Sidepod stereo camera system for an autonomous vehicle

Patent metadata

Field	Value
Publication number	US-10077007-B2
Application number	US-201615069428-A
Country	US
Kind code	B2
Filing date	Mar 14, 2016
Priority date	Mar 14, 2016
Publication date	Sep 18, 2018
Grant date	Sep 18, 2018

Abstract

A sidepod stereo camera system for an autonomous vehicle (AV) includes a sidepod housing mounted to the AV, a view pane coupled to the sidepod housing, and a stereo camera mounted within the sidepod housing. The stereo camera has a field of view extending outward from the sidepod housing through the view pane. A control system of the sidepod stereo camera system or the AV can conditionally activate and deactivate the sidepod stereo camera system when needed.

First claim

What is claimed is:

1. A sidepod stereo camera system for an autonomous vehicle (AV) comprising:
a sidepod housing mounted to the AV;
a view pane coupled to the sidepod housing;
a stereo camera mounted within the sidepod housing, the stereo camera having a field of view comprising a blind spot of a roof-mounted sensor array of the AV and extending outward from the sidepod housing through the view pane, the stereo camera generating stereoscopic image data enabling a control system of the AV to determine distances to potential hazards within the blind spot of the roof-mounted sensor array of the AV; and
a controller connected to the control system of the AV and operable to activate and deactivate the stereo camera;
wherein the controller automatically activates the stereo camera in response to detecting the AV decelerating below a threshold speed and automatically deactivates the stereo camera in response to detecting the AV accelerating above the threshold speed;
wherein the controller automatically activates the stereo camera in response to detecting an initial startup of the AV; and
wherein the controller monitors the control system of the AV to determine when the control system completes execution of an egress maneuver from a parked state, and automatically deactivates the stereo camera in response to detecting the control system completing the egress maneuver from the parked state.

2. The stereo camera system of claim 1 , wherein the stereo camera includes a pair of wide-angle lenses, and wherein the view pane is partially globular.

3. The stereo camera system of claim 1 , wherein the controller further automatically activates the stereo camera in response to detecting the AV initiating a parking maneuver.

4. The stereo camera system of claim 1 , wherein the sidepod housing comprises a first side-view mirror housing of the AV.

5. The stereo camera system of claim 4 , further comprising:
a second side-view mirror housing mounted to an opposing side of the AV relative to the first side-view mirror housing;
a second view pane coupled to the second side-view mirror housing; and
a second stereo camera mounted within the second side-view mirror housing, the second stereo camera having a field of view comprising a second blind spot of the roof-mounted sensor array of the AV and extending outward from the second side-view mirror housing through the second view pane;
wherein the controller is further operable to activate and deactivate the second stereo camera, and wherein the control system of the AV further processes stereoscopic image data from the second stereo camera in order to determine distances to potential hazards within the field of view of the second stereo camera.

6. The stereo camera system of claim 5 , wherein the view panes of the first side-view mirror housing and the second side-view mirror housing comprise one-way mirrors.

7. The stereo camera system of claim 6 , wherein the stereo camera and the second stereo camera each include one or more actuators, and wherein the controller operates the one or more actuators to pan the stereo camera and the second stereo camera within the side-view mirror housing and the second side-view mirror housing respectively.

8. The stereo camera system of claim 1 , wherein the blind spot comprises at least a portion of an area of interest that is occluded from view by the roof-top sensor array.

9. A computer-implemented method of operating a sidepod stereo camera system of an autonomous vehicle (AV), the method being performed by one or more processors of a control system of the AV and comprising:
initiating start-up of the AV;
in response to initiating start-up of the AV, activating the sidepod stereo camera system, the sidepod stereo camera system comprising a plurality of stereo cameras situated within a plurality of side-mounted pods of the AV to enable the control system of the AV to determine distances to potential hazards within a field of view of each of the plurality of stereo cameras, the field of view of each of the plurality of stereo cameras comprising a blind spot of a roof-mounted sensor array of the AV;
autonomously controlling steering, acceleration, and braking systems of the AV to execute an egress maneuver from a parked state;
monitoring stereoscopic image data from the plurality of stereo cameras while executing the egress maneuver; and
in response to completing the egress maneuver, deactivating the sidepod stereo camera system and processing sensor data from the roof-mounted sensor array to autonomously drive the AV.

10. The method of claim 9 , wherein the plurality of side-mounted pods includes a left side-mounted pod and a right side-mounted pod.

11. The method of claim 10 , wherein the left side-mounted pod and the right side-mounted pod comprise a left and a right side-view mirror housing of the AV, and wherein the plurality of stereo cameras comprise a first stereo camera mounted within the left side-view mirror housing, and a second stereo camera mounted within the right side-view mirror housing.

12. The method of claim 11 , wherein the left and the right side-view mirror housings each include a view pane, and wherein a field of view of each of the first and the second stereo cameras extend outward through the view pane respectively.

13. The method of claim 9 , further comprising:
in response to decelerating the AV below a threshold speed, activating the sidepod stereo camera system; and
monitoring the stereoscopic image data from the sidepod stereo camera system for potential hazards.

14. The method of claim 13 , further comprising:
in response to accelerating the AV above the threshold speed, deactivating the sidepod stereo camera system.

15. The method of claim 9 , further comprising:
detecting one or more objects within the field of view of at least one of the plurality of stereo cameras; and
in response to detecting the one or more objects, determining whether circumvention of the one or more objects is possible by executing an avoidance maneuver.

16. The method of claim 15 , further comprising:
when circumvention of the one or more objects by executing an avoidance maneuver is not possible, generating at least one of an external alert or a notification to a passenger of the AV.

17. The method of claim 15 , further comprising:
when circumvention of the one or more objects by executing an avoidance maneuver is possible, executing the avoidance maneuver to egress from the parked state.

18. A non-transitory computer readable medium storing instructions that, when executed by one or more processors of an autonomous vehicle (AV) control system, cause the one or more processors to:
initiate startup of the AV;
in response to initiating start-up of the AV, activate a sidepod stereo camera system, the sidepod stereo camera system comprising a plurality of stereo cameras being situated within a plurality of side-mounted pods of the AV to enable a control system of the AV to determine distances to potential hazards within a field of view of each of the plurality of stereo cameras, the field of view of each of the plurality of stereo cameras comprising a blind spot of a roof-mounted sensor array of the AV;
autonomously control steering, acceleration, and braking systems of the AV to execute an egress maneuver from a parked state;
monitor stereoscopic image data from the sidepod stereo camera system while executing the egress maneuver; and
in response to completing the egress maneuver, deactivate the sidepod stereo camera system and process sensor data from the r

Assignees

• Uber Technologies Inc

Inventors

• Meyhofer Eric
• Rice David

Classifications

• H04N23/57

  Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices · CPC title

• H04N23/698

  for achieving an enlarged field of view, e.g. panoramic image capture · CPC title

• B60R2001/1253

  with cameras, video cameras or video screens · CPC title

• H04N5/2257

  Electricity · mapped topic

• H04N13/0203

  Electricity · mapped topic