Headlight, taillight and streetlight detection

  • US 7,566,851 B2
  • Filed: 03/22/2007
  • Issued: 07/28/2009
  • Est. Priority Date: 03/24/2006
  • Status: Active Grant
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First Claim
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1. In a computerized vehicle control system including an image sensor mounted on a moving vehicle, wherein the image sensor captures consecutively in real time a plurality of image frames, a method comprising the steps of:

  • (a) in at least one of the image frames, detecting a spot of measurable brightness;

    (b) matching in at least one subsequent image frame of the image frames, a corresponding spot, wherein said spot and said corresponding spot are images of a light source;

    (c) acquiring data respectively from said spot and from said corresponding spot,wherein said data includes at least one of position characteristics, intensity characteristics, size characteristics, and shape characteristics, but not color characteristics, of said light source; and

    (d) processing said data, thereby classifying the light source based on said data, and producing a light source classification, wherein substantially all the image frames are available to the computerized vehicle control system and at least one other vehicle control system;

    wherein the vehicle control system controls headlights of the moving vehicle based on said light source classification and said at least one other vehicle control system is selected from the group consisting of a lane departure warning system, a collision warning system, and an ego-motion estimation system.

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