Systems and methods for detecting low-height objects in a roadway

Patent metadata

Field	Value
Publication number	US-2016167704-A1
Application number	US-201514934304-A
Country	US
Kind code	A1
Filing date	Nov 6, 2015
Priority date	Jan 30, 2014
Publication date	Jun 16, 2016
Grant date	—

Abstract

Systems and methods use cameras to provide autonomous navigation features. In one implementation, a driver-assist object detection system is provided for a vehicle. One or more processing devices associated with the system receive at least two images from a plurality of captured images via a data interface. The device(s) analyze the first image and at least a second image to determine a reference plane corresponding to the roadway the vehicle is traveling on. The processing device(s) locate a target object in the first two images, and determine a difference in a size of at least one dimension of the target object between the two images. The system may use the difference in size to determine a height of the object. Further, the system may cause a change in at least a directional course of the vehicle if the determined height exceeds a predetermined threshold.

First claim

What is claimed is:

1 . A driver-assist object detection system for a vehicle, the system comprising:
at least one image capture device configured to capture a plurality of images representative of an area surrounding the vehicle; a data interface; and at least one processing device configured to:
receive, via the data interface, a first image from among the plurality of images and at least a second image from among the plurality of images;
analyze the first image and at least the second image to determine a reference plane corresponding to a road plane;
locate a target object in the first image and in the second image;
determine a difference in a size of at least one dimension of the target object between the first image and the second image;
use the determined difference in the size of the at least one dimension to determine at least a height of the target object relative to the road plane; and
cause a change in at least a directional course of the vehicle if the determined height of the object exceeds a predetermined threshold.

2 . The driver-assist object detection system of claim 1 , wherein the at least one processing device is further configured to determine a road clearance height of the vehicle.

3 . The driver-assist object detection system of claim 2 , wherein if the determined height of the target object is less than the road clearance height of the vehicle, the at least one processing device is further configured to:
determine that the vehicle can change directional course to drive over the object with the object oriented between the wheels of the vehicle; and cause the steering system of the vehicle to change the directional course of the vehicle such that the vehicle drives over the object with the object oriented between the wheels of the vehicle.

4 . The driver-assist object detection system of claim 1 , wherein the image capture device has a field of view of between about 35 degrees to about 55 degrees.

5 . The driver-assist object detection system of claim 1 , wherein the determination of target object height is also based on a detected velocity of the vehicle.

6 . The driver-assist object detection system of claim 1 , wherein the predetermined threshold is at least 2 cm from a surface of the road.

7 . The driver-assist object detection system of claim 1 , wherein the at least one processor is further configured to determine the road plane as an average surface level associated with a road surface appearing in the plurality of images.

8 . The driver-assist object detection system of claim 7 , wherein the road surface includes gravel.

9 . The driver-assist object detection system of claim 1 , wherein the determined height of the target object is less than 10 cm relative to the road plane.

10 . A vehicle, comprising:
a body; at least one image capture device configured to capture a plurality of images representative of an area surrounding the vehicle; a data interface; and at least one processing device configured to:
receive, via the data interface, a first image from among the plurality of images and at least a second image from among the plurality of images;
analyze the first image and at least the second image to determine a reference plane corresponding to a road plane;
locate a target object in the first image and in the second image;
determine a difference in a size of at least one dimension of the target object between the first image and the second image;
use the determined difference in the size of the at least one dimension to determine at least a height of the target object relative to the road plane; and
cause a change in at least a directional course of the vehicle if the determined height of the object exceeds a predetermined threshold.

11 . The vehicle of claim 10 , wherein the at least one processing device is further configured to determine a road clearance height of the vehicle.

12 . The vehicle of claim 11 , wherein if the determined height of the target object is less than the road clearance of the vehicle, the at least one processing device is further configured to:
determine that the vehicle can change directional course to drive over the object with the object oriented between the wheels of the vehicle; and cause the steering system of the vehicle to change the directional course of the vehicle such that the vehicle drives over the object with the object oriented between the wheels of the vehicle.

13 . The vehicle of claim 10 , wherein the image capture device has a field of view of between about 35 degrees to about 55 degrees.

14 . The vehicle of claim 10 , wherein the determination of target object height is also based on a detected velocity of the vehicle.

15 . The vehicle of claim 10 , wherein the predetermined threshold is at least 2 cm from the road surface.

16 . The vehicle of claim 10 , wherein the at least one processor is further configured to determine the road plane as an average surface level associated with a road surface appearing in the plurality of images.

17 . The vehicle of claim 16 , wherein the road surface includes gravel.

18 . The vehicle of claim 10 , wherein the determined height of the detected object is less than 10 cm relative to the road plane.

19 . A method for detecting an object in a roadway, the method comprising:
capturing, via at least one image capture device, a plurality of images representative of an area surrounding the vehicle; receiving a first image from among the plurality of images and at least a second image from among the plurality of images; analyzing the first image and at least the second image to determine a reference plane corresponding to a road plane; locating a target object in the first image and in the second image; determining a difference in a size of at least one dimension of the target object between the first image and the second image; using the determined difference in the size of the at least one dimension to determine at least a height of the target object relative to the road plane; and causing a change in at least a directional course of the vehicle if the determined height of the object exceeds a predetermined threshold.

20 . The method of claim 19 , wherein the predetermined threshold is at least 2 cm from a surface of the road.

Assignees

• Mobileye Vision Technologies Ltd

Inventors

• Stein Gideon
• Shashua Amnon

Classifications

• G08G1/167

  Driving aids for lane monitoring, lane changing, e.g. blind spot detection · CPC title

• G08G1/165

  for passive traffic, e.g. including static obstacles, trees · CPC title

• B60W2552/30

  Road curve radius · CPC title

• B60W2555/60

  Traffic rules, e.g. speed limits or right of way · CPC title

• B60W2554/80

  Spatial relation or speed relative to objects · CPC title