Original Assignee: TK Holdings Incorporated (Ningbo Junsheng Investment Group Co., Ltd.)
• Inventors: Schamp, Gregory Gerhard
• Primary Examiner(s): Anwari, MacEeh
• Application Number:
  US14/439,818
• Publication Number:
  US 20150294161A1
• Time in Patent Office: 952 Days
• Field of Search: 701/37
• US Class Current: 1/1
• CPC Class Codes: B60G 17/019 characterised by the type of sensor or the arrangement thereof B60G17/01941 takes precedence
• CPC Class Codes: B60K 31/00 Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator fittings acting on two or more sub-units B60W30/14; speedometers G01P; systems or devices for controlling speed in general G05D13/00 ; in traffic anti-collision system for road vehicles G08G1/16
• CPC Class Codes: B60Q 1/04 the devices being headlights
• CPC Class Codes: B60R 16/023 for transmission of signals between vehicle parts or subsystems
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/22 including control of suspension systems
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/42 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 2556/55 using telemetry
• CPC Class Codes: B60W 2710/18 Braking system
• CPC Class Codes: B60W 2710/22 Suspension systems
• CPC Class Codes: B60W 40/076 Slope angle of the road
• CPC Class Codes: B60W 50/0097 Predicting future conditions
• CPC Class Codes: G01B 11/2545 with one projection direction and several detection directions, e.g. stereo
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
• CPC Class Codes: H04N 13/20 Image signal generators

Abstract

At least one fan beam of light (16, 16.1, 16.2) projected along a path (14, 14.1, 14.2, 48) of a vehicle (12) generates a corresponding at least one light stripe (90, 90.1, 90.2) along the surface (14′, 48′) of the path (14, 48), which is imaged by an imaging system (22, 26) to generate a pair of stereo image components (88′, 88″) which is processed so as to provide for sensing a physical feature of or along the path (14′, 48′).

Claims

1. A method of sensing a physical feature of or along a path of a vehicle, comprising:

a. projecting at least one fan beam of light from a vehicle onto a path along which said vehicle can travel, wherein said at least one fan beam of light is oriented substantially along a direction of travel of said vehicle, each said at least one fan beam of light generates a corresponding at least one light stripe along a surface of said path, and said at least one fan beam of light is substantially aligned with a corresponding at least one corresponding tire track of said vehicle, so as to provide for said at least one fan beam of light to intersect said corresponding at least one corresponding tire track of said vehicle for a corresponding projected trajectory of said vehicle;

b. capturing at least one pair of stereo image components of said at least one light stripe; and

c. processing said at least one pair of stereo image components of said at least one light stripe so as to provide for sensing a physical feature of or along said path.

2. A method of sensing a physical feature of or along a path of a vehicle as recited in claim 1, wherein said at least one fan beam of light is turned off if a velocity of said vehicle is less than a threshold.

3. A method of sensing a physical feature of or along a path of a vehicle as recited in claim 1, wherein the operation of processing said at least one pair of stereo image components of said at least one fan beam of light comprises generating a corresponding at least one range map image from a corresponding said at least one pair of stereo image components, and the operation of processing said at least one pair of stereo image components of said at least one fan beam of light comprises determining at least one elevation profile of at least a portion of said path upon which said at least one fan beam of light is projected, wherein the operation of sensing a physical feature of or along said path is responsive to said at least one range map image, and the operation of determining said at least one elevation profile is responsive to said at least one range map image.

4. A method of sensing a physical feature of or along a path of a vehicle as recited in claim 3, wherein each elevation of said at least one elevation profile is determined responsive to a corresponding down-range value of said at least one range-map image and responsive to a corresponding pixel location in said at least one range-map image.

5. A method of sensing a physical feature of or along a path of a vehicle as recited in claim 3, wherein said at least one elevation profile comprises an elevation value for each of a plurality of tiles along a corresponding said at least one light stripe, wherein each tile of said plurality of tiles comprise a corresponding down-range extent and a corresponding cross-range extent, and different tiles of said plurality of tiles correspond to different locations along said at least one light stripe.

6. A method of sensing a physical feature of or along a path of a vehicle as recited in claim 5, further comprising determining at least one of a pitch angle of said vehicle or a roll angle of said vehicle responsive to either at least one set of at least two elevation values associated with corresponding said tiles at different down-range locations relative to said vehicle for a substantially common cross-range location relative to said vehicle, or at least one set of at least two elevation values associated with corresponding said tiles at different cross-range locations relative to said vehicle for a substantially common down-range location relative to said vehicle.

7. A method of sensing a physical feature of or along a path of a vehicle as recited in claim 6, wherein said tiles used to determine said at least one of said pitch angle or said roll angle are located within a relatively near-range subset patch of said tiles located along said path of said vehicle and substantially centered with respect to left and right tire tracks of said vehicle.

8. A method of sensing a physical feature of or along a path of a vehicle as recited in claim 3, further comprising determining at least one of a pitch angle of said vehicle or a roll angle of said vehicle responsive to either at least one set of at least two elevation values at different down-range locations relative to said vehicle for a substantially common cross-range location relative to said vehicle, or at least one set of at least two elevation values at different cross-range locations relative to said vehicle for a substantially common down-range location relative to said vehicle.

9. A method of sensing a physical feature of or along a path of a vehicle as recited in claim 8, further comprising correcting said at least one elevation profile so as to compensate for said pitch angle of said vehicle.

10. A method of sensing a physical feature of or along a path of a vehicle as recited in claim 8, wherein said at least one fan beam of light is projected forward of said vehicle, further comprising communicating said at least one elevation profile to a suspension control system of said vehicle so as to provide for controlling at least one element of a suspension system of said vehicle responsive to said pitch angle of said vehicle.

