Enhanced object detection

Patent metadata

Field	Value
Publication number	US-11060329-B2
Application number	US-201916357501-A
Country	US
Kind code	B2
Filing date	Mar 19, 2019
Priority date	Mar 19, 2019
Publication date	Jul 13, 2021
Grant date	Jul 13, 2021

Abstract

A computer includes a processor and a memory, the memory storing instructions executable by the processor to actuate a vehicle door to an opened position and to determine a height of an object on a vehicle roof based on a distance from a sensor on the door in the opened position to a top of the object.

First claim

What is claimed is:

1. A system, comprising:
a vehicle roof;
a vehicle door including a sensor, the vehicle door rotatably connected to the vehicle roof; and
a computer including a processor and a memory, the memory storing instructions executable by the processor to:
actuate the vehicle door to an opened position;
collect image data of an object on a vehicle roof with a sensor disposed on the vehicle door; and
determine a height of the object based on a distance from the sensor in the opened position to a top of the object and the collected image data.

2. The system of claim 1 , wherein the instructions further include instructions to determine a sensor height of the sensor when the door is in the opened position and to determine the height of the object based on the sensor height.

3. The system of claim 1 , wherein the instructions further include instructions to identify an obstacle height of an obstacle in front of a vehicle upon determining the height of the object and to identify a collision prediction when the height of the object exceeds the obstacle height.

4. The system of claim 1 , wherein the instructions further include instructions to determine the height of the object based on a longitudinal distance between the sensor and the top of the object.

5. A system, comprising a computer including a processor and a memory, the memory storing instructions executable by the processor to:
actuate a vehicle door to an opened position;
collect image data of an object on a vehicle roof with a sensor disposed on the vehicle door; and
determine a height of the object based on a distance from the sensor on the door in the opened position to a top of the object and the collected image data.

6. The system of claim 5 , wherein the instructions further include instructions to determine a sensor height of the sensor when the door is in the opened position and to determine the height of the object based on the sensor height.

7. The system of claim 6 , wherein the instructions further include instructions to determine a second sensor height of the sensor when the door is at an intermediate position between a closed position and the opened position and to determine the height of the object based on the sensor height and the second sensor height.

8. The system of claim 7 , wherein the intermediate position is a position at which the sensor first detects the top of the object.

9. The system of claim 7 , wherein the instructions further include instructions to determine a longitudinal distance between a first longitudinal position of the sensor at the intermediate position and a second longitudinal position of the sensor at the opened position and to determine the height of the object based on the longitudinal distance.

10. The system of claim 7 , wherein the instructions further include instructions to determine a vertical distance between a vertical position of the sensor at the intermediate position and a second vertical position at the opened position and to determine the height of the object based on the vertical distance.

11. The system of claim 5 , wherein the instructions further include instructions to, upon determining the height of the object, identify an obstacle height of an obstacle in front of a vehicle and to identify a collision prediction when the height of the object exceeds the obstacle height.

12. The system of claim 11 , wherein the instructions further include instructions to, upon identifying the collision prediction, actuate a brake.

13. The system of claim 5 , wherein the instructions further include instructions to determine the height of the object based on a longitudinal distance between the sensor and the top of the object.

14. The system of claim 5 , wherein the instructions further include instructions to determine an angle between the sensor and the top of the object and to determine the height of the object based on the angle.

15. The system of claim 5 , wherein the instructions further include instructions to determine a door angle between the door and an opening and to determine the height of the object based on the door angle.

16. The system of claim 5 , wherein the instructions further include instructions to determine a field of view of the sensor and to determine the height of the object based on the field of view.

17. A method, comprising:
actuating a vehicle door to an opened position;
collecting image data of an object on a vehicle roof with a sensor disposed on the vehicle door; and
determining a height of the object based on a distance from the sensor on the door in the opened position to a top of the object and the collected image data.

18. The method of claim 17 , further comprising determining a sensor height of the sensor when the door is in the opened position and determining the height of the object based on the sensor height.

19. The method of claim 17 , further comprising, upon determining the height of the object, identifying an obstacle height of an obstacle in front of a vehicle and identifying a collision prediction when the height of the object exceeds the obstacle height.

20. The method of claim 17 , further comprising determining the height of the object based on a longitudinal distance between the sensor and the top of the object.

Assignees

• Ford Global Tech Llc

Inventors

• Richards Adam J

Classifications

• E05Y2900/546

  Tailboards, tailgates or sideboards opening upwards · CPC title

• E05Y2400/53

  Wing impact prevention or reduction · CPC title

• E05F2015/434

  with cameras or optical sensors · CPC title

• E05F15/431

  specially adapted for vehicle windows or roofs · CPC title

• E05C17/006 Primary

  with means for detecting obstacles outside the doors · CPC title