Integrated vehicular system for low speed collision avoidance

• US 9,726,483 B2
• Filed: 09/22/2015
• Issued: 08/08/2017
• Est. Priority Date: 12/01/2004
• Status: Active Grant

• Current Assignee: Zorg Industries Pty., Ltd.
• Original Assignee: Zorg Industries Pty., Ltd.
• Inventors: Hammadou, Tarik
• Primary Examiner(s): Frisby, Keith J
• Application Number:
  US14/861,264
• Publication Number:
  US 20160010983A1
• Time in Patent Office: 686 Days
• Field of Search: 701 45, 701 1, 701300, 701301, 701302, 701 28, 701523, 382103, 382104, 382106, 382165, 382274, 382164, 382173, 356 401
• CPC Class Codes: B60Q 9/006 using a distance sensor
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: B60R 2300/301 combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
• CPC Class Codes: B60W 30/08 Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
• CPC Class Codes: G01B 11/14 for measuring distance or clearance between spaced objects or spaced apertures G01B11/26 takes precedence; rangefinders G01C3/00
• CPC Class Codes: G01B 21/16 for measuring distance of clearance between spaced objects
• CPC Class Codes: G01C 3/00 Measuring distances in line of sight; Optical rangefinders tapes, chains or wheels for measuring length G01B3/00; active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves, G01S17/48
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 15/00 Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
• CPC Class Codes: G01S 15/86 Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
• CPC Class Codes: G01S 15/931 of land vehicles
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 2015/938 in the bumper area radar in bumper area G01S2013/93275; bumper with obstacle sensor of electric or electronic type B60R19/483
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• 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: G08G 1/168 Driving aids for parking, e.g. acoustic or visual feedback on parking space

Abstract

A method of providing range measurements for use with a vehicle, the method comprising the steps of: a) visually sensing (2) the area adjacent the vehicle to produce visual sense data (22); b) range sensing (26) objects around the vehicle to produce range sense data; c) combining the visual sense data and the range sense data to produce, with respect to the vehicle, an estimate of ranges to the objects around the vehicle (28). The estimate of ranges to the objects around the vehicle may be displayed (29) to a driver.

Claims

1. A system for providing range measuring, comprising:

one or more circuits in a vehicle, wherein the one or more circuits are configured to;

capture an image associated with the range measurement;

perform a series of radar range measurements;

perform a series of calibrations of the image to determine a transformation matrix equation to find the relationship between the image points and the corresponding 3D world co-ordinates (X, Y, Z); and

segment the images by classifying a pixel as black or white using a threshold m in an intensity channel I, calculating a hue (H) for the pixel and segmenting the image using upper and lower thresholds.

2. The system according to claim 1, wherein the one or more circuits in the vehicle are configured to smooth the segmented image so as to reduce noise therein.

3. The system according to claim 1, wherein the one or more circuits in the vehicle are configured to match the targets found in the vision system to the targets found in the radar system.

4. The system according to claim 1, wherein the one or more circuits in the vehicle are configured to monitor the vehicle and to activate the system when predetermined conditions are present, and wherein the one or more circuits in the vehicle are configured to determine when the predetermined conditions are present.

5. The system according to claim 1, wherein the one or more circuits in the vehicle are configured to monitor the vehicle and to activate the system when the vehicle is in reverse, and wherein the one or more circuits in the vehicle are configured to determine when the vehicle is in reverse.

6. A system for providing range measuring, comprising:

a vehicle configured to;

capture an image associated with the range measurement;

perform a series of radar range measurements;

perform a series of calibrations of the image to determine a transformation matrix equation to find the relationship between the image points and the corresponding 3D world co-ordinates (X, Y, Z); and

segment the images by classifying a pixel as black or white using a threshold m in an intensity channel I, calculating a hue (H) for the pixel and segmenting the image using upper and lower thresholds.

7. The system according to claim 6, wherein the vehicle is configured to smooth the segmented image so as to reduce noise therein.

8. The system according to claim 6, wherein the vehicle is configured to match the targets found in the vision system to the targets found in the radar system.

9. The system according to claim 6, wherein the vehicle is configured to monitor the vehicle and to activate the system when predetermined conditions are present, and wherein the vehicle is configured to determine when the predetermined conditions are present.

10. The system according to claim 6, wherein the vehicle is configured to monitor the vehicle and to activate the system when the vehicle is in reverse, and wherein the vehicle is configured to determine when the vehicle is in reverse.

11. A vehicle, comprising:

one or more circuits configured to;

capture an image associated with the range measurement;

perform a series of radar range measurements;

perform a series of calibrations of the image to determine a transformation matrix equation to find the relationship between the image points and the corresponding 3D world co-ordinates (X, Y, Z); and

segment the images by classifying a pixel as black or white using a threshold m in an intensity channel I, calculating a hue (H) for the pixel and segmenting the image using upper and lower thresholds.

12. The vehicle according to claim 11, wherein the one or more circuits in the vehicle are configured to smooth the segmented image so as to reduce noise therein.

13. The vehicle according to claim 11, wherein the one or more circuits in the vehicle are configured to match the targets found in the vision system to the targets found in the radar system.

14. The vehicle according to claim 11, wherein the one or more circuits in the vehicle are configured to monitor the vehicle and to activate the system when predetermined conditions are present, and wherein the one or more circuits in the vehicle are configured to determine when the predetermined conditions are present.

15. The system according to claim 11, wherein the vehicle is configured to monitor the vehicle and to activate the system when the vehicle is in reverse, and wherein the one or more circuits in the vehicle are configured to determine when the vehicle is in reverse.