System and assessment of reflective objects along a roadway

• US 9,671,328 B2
• Filed: 05/06/2016
• Issued: 06/06/2017
• Est. Priority Date: 08/12/2000
• Status: Expired due to Term

• Current Assignee: Mandli Communications, Inc.
• Original Assignee: Facet Technology Corp.
• Inventors: Retterath, James E., Laumeyer, Robert A.
• Primary Examiner(s): STAFIRA, MICHAEL PATRICK
• Application Number:
  US15/148,722
• Publication Number:
  US 20160377529A1
• Time in Patent Office: 396 Days
• CPC Class Codes: G01N 21/251 Colorimeters; Construction thereof
• CPC Class Codes: G01N 21/55 Specular reflectivity
• CPC Class Codes: G01N 21/84 Systems specially adapted for particular applications
• CPC Class Codes: G01N 2201/06113 Coherent sources; lasers
• CPC Class Codes: G01N 2201/102 Video camera
• CPC Class Codes: G01N 2201/12 Circuits of general importance; Signal processing
• CPC Class Codes: G01S 17/06 Systems determining position data of a target
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle
• CPC Class Codes: G06V 20/582 of traffic signs
• CPC Class Codes: G08G 1/096758 where no selection takes place on the transmitted or the received information
• CPC Class Codes: G08G 1/096783 where the origin of the information is a roadside individual element

Abstract

A system for classifying different types of sheeting materials of road signs depicted in a videostream compares estimated retroreflectivity values against known minimum retroreflectivity values for each of a plurality of colors. Once a road sign has been identified in the videostream, the frames associated with that road sign are analyzed to determine each of a plurality of colors present on the road sign. An estimated retroreflectivity for each of the plurality of colors present on the road sign is then determined. By comparing the estimated retroreflectivity for each of the plurality of colors against known minimum retroreflectivity values for the corresponding color for different types of sheeting materials, an accurate determination of the classification of the sheeting material of the road sign is established. Preferably, certain conditions of gross failure of the sheeting material are filtered out before classification of the sheeting material is determined.

Claims

1. An automated system that detects and determines reflective surfaces of interest in a scene of non-retroreflective surfaces along a roadway that is being traversed by a vehicle, the automated system comprising:

an image capture system that captures images within a field of view along the roadway;

an active light sensor including;

a light source that illuminates an area along the roadway; and

a light sensor that measures light intensity values within at least a portion of the area illuminated by the light source; and

a computer processing system operably connected to the image capture system, and the active light sensor and configured to detect objects of interest within the field of view and for each object of interest;

determine whether the object of interest includes a reflective surface based on the light intensity values;

determine whether the reflective surface is a road marker based on an assessment of the reflective surface; and

determine a location of the road marker.

2. The automated system of claim 1, wherein the road marker is an object of interest selected from the set consisting of a road sign or a pavement marker.

3. The automated system of claim 1, wherein the computer processing system is configured to operate in a mode selected from post-processing or on-the-fly.

4. The automated system of claim 1, wherein the light source is selected from the set consisting of a laser scanning device, a strobe light, or a vehicle headlight lamp.

5. The automated system of claim 1, wherein the computer processing system is configured to determine the location of the road marker using the light intensity values for the reflective surface by using a location and heading of the active sensor and a location of the object of interest to determine a light vector emanating from the light source responsible for one of the light intensity values and comparing the light vector to one of a plurality of predetermined vectors based on a light source angle characterization.

6. The automated system of claim 5, wherein the light source angle characterization is a look-up-table that relates an angular displacement from a normal vector for the light source to a light intensity for the light vector associated with the reflective surface.

7. The automated system of claim 5, further comprising a global positioning satellite (GPS) unit that determines a location of the vehicle operably coupled to the computer processing system, wherein the location of the vehicle is used in determining the location of the road marker.

8. The automated system of claim 1, wherein the computer processing system is further configured to associate at least one color with the reflective characteristic of the road marker to confirm the assessment that the reflective surface is a road marker, wherein the at least one color is selected from a set of colors consisting of yellow, green, red and white.

9. An automated system for assessing reflective surfaces disposed along a roadway comprising:

an active light sensor that is traversed along a roadway that includes at least one reflective surface on a road marker, the road marker having a reflective characteristic, the active light sensor including;

a light source to illuminate an area that includes the at least one reflective surface; and

a light sensor that measures a plurality of light intensity values within a field of view which includes at least a portion of the area illuminated by the light source; and

a computer processing system operably connected to the active light sensor and configured to detect objects of interest within the field of view and for each object of interest;

determine whether the object of interest includes at least one light intensity value associated with a reflective surface of a road marker in the field of view; and

analyze the at least one light intensity value to determine an assessment of a discrete location of the road marker within the field of view.

10. The automated system of claim 9, wherein the road marker is selected from a set consisting of pavement markings and road signs.

11. The automated system of claim 9, wherein the computer processing system is configured to operate in a mode selected from post-processing or on-the-fly.

12. The automated system of claim 9, wherein the light source is selected from the set consisting of a laser scanning device, a strobe light, or a vehicle headlight lamp.

13. The automated system of claim 9, wherein the computer processing system is further configured to associate at least one color with the reflective characteristic of the road marker to confirm the assessment that what is positioned at the discrete location within the field of view is a road marker, wherein the at least one color is selected from a set of colors consisting of yellow, green, red and white.

14. The automated system of claim 9, wherein the computer processing system is further configured to determine an entrance angle and an observation angle of the road marker as part of the assessment of the discrete location of the road marker within the field of view.

15. The automated system of claim 9, wherein the computer processing system is further configured to determine exemplary angular displacements of incident light for each light intensity measurement from a reference position relative to the field of view as part of the assessment of the discrete location of the road marker within the field of view.

16. The automated system of claim 15, wherein each of the exemplary angular displacements of incident light comprises an observation angle corresponding to one of a plurality of distances of the light source from the road marker.

17. An automated method for assessing reflective surfaces disposed along a roadway comprising:

activating a light source as the light source is traversed along a roadway to illuminate an area that includes at least one reflective surface on a road marker, the road marker having a reflective characteristic;

determining a plurality of light intensity values with at least one intensity sensor directed to cover a field of view which includes at least a portion of the area illuminated by the light source; and

using a computer processing system configured to;

identify at least one light intensity value of the plurality of light intensity values associated with one of the at least one reflective surface of the road marker in the field of view; and

analyze the at least one light intensity value of the plurality of light intensity values to determine an assessment of a discrete location of the road marker within the field of view.

18. The automated method of claim 17, wherein the computer processing system is further configured to associate at least one color with the reflective characteristic of the road marker to confirm the road marker at the discrete location within the field of view, wherein the at least one color is selected from a set of colors consisting of yellow, green, red and white.

19. The automated method of claim 17, further wherein the computer processing system is further configured to determine a lateral distance between the light source and the illuminated portion of the reflective road marker.

20. The automated method of claim 17, wherein the computer processing system is further configured to determine an entrance angle and an observation angle of the road marker.

21. The automated method of claim 17, wherein the computer processing system is further configured to determine exemplary angular displacements of incident light for each light intensity measurement from a reference position relative to the field of view.

22. The automated method of claim 21, wherein each of the exemplary angular displacements of incident light comprises an observation angle corresponding to one of a plurality of distances of the light source from the road marker.