Systems and methods for vehicle guidance

Patent metadata

Field	Value
Publication number	US-12125397-B2
Application number	US-202217858873-A
Country	US
Kind code	B2
Filing date	Jul 6, 2022
Priority date	Aug 11, 2015
Publication date	Oct 22, 2024
Grant date	Oct 22, 2024

Abstract

A vehicle includes systems and methods to guide the vehicle. A sensor detects objects around the vehicle and processor includes a predicted motion component and a predicted imaging component to avoid objects around the vehicle. The system and method then avoid the object if the processor determines that an intersection will occur between the object and the vehicle.

First claim

What is claimed is:

1. An aerial vehicle, comprising:
a sensor detecting objects in an environment around the aerial vehicle, the sensor comprising:
a first image sensor configured to generate first visual output signals conveying first visual information within a first field of view of the first image sensor, and
a second image sensor configured to generate second visual output signals conveying second visual information within a second field of view of the second image sensor; and

a processing apparatus comprising:
a predicted motion component,
a predicted imaging component, and
a predicted path component;

wherein the processing apparatus is configured to:
obtain physical model information regarding the aerial vehicle;
determine a predicted path of the aerial vehicle with the predicted motion component;
determine a location of an object with the predicted imaging component;
predict a path of the object, with the predicted path component, based on the first visual information and the second visual information; and
determine if the aerial vehicle will intersect with the object based on the location of the object and the predicted path of the aerial vehicle.

2. The aerial vehicle of claim 1 ,
wherein the predicted imaging component predicts a change in a field of view between the first field of view and the second field of view and depth information is determined by the predicted imaging component comparing the first visual information with the second visual information.

3. The aerial vehicle of claim 2 , wherein the processing apparatus predicts a first image by the first image sensor by adjusting a second image based on the predicted change in the field of view.

4. The aerial vehicle of claim 1 , wherein the predicted path component is configured to determine the predicted path of the aerial vehicle based upon vehicle physical model information or vehicle physical model accuracy.

5. The aerial vehicle of claim 4 , wherein the vehicle physical model information comprises a measured position, orientation, velocity of the aerial vehicle, or a combination thereof, and wherein the vehicle physical model accuracy comprises inaccuracies in a position of the aerial vehicle, inaccuracies in an orientation of the aerial vehicle, inaccuracies in a velocity measurement of the aerial vehicle, weather conditions, wind speeds, or a combination thereof.

6. The aerial vehicle of claim 1 , wherein the objects in the environment around aerial the vehicle include a moving object and the processing apparatus is configured to predict a moving object path of the moving object.

7. The aerial vehicle of claim 6 , wherein the processing apparatus is configured to change a velocity of the aerial vehicle based upon the predicted path of the aerial vehicle and the moving object path of the moving object.

8. The aerial vehicle of claim 1 , wherein the predicted path component includes one or more stereo image sensors.

9. A method comprising:
detecting, with a sensor, objects from an environment around an aerial vehicle;
generating, with a first image sensor, first visual output signals conveying first visual information within a first field of view;
generating, with a second image sensor, second visual output signals conveying second visual information within a second field of view;
predicting, with a predicted motion component, a predicted vehicle path of the aerial vehicle;
determining, with a predicted imaging component, a location of one of the objects from the environment around the aerial vehicle;
determining physical model information regarding motion of the aerial vehicle;
predicting a path of the object with a predicted path component based on the first visual information and the second visual information; and
determining if the aerial vehicle and the one of the objects will intersect based on the predicted vehicle path of the aerial vehicle, motion of the vehicle, and the location of the one of the objects.

10. The method of claim 9 , further comprising:
determining whether the one of the objects is stationary or moving.

11. The method of claim 9 , further comprising:
comparing the predicted path of the one of the objects and the predicted vehicle path of the aerial vehicle.

12. The method of claim 11 , further comprising:
changing a velocity of the aerial vehicle if the predicted path of the one of the objects and the predicted vehicle path of the aerial vehicle intersect.

13. The method of claim 9 , further comprising:
conveying, to a processing apparatus, the first visual information within the first field of view of the first image sensor;
conveying, to the processing apparatus, the second visual information within the second field of view of the second image sensor; and
comparing the first visual information with the second visual information to determine depth information.

14. The method of claim 13 , further comprising:
predicting a change in a field of view between the first field of view and the second field of view.

15. The method of claim 9 , wherein the aerial vehicle comprises a processing apparatus that comprises a hardware-implemented processor and a software-implemented processor.

16. The method of claim 15 , wherein the hardware-implemented processor is located remotely from the software-implemented processor.

17. The method of claim 9 , further comprising:
determining one or more errors in the predicted path of the object.

18. A system comprising:
an aerial vehicle, comprising:
a first image sensor configured to obtain first images and generate first visual output signals that convey first visual information within a first field of view of the first image sensor, wherein the first field of view comprises objects;
a second image sensor configured to obtain second images and generate second visual output signals that convey second visual information within a second field of view of the second image sensor, wherein the second field of view comprises the objects; and
a motion and orientation sensor configured to generate motion and orientation output signals regarding a speed, a distance, or movement of the aerial vehicle; and

one or more hardware-implemented processors located remotely from the aerial vehicle, the one or more hardware-implemented processors comprising:
a depth image component configured to determine one or more depth images based on a comparison of the first visual information and the second visual information;
a predicted motion component configured to obtain a predicted motion of the aerial vehicle based on the first images and the second images generated over different times;
a predicted imaging component configured to determine one or more predicted images based on the predicted motion of the aerial vehicle; and
a predicted path component configured to predict a path of the objects based upon the first visual information and the second information,

wherein the one or more hardware-implemented processors determines whether the aerial vehicle will intersect with the objects in the field of view based on the predicted motion of the aerial vehicle.

19. The system of claim 18 , wherein the predicted imaging component is further configured to determine a location of the objects in the field of view.

20. The system of claim 18 , further comprising:
an error component configured to determine one or more error distributions of the predicted path of the objects.

Assignees

• Gopro Inc

Inventors

• Gohl Pascal
• Omari Sammy

Classifications

• G08G5/57

  for unmanned aircraft · CPC title

• G08G5/55

  for a single aircraft · CPC title

• G08G5/80 Primary

  Anti-collision systems · CPC title

• B64D47/08

  Arrangements of cameras · CPC title

• B64C39/024

  of the remote controlled vehicle type, i.e. RPV · CPC title