Obstruction detection

• US 10,389,985 B2
• Filed: 11/06/2017
• Issued: 08/20/2019
• Est. Priority Date: 04/30/2007
• Status: Active Grant

• Current Assignee: MobilEye Vision Technologies Ltd. (Intel Corporation)
• Original Assignee: MobilEye Vision Technologies Ltd. (Intel Corporation)
• Inventors: Stein, Gideon
• Primary Examiner(s): Kim, Hee-Yong
• Application Number:
  US15/805,128
• Publication Number:
  US 20180091780A1
• Time in Patent Office: Days
• Field of Search: 348148
• CPC Class Codes: B60R 2300/30 characterised by the type of image processing
• CPC Class Codes: B60R 2300/404 triggering from stand-by mode to operation mode
• CPC Class Codes: B60R 2300/806 for aiding parking
• CPC Class Codes: B60R 2300/8093 for obstacle warning
• 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: H04N 7/183 for receiving images from a single remote source

Abstract

Systems and methods are provided for obstruction detection for a vehicle. In one implementation, a system mountable in a vehicle may comprise a camera configured to capture a plurality of image frames from a region outside of the vehicle in a direction of motion of the vehicle. The system may also comprise a processor coupled to the camera and configured to receive the image frames and process the image frames to detect an object obstructing the motion of the vehicle. The system may also comprise a light attached to the vehicle, the light illuminating the region outside of the vehicle. The detection of the object may be performed based on a change in illumination between the image frames.

Claims

1. A system for a vehicle, the system comprising:

a camera configured to capture a plurality of image frames from a region outside of the vehicle in a direction of motion of the vehicle, wherein the region outside of the vehicle is beyond an end of the vehicle in the direction of motion;

a processor coupled to the camera and configured to receive the image frames and process the image frames to detect an object obstructing the motion of the vehicle; and

at least one light attached to the vehicle, wherein the at least one light is configured to illuminate the region outside of the vehicle in response to a change in a state of operation of the vehicle,

wherein the object is detected based on a comparison of one of the image frames captured before the change in the state of operation of the vehicle and another one of the image frames captured after the change in the state of operation of the vehicle.

2. The system of claim 1, further comprising:

a warning mechanism, wherein the warning mechanism is configured to provide a warning to a driver of the vehicle after the object is detected.

3. The system of claim 1, wherein the object is detected based on a plurality of classes of obstructing objects.

4. The system of claim 1, wherein the object includes a wall in the region outside of the vehicle.

5. The system of claim 4, wherein the at least one light illuminates the wall, and detecting the object further includes estimating a distance between the vehicle and the wall based on a lighting pattern.

6. The system, according to claim 1,

wherein the at least one light illuminates the region outside of the vehicle, and detecting the object further includes using a meeting point or an extrapolation point in at least one of the image frames between the object and a shadow of the object.

7. The system of claim 1, wherein the change in the state of operation of the vehicle comprises a shift in gear, a release of a brake, or a change in direction.

8. The system of claim 1, wherein the region outside of the vehicle is also illuminated by a source other than the at least one light attached to the vehicle.

9. The system of claim 8, wherein the source other than the at least one light attached to the vehicle includes the sun.

10. A method, comprising:

capturing, by a camera, a first image frame from a region outside of a vehicle;

changing a state of operation of the vehicle, wherein at least one light is configured to change an illumination of the region outside of the vehicle in response to the change in the state of operation of the vehicle;

capturing, by the camera, after the change in the state of operation, a second image frame from the region outside of the vehicle; and

comparing the first image frame and the second image frame to detect an object obstructing motion of the vehicle based on the change in the illumination of the region after the change in the state of operation of the vehicle.

11. The method of claim 10, further comprising, providing a warning to a driver of the vehicle based on the detection of the object.

12. The method of claim 10, wherein detecting the object further includes processing the first image frame and the second image frame using a plurality of detection algorithms, the algorithms corresponding to a plurality of classes of obstructing objects.

13. The method, of claim 10, wherein the object includes a wall in the region outside of the vehicle.

14. The method of claim 13, wherein the at least one light illuminates the wall, and detecting the object includes estimating a distance between the vehicle and the wall based on a position in image space of the illumination from the light.

15. The method, according to claim 10,

wherein detecting the object includes using a meeting point or an extrapolation point in at least one of the image frames between the at least one object and a shadow of the at least one object.

16. A system for a vehicle, the system comprising:

a camera configured to capture a plurality of image frames from a region outside of the vehicle; and

a processor configured to;

cause the camera to capture a first image frame;

identify a change in a state of operation of the vehicle, wherein at least one light is configured to change an illumination of the region outside of the vehicle in response to the change in the state of operation of the vehicle;

cause the camera to capture a second image frame after the change in the state of operation of the vehicle;

wherein the at least one light changes the illumination of the region in response to the change in the state of operation of the vehicle after the first image is captured and before the second image frame is captured;

compare the first image frame and the second image frame; and

detect an object obstructing motion of the vehicle in the region outside of the vehicle based on a result of the comparison.

17. The system of claim 16, wherein detecting the object further includes processing the first image frame and the second image frame using a plurality of detection algorithms, the algorithms corresponding to a plurality of classes of obstructing objects.

18. The system of claim 17, wherein the classes are selected from the group consisting of:

pedestrians, spherical balls, vertical poles, hanging chains and upright boxes.

19. The system of claim 16, wherein the change in the illumination of the at least one light includes a change in illumination intensity.

20. The system of claim 16, wherein the object includes a wall in the region outside of the vehicle.

21. The system of claim 20, wherein the processor is further configured to determine a distance from the wall based on a lighting pattern.

22. The system of claim 16, wherein detecting the object comprises detecting the object using a meeting point or an extrapolation point in at least one of the first image frame or the second image frame between the object and a shadow of the object.