11. A method of sensing a physical feature of or along a path of a vehicle as recited in claim 8, wherein said at least one fan beam of light is projected forward of said vehicle, further comprising communicating said at least one elevation profile to a suspension control system of said vehicle so as to provide for controlling at least one element of a suspension system of said vehicle responsive to said roll angle of said vehicle.

12. A method of sensing a physical feature of or along a path of a vehicle as recited in claim 3, further comprising estimating at least one future path of at least one tire of said vehicle, wherein said at least one elevation profile is determined along said at least one future path of said at least one tire of said vehicle.

13. A method of sensing a physical feature of or along a path of a vehicle as recited in claim 3, further comprising estimating at least one future path of at least one tire of said vehicle, wherein said at least one elevation profile is determined along said at least one future path of said at least one tire of said vehicle, and said at least one elevation profile is determined from corresponding elevation values for each of a plurality of said tiles along said at least one future path of said at least one tire of said vehicle.

14. A method of sensing a physical feature of or along a path of a vehicle as recited in claim 13, wherein a cross-range extent of said tiles is sufficiently narrow so that each said at least one future path of said at least one tire of said vehicle laterally spans a plurality of said tiles, and each elevation value of said at least one elevation profile along said at least one future path is determined from a weighted average of corresponding elevation values of a corresponding said plurality of said tiles spanning different lateral locations.

15. A method of sensing a physical feature of or along a path of a vehicle as recited in claim 13, wherein the operation of estimating said at least one future path of said at least one tire of said vehicle comprises:

a. generating an estimate of said at least one future path of said at least one tire of said vehicle with respect to world coordinates, responsive to measures of speed and yaw rate of said vehicle; and

b. transforming said estimate of said at least one future path of said at least one tire of said vehicle from said world coordinates to image coordinates with respect to said at least one range-map image.

16. A method of sensing a physical feature of or along a path of a vehicle as recited in claim 13, wherein said at least one fan beam of light is projected forward of said vehicle, further comprising communicating said at least one elevation profile to a suspension control system of said vehicle so as to provide for controlling at least one element of a suspension system of said vehicle responsive to said at least one elevation profile along said portion of said path upon which said at least one tire of said vehicle is expected to travel, wherein the operation of communicating said at least one elevation profile to said suspension control system of said vehicle comprises communicating a differential path elevation series for tiles along at least one projected tire track within said at least one fan beam of light, wherein said differential path elevation series comprises a series of difference values, and each difference value of said series of difference values comprises a difference between elevation values of successive said tiles along said at least one projected tire track.

17. A method of sensing a physical feature of or along a path of a vehicle as recited in claim 16, further comprising determining a corresponding vertical acceleration series corresponding to said differential path elevation series and providing for controlling said at least one element of said suspension system responsive thereto.

18. A method of sensing a physical feature of or along a path of a vehicle as recited in any of claim 3, wherein said at least one fan beam of light is projected forward of said vehicle, further comprising communicating said at least one elevation profile to a suspension control system of said vehicle so as to provide for controlling at least one element of a suspension system of said vehicle responsive to said at least one elevation profile along said portion of said path upon which at least one tire of said vehicle is expected to travel.

19. A method of sensing a physical feature of or along a path of a vehicle as recited in claim 1, wherein said at least one fan beam of light is generated with light that is invisible to the human eye.

20. A method of sensing a physical feature of or along a path of a vehicle as recited in claim 1, wherein the operation of processing said at least one pair of stereo image components of said at least one fan beam of light comprises generating a corresponding at least one range map image from a corresponding said at least one pair of stereo image components, wherein the operation of sensing a physical feature of or along said path is responsive to said at least one range map image.

21. A system for sensing a physical feature of or along a path of a vehicle, comprising:

a. a light projection system, wherein said light projection system is installed in the vehicle in an orientation so as to provide for projecting at least one fan beam of light onto a path upon which the vehicle can travel, wherein said at least one fan beam of light is oriented substantially along a direction of travel of said vehicle, each said at least one fan beam of light generates a corresponding at least one light stripe along a surface of said path, and said at least one fan beam of light is substantially aligned with a corresponding at least one corresponding tire track of said vehicle, so as to provide for said at least one fan beam of light to intersect said corresponding at least one corresponding tire track of said vehicle for a corresponding projected trajectory of said vehicle;

b. an imaging system, wherein said imaging system generates at least one pair of stereo image components of said at least one fan beam of light; and

c. an image processing system, wherein said image processing system is configured so as to sense a physical feature of or along said path of said vehicle responsive to said at least one pair of stereo image components of said at least one fan beam of light and responsive to stored reference information corresponding to said at least one fan beam of light.

22. A system for sensing a physical feature of or along a path of a vehicle as recited in claim 21, wherein said imaging system comprises first and second cameras separated along a baseline, and said baseline is oriented substantially transverse to said at least one fan beam of light.

23. A system for sensing a physical feature of or along a path of a vehicle as recited in claim 21, wherein said at least one fan beam of light is generated with infrared light.

24. A system for sensing a physical feature of or along a path of a vehicle as recited in claim 21, wherein said imaging system comprises either a stereo vision system or a plurality of cameras that either alone or in cooperation with said image processing system provide for generating a range-map image of said at least one fan beam of light projected onto said path.

25. A system for sensing a physical feature of or along a path of a vehicle as recited in claim 21, wherein said image processing system provides for sensing an elevation profile of said path along said at least one light stripe.