Variable object detection field-of-focus for automated vehicle control

• US 9,594,378 B2
• Filed: 07/31/2015
• Issued: 03/14/2017
• Est. Priority Date: 07/31/2015
• Status: Active Grant

• Current Assignee: Aptiv Technologies AG
• Original Assignee: Delphi Technologies, Inc. (BorgWarner Incorporated)
• Inventors: Laur, Michael H., Lambermont, Serge, Absmeier, John P.
• Primary Examiner(s): NGUYEN, TAN QUANG
• Application Number:
  US14/815,343
• Publication Number:
  US 20170031363A1
• Time in Patent Office: 592 Days
• Field of Search: 701/26, 701/96, 348/47, 342/70
• US Class Current: 1/1
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0257 using a radar radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931
• CPC Class Codes: G08G 1/163 involving continuous checking
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A system for automated operation of a host-vehicle includes an object-detection device and a controller. The object-detection device is operable to detect an object in a field-of-view proximate to a host-vehicle. The object-detection device is operable to vary a field-of-focus of the object-detection device used to observe a portion of the field-of-view. The controller is configured to determine, based on information received from the object-detection device, a travel-direction of the object relative to a travel-path of the host-vehicle. The controller is also configured to adjust the field-of-focus of the object-detection device based on the travel-direction.

Claims

1. A system for automated operation of a host-vehicle, said system comprising:

an object-detection device operable to detect an object in a field-of-view proximate to a host-vehicle, wherein the object-detection device is operable to vary a field-of-focus of the object-detection device used to observe a portion of the field-of-view different from that used to observe an area outside of the portion; and

a controller configured to determine, based on information received from the object-detection device, a travel-direction of the object relative to a travel-path of the host-vehicle, and adjust the field-of-focus based on the travel-direction.

2. The system in accordance with claim 1, wherein a threat-ranking of the object is increased when the travel-direction of the object intersects with the travel-path of the host-vehicle.

3. The system in accordance with claim 1, wherein the object-detection device includes one of an image sensor, a radar sensor, and a lidar sensor.

4. The system in accordance with claim 1, wherein the object-detection device operates at a first-resolution inside the field-of-focus, and a second-resolution less than the first-resolution outside of the field-of-focus.

5. The system in accordance with claim 1, wherein the object-detection device operates at a first-framerate inside the field-of-focus, and a second-framerate less than the first-framerate outside of the field-of-focus.

6. The system in accordance with claim 1, wherein the object-detection device includes two sensors, one of each of an image sensor, a radar sensor, and a lidar sensor.

7. The system in accordance with claim 6, wherein the object-detection device includes an image sensor, and a radar sensor.

8. The system in accordance with claim 7, wherein data from the image sensor is used to determine a direction to the object relative to the radar sensor when the object moves laterally with respect to the object-detection device, and the field-of-focus of the radar sensor is adjusted based on the direction.

9. The system in accordance with claim 7, wherein the object is characterized by a weak radar return, data from the image sensor is used to determine a direction to the object relative to the radar sensor, and the field-of-focus of the radar sensor is adjusted based on the direction.

10. The system in accordance with claim 7, wherein data from the radar sensor is used to determine a direction and a range of the object relative to the image sensor when the object moves radially with respect to the object-detection device, and the field-of-focus of the image sensor is adjusted based on the direction and the range.

11. The system in accordance with claim 7, wherein the object is characterized by a weak-background-contrast, data from the radar sensor is used to determine a direction and a range of the object relative to the image sensor, and the field-of-focus of the image sensor is adjusted based on the direction and the range.

12. The system in accordance with claim 6, wherein the object-detection device includes an image sensor, and a lidar sensor.

13. The system in accordance with claim 12, wherein the object is characterized by a weak lidar return, data from the image sensor is used to determine a direction to the object relative to the lidar sensor, and the field-of-focus of the lidar sensor is adjusted based on the direction.

14. The system in accordance with claim 12, wherein data from the lidar sensor is used to determine a direction and a range of the object relative to the image sensor when the object moves radially with respect to the object-detection device, and the field-of-focus of the image sensor is adjusted based on the direction and the range.

15. The system in accordance with claim 1, wherein the object-detection device includes a radar sensor, and a lidar sensor.

16. The system in accordance with claim 15, wherein the object is characterized by a weak radar return, data from the lidar sensor is used to determine a direction and a range to the object relative to the lidar sensor, and the field-of-focus of the radar sensor is adjusted based on the direction and the range.

17. The system in accordance with claim 15, wherein the object is characterized by a weak lidar return, data from the radar sensor is used to determine a direction and a range to the object relative to the lidar sensor, and the field-of-focus of the lidar sensor is adjusted based on the direction and the range.

18. The system in accordance with claim 1, wherein the object-detection device includes an image sensor, a radar sensor, and a lidar sensor.

19. The system in accordance with claim 1, wherein the object-detection device includes an image sensor configured to detect infrared light.