CMOS camera with integral laser ranging and velocity measurement

• US 6,860,350 B2
• Filed: 12/20/2002
• Issued: 03/01/2005
• Est. Priority Date: 12/20/2002
• Status: Expired due to Term

• Current Assignee: Continental Autonomous Mobility US LLC (Continental AG)
• Original Assignee: Motorola, Inc. (Motorola Solutions, Inc.)
• Inventors: Castro, Francisco, Beuhler, Allyson, Polak, Anthony
• Primary Examiner(s): PHAN, HAU VAN
• Application Number:
  US10/325,124
• Publication Number:
  US 20040118624A1
• Time in Patent Office: 802 Days
• Field of Search: 180/169, 180/167, 180/168, 180/170, 342/70, 342/172, 342/192, 256/28.5, 256/28, 256/27
• US Class Current: 180/167
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: G01S 17/58 Velocity or trajectory determination systems; Sense-of-movement determination systems
• CPC Class Codes: G01S 17/931 of land vehicles

Abstract

The invention provides a method and system for adjusting vehicle speed, beginning with a modulated laser pulse being emitted. A reference portion of the emitted modulated laser pulse is extracted, a reflected portion of the emitted modulated laser pulse is received, and the reflected portion is combined with the reference portion on a portion of an imaging array. A determination of a relative velocity is based on the combined reflected portion and reference portion.

Claims

1. A method of adjusting vehicle speed, comprising:

generating an image of a view in front of the vehicle on a portion of an imaging array;

identifying a target object;

confirming from the image that the target object is associated with another vehicle;

emitting a modulated laser pulse;

directing the emitted laser pulse at the target object;

extracting a reference portion of the emitted modulated laser pulse;

receiving a reflected portion of the emitted modulated laser pulse on a portion of the imaging array from the target object;

combining the reflected portion with the reference portion on a portion of an imaging array;

determining a relative velocity based on the combined reflected portion and reference portion; and

adjusting the speed of the vehicle relative to the target object.

2. The method of claim 1 wherein the reference portion of the emitted modulated laser pulse is extracted with an extractive optical element selected from the group consisting of a partially reflective mirror, an optical fiber, an optical waveguide, and an optical grating.

3. The method of claim 1 wherein the directing step includes using an optical scanner to maintain the emitted pulse on the target object.

4. The method of claim 1 wherein the imaging array comprises an addressable CMOS photodetector array.

5. The method of claim 4 wherein an integration time of the CMOS photodetector array is controllable.

6. The method of claim 4 wherein a frame rate of the CMOS photodetector array is adjustable.

7. The method of claim 1 further comprising:

comparing the combined reflected portion and reference portion to a threshold level; and

determining the time between a first threshold crossing and a second threshold crossing.

8. The method of claim 1 further comprising:

determining a distance based on the combined reflected portion and reference portion, and

wherein the adjusting step includes adjusting the vehicle speed based on the distance determination.

9. The method of claim 1 wherein the adjusting step includes adjusting the vehicle speed based on the relative velocity determination.

10. A system for adjusting vehicle speed, the system comprising:

an imaging array for generating an image of a view in front of the vehicle;

a target object to reference vehicle speed from the target object associated with another vehicle, the target object for imaging by the array;

a laser range finder circuit coupled with the imaging array, the laser range finder circuit using the imaging array to range-find the target object by emitting a modulated laser pulse;

directing the emitted laser pulse at the target object;

extracting a reference position of the emitted modulated laser pulse;

receiving a reflected portion of the emitted modulated laser pulse on a portion of the imaging array from the target object;

combining the reflected portion with the reference portion on a portion of an imaging array; and

determining a relative velocity based on the combined reflected portion and reference portion; and

an imaging system coupled to the laser range finder circuit and imaging array, the imaging system identifies the target object, confirms from the image that the target object is associated with another vehicle;

steers the emitted laser pulse at the target object, and provides a control signal for adjusting the speed of the vehicle relative to the target object.

11. The system of claim 10 wherein the imaging system compares the combined reflected portion and reference portion to a threshold level;

and determines the time between a first threshold crossing and a second threshold crossing.

12. The system of claim 10 wherein the imaging system determines a distance based on the combined reflected portion and reference portion, and provides a control signal to adjust the vehicle speed base on the distance determination.

13. The system of claim 10 further comprising an optical scanner coupled with the laser range finder and imaging system, the optical scanner for maintaining the emitted pulse on the target object.

14. The system of claim 10 wherein the imaging system provides a control signal to adjust the vehicle speed based on the relative velocity determination.

15. The system of claim 10 wherein the imaging array comprises an addressable CMOS photodetector array.