System and method for range measurement of a preceding vehicle

• US 7,561,721 B2
• Filed: 02/02/2005
• Issued: 07/14/2009
• Est. Priority Date: 02/02/2005
• Status: Expired due to Fees

• Current Assignee: Visteon Global Technologies Incorporated (Visteon Corporation)
• Original Assignee: Visteon Global Technologies Incorporated (Visteon Corporation)
• Inventors: Miyahara, Shunji
• Primary Examiner(s): Johns; Andrew W
• Application Number:
  US11/049,502
• Publication Number:
  US 20060182313A1
• Time in Patent Office: 1,623 Days
• Field of Search: 382/104, 382/106, 382/199, 348/140, 348/148, 348/149, 340/937, 701/116, 701/117, 701/300, 701/301
• US Class Current: 382/104
• CPC Class Codes: G01C 3/22 using a parallactic triangle with variable angles and a base of fixed length at, near, or formed by the object
• CPC Class Codes: G06T 7/70 Determining position or orientation of objects or cameras camera calibration G06T7/80
• CPC Class Codes: G06V 10/255 Detecting or recognising potential candidate objects based on visual cues, e.g. shapes
• 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: G06V 2201/08 Detecting or categorising vehicles

Abstract

A system for determining range and lateral position of a vehicle is provided. The system includes a camera and a processor. The camera is configured to view a region of interest including the vehicle and generate an electrical image of the region. The processor is in electrical communication with the camera to receive the electrical image. The processor analyzes the image by identifying a series of windows within the image each window corresponds to features of the vehicle at a different target range. For example, from the perspective of the camera the vehicle will appear larger when it is closer to the camera than if it is further away from the camera. Accordingly, each window is sized proportional to the vehicle as it would appear at each target range. The processor evaluates characteristics in the electrical image within each window to identify the vehicle. A score is determined indicating the likelihood that certain characteristics of the electrical image actually correspond to the vehicle and also that the vehicle is at target range for that window.

Claims

1. A system for determining range of a vehicle, the system comprising:

a camera configured to view a region of interest including the vehicle and generate an electrical image of the region;

a processor in electrical communication with the camera to receive the electrical image, wherein the processor is configured to create an edge enhanced image and construct a plurality of objects indicative of potential vehicle locations from the edge enhanced image, and wherein each object of the plurality of objects is analyzed based on a model of a plurality of models to determine a score for each object, the range of the vehicle being determined based on the object with the best score.

2. The system according to claim 1, wherein the processor is configured to identify a plurality of windows within the electrical image, each window of the plurality of windows corresponding to a predetermined physical size at a target range from the camera, the processor being further configured to evaluate characteristics of the electrical image in relation to each window to identify the vehicle.

3. The system according to claim 2, wherein the objects are constructed from edge segments generated based on the enhanced edge image.

4. The system according to claim 3, wherein the edge segments are vertical edge segments.

5. The system according to claim 3, wherein the score is based on a height of the edge segments.

6. The system according to claim 3, wherein the score is based on a width of the edge segments.

7. The system according to claim 1, wherein the score is based on a height of the objects.

8. The system according to claim 1, wherein the score is based on a width of the objects.

9. The system according to claim 1, wherein the processor is configured to generate a trinary image based on the edge enhanced image.

10. The system according to claim 9, wherein positive edge elements are identified by applying a predefined upper threshold to the edge enhanced image.

11. The system according to claim 9, wherein negative edge elements are identified by applying a predefined lower threshold to the edge enhanced image.

12. The system according to claim 9, wherein the objects are constructed from at least one positive and at least one negative edge segment generated from the trinary image.

13. The system according to claim 1, wherein the score is based on uniformity of the electrical image.

14. The system according to claim 1, wherein the processor is configured to generate a binary image based on the electrical image.

15. The system according to claim 14, wherein the processor is configured to calculate a uniformity of the binary image.

16. The system according to claim 15, wherein the processor is configured to calculate the uniformity according to the relationship:

Uniformity =(|percent of black cells in a window −

50|)/50.

17. The system according to claim 15, wherein the uniformity is calculated over an object region.

18. The system according to claim 15, wherein the uniformity is calculated over a ground region.

19. The system according to claim 1, wherein one of the plurality of models corresponds to a motorcycle.

20. The system according to claim 1, wherein one of the plurality of models corresponds to a sedan.

21. The system according to claim 1, wherein one of the plurality of models corresponds to a large truck.

22. The system according to claim 1, wherein one of the plurality of models corresponds to a bus.