Vehicle obstruction detection

• US 9,766,336 B2
• Filed: 03/16/2015
• Issued: 09/19/2017
• Est. Priority Date: 03/16/2015
• Status: Active Grant

• Current Assignee: HERE Global B.V. (Nokia Corporation)
• Original Assignee: HERE Global B.V. (Nokia Corporation)
• Inventors: Gupta, Vishisht Vijay, Prados, Michael
• Primary Examiner(s): Smith, Jelani
• Assistant Examiner(s): Martinez Borrero, Luis A
• Application Number:
  US14/658,802
• Publication Number:
  US 20160274239A1
• Time in Patent Office: 918 Days
• Field of Search: 701301, 701 1, 701 2, 701 70, 701 26, 701 28, 701300, 701400, 701 41, 701461, 701 50, 701468, 701 37, 701 22, 701408, 280124164, 280402, 280511, 280650, 280 8, 280830
• CPC Class Codes: G01C 21/3415 Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
• CPC Class Codes: G01C 3/08 Use of electric radiation detectors
• CPC Class Codes: G01S 17/06 Systems determining position data of a target
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 7/4813 Housing arrangements
• CPC Class Codes: G01S 7/497 Means for monitoring or calibrating

Abstract

Obstructions in a path of a vehicle may be determined by recording a plurality of measurements while the vehicle is traveling through a geographic area. The plurality of measurements may involve a velocity of the vehicle, positions relative to the vehicle of a plurality of objects in the geographic area. Also, a path of a vehicle may be determined. An obstruction in the path may be detected as an object of the plurality of objects that is in the path. Also, the obstruction may be determined to be a stationary obstruction as a function of the velocity of the vehicle and multiple positions of the obstruction relative to the vehicle measured over time.

Claims

1. A method comprising:

recording, by a processor of a data acquisition device coupled with a vehicle, a plurality of measurements while the vehicle is traveling through a geographic area, the plurality of measurements including a velocity of the vehicle, and positions relative to the vehicle of a plurality of objects in the geographic area;

determining, by the processor, a path of the vehicle;

detecting, by the processor, an obstruction in the path, wherein the obstruction is an object of the plurality of objects;

identifying, by the processor, a minimum clearance height for the obstruction;

establishing, by the processor as a function of the velocity of the vehicle and positions of the obstruction relative to the vehicle, that the obstruction is a stationary obstruction;

identifying, by the processor, a first data acquisition device height and a second data acquisition device height for the data acquisition device;

lowering, automatically, the data acquisition device from the first data acquisition device height to the second data acquisition device height when the minimum clearance height is lower than the first data acquisition device height and higher than the second acquisition device height and

generating, by the processor, an alternative route for the vehicle when the minimum clearance height is lower than the second acquisition device height.

2. The method of claim 1, further comprising:

providing, by the processor, a notification of the stationary obstruction in the path of the vehicle, wherein the notification comprises a visible warning on a display of the vehicle.

3. The method of claim 1, wherein the plurality of measurements further comprises a yaw rate of the vehicle, and the determining the path of the vehicle comprises determining the path as a function of the velocity of the vehicle and the yaw rate of the vehicle.

4. The method of claim 1, wherein the establishing that the obstruction is a stationary obstruction comprises establishing that the obstruction is a stationary obstruction through a comparison of a result of the function of the velocity of the vehicle and the positions of the obstruction relative to the vehicle to a threshold value.

5. The method of claim 2, further comprising:

determining a distance along the path to the stationary obstruction in the path of the vehicle, wherein providing the notification comprises providing the notification when the distance is less than a distance threshold value.

6. The method of claim 2, further comprising:

tracking, by the processor, the stationary obstruction in the path over a period of time;

determining, by the processor, that the stationary obstruction in the path is a moveable object; and

withholding the notification when the moveable object is determined.

15. The method of claim 2, wherein the data acquisition device may be partially lowered and the lowered data acquisition device coupled with the vehicle comprises a third data acquisition device height and providing the notification further comprises providing the notification if the minimum clearance height is lower than the third data acquisition device height.

16. The method of claim 1, further comprising:

providing a notification of the stationary obstruction in the path of the vehicle, wherein the notification comprises an audio warning.

7. An apparatus comprising:

a data acquisition device;

at least one processor;

at least one memory including computer program code and operable to store data indicative of locations of objects relative to a vehicle and velocity of the vehicle; and

a lowering actuator configured to automatically lower the apparatus;

the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus at least to;

record by the data acquisition device, a plurality of measurements while the vehicle is traveling through a geographic area, the plurality of measurements comprising velocity data of the vehicle and the positions of a plurality of objects in the geographic area,

determine a current apparatus height,

determine a path of the vehicle,

detect an obstruction in the path, wherein the obstruction is an object of the plurality of objects,

determine an obstruction clearance height,

establish, as a function of the velocity data and multiple position recordings of the obstruction, that the obstruction is a stationary obstruction,

determine that the current apparatus height is higher than the obstruction clearance height; and

trigger the lowering actuator to lower the apparatus including the data acquisition device to below the obstruction clearance height.

8. The apparatus of claim 7, wherein the processor is further configured to establish the current apparatus height using data acquired with at least one sensor of the apparatus.

9. The apparatus of claim 7, further comprising:

an output interface configured to present a notification to an operator of the vehicle in response to determining that the current apparatus height is higher than the obstruction clearance.

10. The apparatus of claim 7, wherein the processor is further configured to establish that the obstruction is a stationary obstruction through a comparison of a result of the function of the velocity of the vehicle and the positions of the obstruction relative to the vehicle to a threshold value.

11. The apparatus of claim 9, wherein the processor is further configured to:

determine a distance along the path to the stationary obstruction in the path of the vehicle, wherein the notification is provided when the distance is less than a distance threshold value.

12. The apparatus of claim 9, wherein the processor is further configured to:

track the stationary obstruction in the path over a period of time;

determine that the stationary obstruction in the path is a moveable object; and

withhold the notification when the moveable object is determined.

18. The apparatus of claim 7, wherein the processor is further configured to generate an alternative route for the vehicle when the apparatus including the data acquisition device cannot be lowered to below the obstruction clearance height.

13. A non-transitory computer readable medium including instructions that when executed by a processor are configured to cause an apparatus at least to:

record, with a data acquisition device, a plurality of measurements while a vehicle is traveling through a geographic area, the plurality of measurements including a velocity of the vehicle, positions relative to the vehicle of a plurality of objects in the geographic area, and a measure of a minimum clearance height of the plurality of objects;

determine a path of the vehicle;

detect an obstruction in the path, wherein the obstruction is an object of the plurality of objects, and the obstruction has a minimum clearance height lower than a height of the vehicle;

establish, as a function of the velocity of the vehicle and multiple positions of the obstruction relative to the vehicle, that the obstruction is a stationary obstruction; and

lower, automatically, part of the vehicle including the data acquisition device to a height that is lower than the minimum clearance height.

14. The medium of claim 13, wherein the obstruction in the path is a highway overpass, a sign, or a bridge in the path of the vehicle.

17. The medium of claim 13, the instructions further configured to cause the apparatus to provide a notification of the obstruction.

19. The medium of claim 13 further including instructions that when executed by the processor are configured to cause the apparatus at least to generate an alternative route for the vehicle when the part of the vehicle including the data acquisition device cannot be lowered to below the minimum clearance height.