Method and system to determine vehicle speed

Patent metadata

Field	Value
Publication number	US-10997432-B2
Application number	US-201816158867-A
Country	US
Kind code	B2
Filing date	Oct 12, 2018
Priority date	Dec 29, 2014
Publication date	May 4, 2021
Grant date	May 4, 2021

Abstract

A locomotive speed determination system and method receive image data of a field of view of a camera operably disposed onboard a locomotive. A speed and/or heading of the locomotive are determined as the vehicle is moving based at least in part on one or more differences in the image data. In one aspect, pixel intensities in different images or frames may be examined to identify one or more features of interest in the images or frames. Movement of the one or more features of interest in the images or frames is correlated to movement of the locomotive along the route, and the time difference between when the images or frames are obtained can be used to determine the locomotive speed.

First claim

What is claimed is:

1. A vehicle system comprising:
a camera disposed onboard a vehicle; and
one or more analysis processors configured to be operably disposed onboard the vehicle and configured to receive image data of a field of view of a camera, wherein at least part of the field of view of the camera includes a route of the vehicle that is external to the vehicle,
wherein the one or more analysis processors are configured to:
identify a stationary feature of interest in the image data;
determine a distance by which the stationary feature of interest moves in the image data between different frames or different images obtained at different times within the image data; and
determine a speed of movement of the vehicle based on the distance by which the stationary feature of interest moves in the image data between the different frames or the different images.

2. The vehicle system of claim 1 , further comprising a vehicle control system configured to be operably disposed onboard the vehicle, wherein the vehicle control system is configured to at least one of automatically control the vehicle based on the speed that is determined, to control display of the speed that is determined to an operator, to control storage onboard the vehicle of information of the speed that is determined, or to control communication off board the vehicle of the information of the speed that is determined.

3. The vehicle system of claim 1 , further comprising a vehicle control system configured to be operably disposed onboard the vehicle, wherein the vehicle control system is configured to automatically control the vehicle based on the speed that is determined.

4. The vehicle system of claim 1 , wherein the one or more analysis processors are configured to determine a heading of the vehicle based on a direction in which positions of the stationary feature of interest change between the different frames or the different images in the image data.

5. The vehicle system of claim 1 , wherein the one or more analysis processors are configured to identify the stationary feature of interest based on pixel intensities in the image data.

6. A method comprising:
receiving image data of a field of view of a camera operably disposed onboard a vehicle; and
determining a speed of movement of the vehicle while the vehicle is moving by identifying a stationary feature of interest in the image data and determining a distance by which the stationary feature of interest moves in the image data between different frames or different images obtained at different times within the image data.

7. The method of claim 6 , further comprising one or more of controlling the vehicle based on the speed that is determined, controlling display of the speed that is determined to an operator, controlling storage onboard the vehicle of information of the speed that is determined, or controlling communication off board the vehicle of the information of the speed that is determined.

8. The method of claim 6 , further comprising automatically controlling the vehicle based on the speed that is determined.

9. The method of claim 6 , wherein receiving the image data and determining the speed of the vehicle are carried out automatically by one or more processors onboard the vehicle.

10. The method of claim 6 , wherein the stationary feature of interest in the image data is identified based on pixel intensities in the image data.

11. The method of claim 6 , further comprising determining a heading of the vehicle based on a direction in which positions of the stationary feature of interest change between the different frames or the different images in the image data.

12. The method of claim 11 , wherein the heading of the vehicle is determined to be opposite of the direction in which the positions of the stationary feature of interest change in the image data.

13. A vehicle system comprising:
one or more processors configured to receive images obtained at different times from a camera onboard a vehicle moving along a route, the one or more processors configured to determine a difference between positions of a stationary feature of interest shown in the images and to determine a speed of movement of the vehicle along the route based on the difference between positions of the stationary feature of interest.

14. The vehicle system of claim 13 , wherein the one or more processors are configured to determine a direction in which the positions of the stationary feature of interest change between the images and determine a heading of the vehicle based on the direction.

15. The vehicle system of claim 13 , further comprising a vehicle control system configured to be operably disposed onboard the vehicle, wherein the vehicle control system is configured to at least one of automatically control the vehicle based on the speed that is determined, to control display of the speed that is determined to an operator, to control storage onboard the vehicle of information of the speed that is determined, or to control communication off board the vehicle of the information of the speed that is determined.

16. The vehicle of claim 13 , wherein the camera is disposed inside the vehicle.

17. The vehicle of claim 13 , wherein the stationary feature of interest includes an insulated joint of the route.

18. The vehicle system of claim 1 , wherein the image data includes a video.

19. The vehicle system of claim 1 , wherein the one or more analysis processors are configured to identify the stationary feature of interest based on chromacity in the image data.

Assignees

• Transp Ip Holdings Llc

Inventors

• Rao Dattaraj Jagdish
• Nelson Scott Daniel
• Naithani Nidhi
• Naphade Nikhil Uday

Classifications

• G01P3/38 Primary

  using photographic means · CPC title

• G06V20/588 Primary

  Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road · CPC title

• Y02T10/72

  Electric energy management in electromobility · CPC title

• G06T7/248

  involving reference images or patches · CPC title

• G06T7/246

  using feature-based methods, e.g. the tracking of corners or segments · CPC title