Integrated vehicular system for low speed collision avoidance

• US 8,548,685 B2
• Filed: 12/01/2004
• Issued: 10/01/2013
• Est. Priority Date: 12/01/2004
• Status: Active Grant

• Current Assignee: Zorg Industries Pty., Ltd.
• Original Assignee: Zorg Industries Pty., Ltd.
• Inventors: Hammadou, Tarik
• Primary Examiner(s): FRISBY, KEITH J
• Application Number:
  US11/792,066
• Publication Number:
  US 20080195284A1
• Time in Patent Office: 3,226 Days
• Field of Search: 701/45, 701/1, 701/300, 701/301, 701/302, 382/103, 382/104, 382/106, 382/165, 382/274, 356/4.01
• US Class Current: 701/45
• CPC Class Codes: B60Q 9/006 using a distance sensor
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: B60R 2300/301 combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
• CPC Class Codes: B60W 30/08 Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
• CPC Class Codes: G01B 11/14 for measuring distance or clearance between spaced objects or spaced apertures G01B11/26 takes precedence; rangefinders G01C3/00
• CPC Class Codes: G01B 21/16 for measuring distance of clearance between spaced objects
• CPC Class Codes: G01C 3/00 Measuring distances in line of sight; Optical rangefinders tapes, chains or wheels for measuring length G01B3/00; active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves, G01S17/48
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 15/00 Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
• CPC Class Codes: G01S 15/86 Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
• CPC Class Codes: G01S 15/931 of land vehicles
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 2015/938 in the bumper area radar in bumper area G01S2013/93275; bumper with obstacle sensor of electric or electronic type B60R19/483
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• 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: G08G 1/16 Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08
• CPC Class Codes: G08G 1/168 Driving aids for parking, e.g. acoustic or visual feedback on parking space

Abstract

A method of providing range measurements for use with a vehicle, the method comprising the steps of: a) visually sensing (2) the area adjacent the vehicle to produce visual sense data (22); b) range sensing (26) objects around the vehicle to produce range sense data; c) combining the visual sense data and the range sense data to produce, with respect to the vehicle, an estimate of ranges to the objects around the vehicle (28). The estimate of ranges to the objects around the vehicle may be displayed (29) to a driver.

Claims

1. A method of providing range measurements for use with a vehicle, the method comprising:

visually sensing the area adjacent to the vehicle to produce visual sense data;

range sensing objects around the vehicle to produce range sense data;

segmenting the visual sense data by means of thresholding the intensity and hue of the visual sense data and assigning at least one class value to each of the pixels within the visual sense data, to produce segmented visual sense data, wherein the at least one class value indicates at least one class of pixels;

relaxing the segmented visual sense data by;

altering the assigned at least one class value for at least a portion of the pixels; and

leaving unchanged the assigned at least one class value for a remaining portion of the pixels, wherein the relaxing is based on a class value of at least one neighboring pixel; and

combining the segmented and relaxed visual sense data and the range sense data to produce an estimate of the objects around a vehicle.

2. The method according to claim 1, comprising utilizing said estimate to control the operational characteristics of said vehicle, wherein said estimate comprises at least one object descriptor calculated based on the assigned at least one class value.

3. The method according to claim 2, wherein said controlling includes altering the bumper collision characteristics of said vehicle.

4. The method according to claim 2, wherein said controlling includes altering the braking characteristics of said vehicle.

5. The method according to claim 1, wherein said range sensing includes ultrasound or laser range sensing.

6. The method according to claim 1, where said visual sense data is produced in a luminosity, color and saturation based color space.

7. The method according to claim 6, wherein the color and luminosity components of said color space only are used in said combining step.

8. The method according to claim 1, wherein said segmenting of said visual sense data comprises segmenting by classifying pixels as black or white.

9. The method according to claim 1, comprising:

utilizing a series of calibration measurements in said combining of the segmented and relaxed visual sense data and the range sense data.