VISION SYSTEM FOR A VEHICLE

• US 20120143430A1
• Filed: 02/09/2012
• Published: 06/07/2012
• Est. Priority Date: 06/19/2006
• Status: Active Grant

• Current Assignee: Oshkosh Defense LLC (Oshkosh Corporation)
• Original Assignee: Oshkosh Corporation
• Inventors: Broggi, Alberto, Schmiedel, Gary, Yakes, Christopher K.
• Granted Patent: US 9,420,203 B2
• Time in Patent Office: Days
• US Class Current: 701/28
• 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 17/931 of land vehicles
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0251 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision stereoscopic image analysis H04N13/00; depth recovery from images G06T7/593
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: H04N 13/243 using three or more 2D image sensors
• CPC Class Codes: H04N 23/90 Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums

Abstract

A vision system includes a processor and a plurality of cameras, each of which is configured to be communicatively coupled to the processor. The processor is configured to select input from different combinations of the plurality of cameras based on a parameter that is associated with at least one of the status of a vehicle and a surrounding environment of the vehicle.

Claims

1. A vision system comprising:

a processor; and

a plurality of cameras each of which is configured to be communicatively coupled to the processor, the plurality of cameras including at least three cameras;

wherein the processor is configured to select input from different combinations of the plurality of cameras based on a parameter that is associated with at least one of a status of a vehicle and a surrounding environment of the vehicle, such that the processor is configured to select a first combination of two or more of the plurality of cameras when the parameter is within a first value range and a second combination of two or more of the plurality of cameras when the parameter is within a second value range.

2. The vision system of claim 1, wherein the vision system is a stereo vision system that uses the input from the different combinations of the plurality of cameras to detect obstacles.

3. The vision system of claim 2, wherein the parameter includes a rate at which the obstacles are detected by the stereo vision system.

4. The vision system of claim 2, wherein the parameter includes a size of the obstacles detected by the stereo vision system.

5. The vision system of claim 1, wherein the first combination of cameras includes two cameras spaced apart by a first distance and the second combination of cameras includes two cameras spaced apart by a second distance, the first distance being larger than the second distance, wherein the vision system is used to identify one or more objects at varying distances from the plurality of cameras, and wherein the processor receives input from the first combination of cameras when the one or more objects are at a third distance and the processor receives input from the second combination of cameras when the one or more objects are at a fourth distance, the third distance being larger than the fourth distance.

6. The vision system of claim 1, wherein the parameter includes a speed of the vehicle.

7. The vision system of claim 1, wherein the plurality of cameras includes a first camera, a second camera, and a third camera, and wherein the processor receives input from:

(a) the first camera and the second camera when the vehicle is in a first speed range, (b) the first camera and the third camera when the vehicle is in a second speed range, and (c) the second camera and the third camera when the vehicle is in a third speed range.

8. The vision system of claim 1, wherein the parameter includes a steering angle of the vehicle.

9. The vision system of claim 1, wherein the cameras are each a different type of camera.

10. The vision system of claim 1, wherein at least one of the cameras includes an infrared camera.

11. The vision system of claim 1, wherein the vision system is configured for use with an autonomous vehicle.

12. The vision system of claim 1, wherein at least one of the plurality of cameras is a video camera.

13. An autonomous vehicle, comprising:

a microprocessor-based vehicle control system;

a steering system, a braking system, a throttle system, and a transmission system, each of which is in communication with the vehicle control system; and

a plurality of cameras in communication with the vehicle control system;

wherein the vehicle control system is configured to select input from different combinations of the plurality of cameras based on a speed of the vehicle.

14. The vehicle of claim 13, wherein the plurality of cameras includes a first camera, a second camera, and a third camera, and wherein the different combinations of the plurality of cameras includes:

(a) the first camera and the second camera, (b) the first camera and the third camera, and (c) the second camera and the third camera.

15. The vehicle of claim 14, wherein the first camera, the second camera, and the third camera are coupled to the vehicle and asymmetrically spaced apart from each other.

16. The vehicle of claim 13, wherein the plurality of cameras includes a first camera, a second camera, and a third camera, and wherein the vehicle control system is configured to receive input from:

(a) the first camera and the second camera when the vehicle is in a first speed range, (b) the first camera and the third camera when the vehicle is in a second speed range, and (c) the second camera and the third camera when the vehicle is in a third speed range.

17. The vehicle of claim 13, wherein the vehicle control system is configured to select input from different combinations of the plurality of cameras further based on a steering angle of the vehicle.

18. The vehicle of claim 13, wherein the vehicle control system is configured to use the input from the plurality of cameras to detect obstacles, and wherein the vehicle control system is configured to select input from different combinations of the plurality of cameras further based on a rate of obstacles detected by the vision system.

19. The vehicle of claim 13, wherein the vehicle control system is configured to use the input from the plurality of cameras to detect obstacles, and wherein the vehicle control system is configured to select input from different combinations of the plurality of cameras further based on a size of at least one obstacle from the obstacles detected by the vision system.

20. The vehicle of claim 13, wherein the plurality of cameras includes an infrared camera.

21. The vehicle of claim 13, wherein the vehicle control system includes a stereo vision system which receives the input from the different combinations of the plurality of cameras.

22. The vehicle of claim 13, further comprising:

a compressed air supply supported by the vehicle platform; and

a cleaning device coupled to the compressed air supply and configured to direct compressed air towards a lens of at least one of the plurality of cameras.

23. The vehicle of claim 22, wherein the compressed air supply is a compressed air supply for the braking system.

24. The vehicle of claim 22, wherein the cleaning device includes an air knife.

25. A vision system comprising:

a processor; and

a plurality of cameras, each of which is configured to be communicatively coupled to the processor, the plurality of cameras including at least three cameras;

wherein the processor is configured to use input from the plurality of cameras to detect obstacles in an environment around a vehicle, and wherein the processor is configured to select input from different combinations of the plurality of cameras based on a rate of obstacles detected by the vision system.

26. The vision system of claim 25, wherein the cameras are asymmetrically spaced apart from each other.

27. The vision system of claim 25, wherein the processor is configured to select input from different combinations of the cameras further based on the speed of the vehicle.

28. The vision system of claim 25, wherein the cameras include a first camera, a second camera, and a third camera, and wherein the vision system is configured to select input from the first camera and the second camera when the vehicle is in a first speed range, select input from the first camera and the third camera when the vehicle is in a second speed range, and select input from the second camera and the third camera when the vehicle is in a third speed range.

29. The vision system of claim 25, wherein the processor is configured to select input from different combinations of the cameras further based on at least one of a steering angle and a wheel angle.