Autonomous vehicle with improved visual detection ability

• US 9,535,423 B1
• Filed: 03/29/2016
• Issued: 01/03/2017
• Est. Priority Date: 03/29/2016
• Status: Active Grant

• Current Assignee: AImotive Kft
• Original Assignee: Adasworks Kft.
• Inventors: Debreczeni, Gergely
• Primary Examiner(s): ARTHUR JEANGLAUD, GERTRUDE
• Application Number:
  US15/084,084
• Time in Patent Office: 280 Days
• Field of Search: 701/28, 701/36, 340/12.25, 340/5.61, 340/5.64, 345/501
• US Class Current: 1/1
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2552/35 Road bumpiness, e.g. potholes
• CPC Class Codes: B60W 2552/53 Road markings, e.g. lane marker or crosswalk
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/4029 Pedestrians
• CPC Class Codes: B60W 2720/24 Direction of travel
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 60/001 Planning or execution of driving tasks
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G08G 1/16 Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08
• CPC Class Codes: H04N 5/77 between a recording apparatus and a television camera

Abstract

The invention provides an autonomous vehicle capable of driving independently through a path of intense traffic and transporting objects or people, even on rough surfaces, while ensuring safety of the vehicle and general road safety. The autonomous vehicle includes at least one variable pitch camera for producing images to be used for a computer vision to control the autonomous vehicle. The invention facilitates changing the pitch of the variable pitch camera to maximize camera image clarity and/or resolution as the autonomous vehicle moves. The images can be used for lane detection, pedestrian detection, three-dimensional (3D) reconstruction of an environment and/or pothole detection. With the invention, at least one image from the variable pitch camera is used in controlling the movement and/or the trajectory of the autonomous vehicle.

Claims

1. An autonomous vehicle, comprising:

at least one camera configured to produce images for computer vision used to control the autonomous vehicle, the at least one camera having a variable and movable pitch in relation to the direction of travel that is configured to be controlled, the pitch of the at least one camera being configured to be changed to maximize camera image clarity and/or resolution as said autonomous vehicle moves,

wherein at least one image from the variable pitch camera is configured to be used in controlling the movement of the autonomous vehicle,

the at least one variable pitch camera is configured to be used in pedestrian detection, and

the variable pitch of the camera is controlled based on a speed of the vehicle.

2. The autonomous vehicle as claimed in claim 1, wherein the variable pitch of the at least one camera is further controlled based on any of the following:

weather and/or traffic situation.

3. The autonomous vehicle as claimed in claim 1, the at least one camera includes a plurality of cameras located in different parts of the autonomous vehicle that are configured to perform different tasks.

4. The autonomous vehicle as claimed in claim 3, wherein each of the tasks is configured to be completed at a different camera position and/or orientation.

5. The autonomous vehicle as claimed in claim 1, wherein at least one camera output is processed by an Artificial Intelligence and detection module.

6. The autonomous vehicle as claimed in claim 5, wherein the Artificial Intelligence and detection module is configured to send steering control commands to a Steering unit.

7. The autonomous vehicle as claimed in claim 6, wherein the Steering unit is configured to use the vehicle speed and/or gyroscope data to control and alter a pitch, yaw and/or roll angle of the at least one camera.

8. The autonomous vehicle as claimed in claim 7, wherein the Steering unit (430) is configured to use any of the following:

the vehicle speed, an output of the imaging algorithm, mapping info, a Global Positioning System (GPS), and/or the gyroscope data to control and alter the pitch, yaw and/or roll angle of the at least one camera repeatedly in a closed loop, and optionally an improved detection performance is configured to be used to feed a control logic of the autonomous vehicle.

9. A method for controlling an autonomous vehicle including at least one camera configured to produce images for computer vision used to control the autonomous vehicle, the method comprising:

providing at least one said camera having a variable and movable pitch in relation to the direction of travel that is controlled;

changing the pitch of the at least one camera to maximize camera image clarity and/or resolution as said autonomous vehicle moves; and

controlling the movement of the autonomous vehicle using at least one image from the variable pitch camera,

wherein the at least one variable pitch camera is configured to be used in pedestrian detection, and

the variable pitch of the camera is controlled based on a speed of the vehicle.

10. The method as claimed in claim 9, wherein the pitch of the variable pitch camera is controlled based on any of the following:

weather and/or traffic situation.

11. The method as claimed in claim 9, wherein the at least one camera includes a plurality of cameras located in different parts of the autonomous vehicle and performing different tasks.

12. The method as claimed in claim 11, wherein each of the tasks is completed at a different camera position and/or orientation.

13. The method as claimed in claim 9, wherein at least one camera output is processed by an Artificial Intelligence and detection module.

14. The method as claimed in claim 9, wherein the output of the Artificial Intelligence and detection module sends steering control commands to a Steering unit.

15. The method as claimed in claim 14, wherein the Steering unit uses the vehicle speed and/or gyroscope data to control and alter a pitch, yaw and/or roll angle of the at least one said camera.

16. The method as claimed in claim 15, wherein the Steering unit uses one or more of the vehicle speed, an output of the imaging algorithm, mapping info, a Global Positioning System, (GPS), and the gyroscope data to control and alter the pitch, yaw and/or roll angle of the at least one camera repeatedly in a closed loop, and optionally an improved detection performance is used to feed a control logic of the autonomous vehicle.

17. A software program product stored on a non-transient memory medium for controlling an autonomous vehicle, comprising:

at least one camera software for at least one camera configured to produce images for computer vision software used to control the autonomous vehicle,

wherein the at least one camera has a variable and movable pitch in relation to the direction of travel that is configured to be controlled, the pitch of the at least one camera is configured to be changed to maximize camera image clarity and/or resolution as said autonomous vehicle moves,

at least one image from the variable pitch camera is configured to be used in controlling the movement of the autonomous vehicle,

the at least one variable pitch camera is configured to be used in pedestrian detection, and

the variable pitch of the camera is controlled based on a speed of the vehicle.

18. The software program product as claimed in claim 17, wherein the pitch of the variable pitch camera is controlled based on any of the following:

weather and/or traffic situation.

19. The software program product as claimed in claim 17, wherein the at least one camera includes a plurality of cameras located in different parts of the autonomous vehicle and configured to perform different tasks.

20. The software program product as claimed in claim 19, wherein each of the tasks is configured to be completed at a different camera position and/or orientation.

21. The software program product as claimed in claim 17, wherein at least one camera output is configured to be processed by an Artificial Intelligence and detection module.

22. The software program product as claimed in claim 21, wherein the Artificial Intelligence and detection module is configured to send steering control commands to a Steering unit.

23. The software program product as claimed in claim 22, wherein the Steering unit is configured to use the vehicle speed and/or gyroscope data to control and alter a pitch angle of the at least one camera.

24. The software program product as claimed in claim 23, wherein the Steering unit is configured to use one or more of the vehicle speed, an output of the imaging algorithm, mapping info, a Global Positioning System (GPS), and the gyroscope data to control and alter the pitch, yaw and/or roll angle of the at least one camera repeatedly in a closed loop, and optionally an improved detection performance is configured to be used to feed a control logic of the autonomous vehicle.