System and method for side vision detection of obstacles for vehicles

• US 8,199,975 B2
• Filed: 12/12/2007
• Issued: 06/12/2012
• Est. Priority Date: 12/12/2006
• Status: Expired due to Fees

• Current Assignee: Cognex Corporation
• Original Assignee: Cognex Corporation
• Inventors: Pomerleau, Dean Arthur, Gowdy, Jay W., Troup, Matthew, Nichani, Sanjay
• Primary Examiner(s): CHANG, JON CARLTON
• Application Number:
  US11/954,513
• Publication Number:
  US 20080304705A1
• Time in Patent Office: 1,644 Days
• Field of Search: 382/104, 382/103, 382/154, 340/933, 340/937, 348/113, 348/118, 701/1, 701/117, 701/301
• US Class Current: 382/104
• CPC Class Codes: B60R 1/00 Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
• CPC Class Codes: B60R 1/12 Mirror assemblies combined with other articles, e.g. clocks
• CPC Class Codes: B60R 1/26 to the rear of the vehicle
• CPC Class Codes: B60R 1/31 providing stereoscopic vision
• CPC Class Codes: B60R 11/04 Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
• CPC Class Codes: B60R 2001/1253 with cameras, video cameras or video screens
• CPC Class Codes: B60R 2011/004 outside the vehicle
• CPC Class Codes: B60R 2300/107 using stereoscopic cameras
• CPC Class Codes: B60R 2300/30 characterised by the type of image processing
• CPC Class Codes: B60R 2300/804 for lane monitoring
• CPC Class Codes: B60R 2300/8066 for monitoring rearward traffic
• CPC Class Codes: G06T 2207/10012 Stereo images
• CPC Class Codes: G06T 2207/30261 Obstacle
• CPC Class Codes: G06T 7/593 from stereo images
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection
• CPC Class Codes: H04N 13/239 using two 2D image sensors having a relative position equal to or related to the interocular distance H04N13/243 takes precedence
• CPC Class Codes: H04N 2013/0074 Stereoscopic image analysis
• CPC Class Codes: H04N 23/90 Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
• CPC Class Codes: H04N 7/18 Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

Abstract

This invention provides a system and method for object detection and collision avoidance for objects and vehicles located behind the cab or front section of an elongated, and possibly tandem, vehicle. Through the use of narrow-baseline stereo vision that can be vertically oriented relative to the ground/road surface, the system and method can employ relatively inexpensive cameras, in a stereo relationship, on a low-profile mounting, to perform reliable detection with good range discrimination. The field of detection is sufficiently behind and aside the rear area to assure an adequate safety zone in most instances. Moreover, this system and method allows all equipment to be maintained on the cab of a tandem vehicle, rather than the interchangeable, and more-prone-to-damage cargo section and/or trailer. One or more cameras can be mounted on, or within, the mirror on each side, on aerodynamic fairings or other exposed locations of the vehicle. Image signals received from each camera can be conditioned before they are matched and compared for disparities viewed above the ground surface, and according to predetermined disparity criteria.

Claims

1. A system for detecting objects and vehicles comprising:

a pair of cameras mounted on a host vehicle, and arranged with respect to each other in a narrow-baseline orientation and directed rearwardly from a front section of the host vehicle so as to view an area along a side of the host vehicle and beyond a back end of the host vehicle, wherein the pair of cameras include a field of view having an area of increased resolution of pixels along the narrow-baseline orientation;

a processor that detects an object or vehicle and that derives an approximate range based upon an input image from each of the pair of cameras; and

an output device that reports detection of the object or vehicle within a predetermined range of the host vehicle.

2. The system as set forth in claim 1 wherein each of the pair of cameras are mounted so as to orient the narrow-baseline in a substantially vertical direction normal to a ground surface beneath the host vehicle.

3. The system as set forth in claim 2 wherein the increased resolution of pixels is oriented along the vertical direction.

4. The system as set forth in claim 1 wherein at least one of the pair of cameras is mounted on a rear view mirror on a side of the host vehicle.

5. The system as set forth in claim 4 wherein each of the pair of cameras is mounted in a stereo head housing on the rear view mirror.

6. The system as set forth in claim 4 wherein the at least one of the pair of cameras is mounted within a housing of the rear view mirror as an integrated mirror unit.

7. The system as set forth in claim 4 wherein another of the pair of cameras is mounted at a location on the host vehicle remote from the rear view mirror.

8. The system as set forth in claim 1 wherein at least one of the pair of cameras is mounted on an aerodynamic fairing of the host vehicle.

9. The system as set forth in claim 8 wherein the aerodynamic fairing includes a cowling that houses the at least one of the pair of cameras so as to allow the at least one of the pair of cameras to view the area along a side of the host vehicle and beyond a back end of the host vehicle.

10. The system as set forth in claim 1 wherein the processor performs an image rectification process, an image smoothing process and a max-min filter process constructed and arranged to condition image data from each of the pair of cameras and a matching process that matches the conditioned image data to derive a disparity image from which objects and vehicles above a ground surface beneath the host vehicle are detected in accordance with parameters of a disparity criteria image.

11. The system as set forth in claim 10 further comprising a spurious edge filtering process and an edge aggregation process that act upon detected images of objects and vehicles so as to generate a report of detected objects that is provided to the output device.

12. The system as set forth in claim 11 wherein the host vehicle comprises a tractor trailer and the front section comprises a cab thereof.

13. A method for detecting objects and vehicles with respect to a host vehicle comprising the steps of:

mounting each of a pair of cameras on the host vehicle so as to be arranged with respect to each other in a narrow-baseline orientation and directed rearwardly from a front section of the host vehicle so as to view an area along a side of the host vehicle and beyond a back end of the host vehicle, wherein the pair of cameras include a field of view having an area of increased resolution of pixels along the narrow-baseline orientation;

detecting an object or vehicle and deriving an approximate range based upon an input image from each of the pair of cameras; and

reporting detection of the object or vehicle within a predetermined range of the host vehicle.

14. The method as set forth in claim 13 wherein the step of mounting includes orienting the narrow-baseline in a substantially vertical direction normal to a ground surface beneath the host vehicle.

15. The method as set forth in claim 14 wherein the increased resolution of pixels is oriented along the vertical direction.

16. The method as set forth in claim 13 wherein the step of mounting includes attaching at least one of the pair of cameras on a rear view mirror on a side of the host vehicle.

17. A system for detecting objects and vehicles comprising:

a pair of cameras mounted on a host vehicle, and arranged with respect to each other in a narrow-baseline orientation and directed so as to view an predetermined area with respect to the host vehicle, wherein the pair of cameras include a field of view with an area of increased resolution of pixels oriented along the vertical direction;

a processor that detects an object or vehicle and that derives an approximate range based upon an input image from each of the pair of cameras; and

an output device that reports detection of the object or vehicle within a predetermined range of the host vehicle.

18. The system as set forth in claim 17 wherein each of the pair of cameras are mounted so as to orient the narrow-baseline is a substantially vertical direction normal to a ground surface beneath the host vehicle.

19. The system as set forth in claim 18 wherein the processor performs an image conditioning process that acts upon image data from each of the pair of cameras prior to detection of the objects or vehicles.

20. The system as set forth in claim 19 wherein the image conditioning process includes an image rectification process, an image smoothing process and a max-min filter process, each being constructed and arranged to condition image data from each of the pair of cameras, and further comprising a matching process that matches the conditioned image data to derive a disparity image from which objects and vehicles above a ground surface beneath the host vehicle are detected in accordance with parameters of a disparity criteria image.