Assisted vehicle operation with improved object detection

Patent metadata

Field	Value
Publication number	US-12148222-B2
Application number	US-202217578622-A
Country	US
Kind code	B2
Filing date	Jan 19, 2022
Priority date	Jan 19, 2022
Publication date	Nov 19, 2024
Grant date	Nov 19, 2024

Abstract

A vehicle control system includes a camera configured to capture image data depicting a field of view proximate the vehicle is disclosed. The vehicle control system further includes a plurality of light sources in connection with the vehicle and a controller. The controller is configured to activate a plurality of lights in an alternating pattern and capture light reflected from at least one object with the camera at a time and corresponding to the alternating pattern of the plurality of lights. In response to variations in the light impinging upon the at least one object from the alternating pattern, the controller is configured to identify a distance of the object.

First claim

What is claimed is:

1. A detection system for a vehicle comprising:
a camera configured to capture image data depicting a field of view proximate to the vehicle;
a plurality of light sources in connection with the vehicle, wherein the plurality of light sources comprise a first light source and a second light source in connection with opposing portions of the vehicle and include a combination of two or more tail lights, reverse lights, turn indicators, headlights, fog lights, or auxiliary lights of the vehicle; and
a controller that:
activates the plurality of light sources in an alternating pattern at an illumination frequency;
captures the image data depicting light reflected from at least one object at a timing corresponding to the alternating pattern at the illumination frequency; and
in response to variations in the light impinging upon the at least one object from the alternating pattern, identifies depth information for at least one pixel of the image data corresponding to a location of the at least one object.

2. The system according to claim 1 , wherein the controller further:
identifies a distance from the vehicle to the at least one object by processing the depth information and the image data.

3. The system according to claim 1 , wherein the at least one object comprises at least one of a surface contour of an operating terrain, an obstruction along a path of the vehicle, or a navigation target toward which the vehicle is navigated by the controller.

4. The system according to claim 1 , wherein the plurality of light sources are spatially separated over a predetermined distance.

5. The system according to claim 4 , wherein the alternating pattern is activated by the controller by alternately activating the light sources across the spatial separation.

6. The system according to claim 4 , wherein the image data depicting the field of view proximate to the vehicle is captured at a frame rate and the illumination frequency controls an illumination duration of each of the light sources that extends over an exposure time of the camera at the frame rate.

7. The system according to claim 4 , wherein the illumination frequency is greater than a flicker fusion threshold of at least 50 Hz.

8. The system according to claim 1 , wherein the field of view is directed rearward from the vehicle and the camera is in connection with at least one of a deck lid, a rear hatch, a tailgate portion, or a center high-mount stop light of the vehicle.

9. The system according to claim 1 , further comprising at least one radar sensor configured to capture radar data, wherein the controller further:
identifies the object as a coupler of a trailer in at least one of the radar data and the image data;
detects a coupler position of the coupler relative to the vehicle with the radar data; and
controls a navigation system of the vehicle positioning the vehicle within a predetermined distance of the trailer in response to the radar data.

10. The system according to claim 1 , wherein the controller further:
activates the plurality of light sources in the alternating pattern in response to the vehicle within a predetermined distance of a trailer; and
identifies a coupler position of a coupler of the trailer with image data from the camera depicting the alternating pattern of light from the plurality of lights.

11. The system according to claim 10 , wherein the variations in illumination of the coupler of the trailer depicted in the image data are processed by the controller to detect a plurality of surface vectors identifying contours of the coupler.

12. The system according to claim 11 , wherein the controller further:
generates a matrix of the surface vectors relative to an origin of each of the plurality of light sources; and
processes the matrix to identify the distance from the vehicle to the coupler.

13. The system according to claim 1 , further comprising:
a steering control system configured to control a steering angle of a plurality of steered wheels of a vehicle, and wherein the controller further:
controls a vehicle alignment routine adjusting a position of the vehicle and the steering angle aligning a hitch of the vehicle with the location of the object.

14. A method for controlling a vehicle comprising:
activating a plurality of spatially separated lights of the vehicle in a pattern at an illumination frequency, wherein the pattern is controlled by activating the light sources over the spatial separation;
capturing light reflected from at least one object with a camera in a field of view proximate to the vehicle at a timing corresponding to the pattern and the illumination frequency, wherein the image data depicting the field of view is captured at a frame rate and the illumination frequency controls an illumination duration of each of the light sources that extends over an exposure time of the camera at the frame rate; and
identifying a distance to the object from the vehicle in response to variations in light impinging upon the object from the lights activated in the pattern.

15. The method according to claim 14 , wherein the illumination frequency is greater than a flicker fusion threshold.

16. The method according to claim 14 , further comprising:
navigating the vehicle within a predetermined distance of the object; and
activating the plurality of spatially separated lights of the vehicle in response to the vehicle within the predetermined distance of the object.

17. A control system of a vehicle comprising:
a camera configured to capture image data depicting a field of view proximate to the vehicle;
a plurality of light sources in connection with the vehicle, wherein the plurality of light sources are spatially separated over a predetermined distance and the plurality of light sources comprise a first light source and a second light source in connection with opposing portions of the vehicle and include a combination of two or more tail lights, reverse lights, turn indicators, headlights, fog lights, or auxiliary lights of the vehicle; and
a controller that:
activates the plurality of light sources in an alternating pattern over the spatial separation at an illumination frequency that is greater than a flicker fusion threshold;
captures the image data representing light reflected from a coupler of a trailer at a timing corresponding to the illumination frequency; and
in response to variations in light impinging upon the coupler from the alternating pattern, identifies a coupler position of the coupler of the trailer relative to the vehicle.

18. The control system according to claim 17 , wherein the system further comprises:
a steering controller configured to control a steering angle of a plurality of steered wheels of a vehicle; and the controller further:
controls the steering controller to navigate the vehicle along an alignment path that positions the vehicle within a predetermined distance of the coupler position; and
activates the plurality of light sources in the alternating pattern in response to the vehicle within the predetermined distance.

Assignees

• Ford Global Tech Llc

Inventors

• Herman david michael
• Vaidya Akshay
• Sanders Larry
• Sairamesh Binduhasini

Classifications

• B60W2420/408

  Radar; Laser, e.g. lidar · CPC title

• B60W2420/403

  Image sensing, e.g. optical camera · CPC title

• B62D15/026 Primary

  combined with automatic distance control, i.e. electronic tow bar · CPC title

• G06T2207/30252

  Vehicle exterior; Vicinity of vehicle · CPC title

• B60W2300/14

  Tractor-trailers, i.e. combinations of a towing vehicle and one or more towed vehicles, e.g. caravans; Road trains · CPC title