Integrated Vehicular System for Low Speed Collision Avoidance

• US 20080195284A1
• Filed: 12/01/2004
• Published: 08/14/2008
• Est. Priority Date: 12/01/2004
• Status: Active Grant

• Current Assignee: Zorg Industries Pty., Ltd.
• Original Assignee: Zorg Industries Pty., Ltd.
• Inventors: Hammadou, Tarik
• Granted Patent: US 8,548,685 B2
• Time in Patent Office: Days
• US Class Current: 701/45
• 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 method of providing range measurements for use with a vehicle, the method comprising the steps of:

(a) visually sensing the area adjacent the vehicle to produce visual sense data;

(b) range sensing objects around the vehicle to produce range sense data;

(c) segmenting the visual sense data by means of thresholding the intensity and hue of the visual sense data to Produce segmented visual sense data;

(d) combining the segmented visual sense data and the range sense data to produce an estimate of the objects around a vehicle.

2. A method as claimed in claim 1 further comprising utilizing said estimate to control the operational characteristics of said vehicle.

3. A method as claimed in claim 2 wherein said control includes altering the bumper collision characteristics of said vehicle.

4. A method as claimed in claim 2 wherein said control includes altering the braking characteristics of said vehicle.

5. A method as claimed in claim 1 wherein said range sensing includes ultrasound or laser range sensing.

6. A method as claimed in claim 1 where said visual sense data is produced in a luminosity, color and saturation based color space.

7. A method as claimed in claim 6 wherein the color and luminosity components of said color space only are used in said combining step.

8. A method as claimed in claim 1 wherein said sensing step (a) includes segmenting said visual sense data.

9. A method as claimed in claim 1 further comprising the step of:

(d1) utilizing a series of calibration measurements in said combining step (d).

10. A method for range measuring comprising:

(a) capturing an image of a scene associated with the range measurement;

(b) performing a series of ultrasonic range measurements of the scene;

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

(d) segmenting said images by classifying image pixels 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 an upper and lower thresholds.

11. A method as claimed in claim 10 further comprising the step of smoothing the segmented image so as to reduce noise therein.

12. A method as claimed in claim 10 further comprising the step of:

(e) matching the targets found in the vision system to the targets found in the ultrasonic system.

13. A method as claimed in claim 10 wherein said method is carried out in a vehicle and said method further includes the step of:

monitoring the vehicle to activate the method when predetermined conditions are present.

14. A method as claimed in claim 13 wherein said predetermined conditions include whether the vehicle is in reverse.

15. (canceled)