Source: https://patents.google.com/patent/CN106536299B/en
Timestamp: 2020-07-12 07:43:58
Document Index: 118732736

Matched Legal Cases: ['Application No.62', 'art 370', 'art 370', 'art 370', 'art 370', 'art 1450', 'art 1450', 'art 1460', 'art 1450', 'art 1460', 'art 1450']

CN106536299B - System and method based on test object abrupt deceleration vehicle - Google Patents
System and method based on test object abrupt deceleration vehicle Download PDF
CN106536299B
CN106536299B CN201580040400.8A CN201580040400A CN106536299B CN 106536299 B CN106536299 B CN 106536299B CN 201580040400 A CN201580040400 A CN 201580040400A CN 106536299 B CN106536299 B CN 106536299B
CN201580040400.8A
CN106536299A (en
E.达甘
御眼视觉技术有限公司
2014-05-22 Priority to US201462001772P priority Critical
2014-05-22 Priority to US62/001,772 priority
2015-05-22 Application filed by 御眼视觉技术有限公司 filed Critical 御眼视觉技术有限公司
2015-05-22 Priority to PCT/IB2015/001457 priority patent/WO2015177643A2/en
2017-03-22 Publication of CN106536299A publication Critical patent/CN106536299A/en
2019-06-28 Publication of CN106536299B publication Critical patent/CN106536299B/en
238000010191 image analysis Methods 0.000 claims abstract description 104
238000004458 analytical methods Methods 0.000 claims description 133
238000005206 flow analysis Methods 0.000 description 4
A kind of system and method are provided to make vehicle braking for test object and based on detection.In one embodiment, a kind of object detection and braking system for vehicle includes at least one image capture device, is configured to obtain the multiple images in the region of the front object including vehicle.System includes at least one processing equipment, is programmed to execute the first image analysis to determine the first estimation collision time of vehicle and object, and executes the second image analysis to determine the second estimation collision time of vehicle and object.Processing equipment is also programmed to calculate the difference between the first estimation collision time and the second estimation collision time, to determine that difference is no more than predetermined threshold, and is no more than predetermined threshold abrupt deceleration vehicle based on determining difference.
System and method based on test object abrupt deceleration vehicle
This application claims the priority of the U.S. Provisional Patent Application No.62/001,772 submitted on May 22nd, 2014. The full content of above-mentioned application is incorporated herein by reference.
The disclosure relates generally to vehicular autonomous navigation (navigation), detect more particularly, to camera is used The object of vehicle front, and the system and method based on object detected implementation braking.
With advances in technology, the target for the entirely autonomous vehicle that can be navigated on road will be realized.Firstly, autonomous Vehicle can identify its environment, and navigate in the case where the input not from human operator.Autonomous vehicle It is also contemplated that various factors, and decision appropriate is made based on these factors, with safety and accurately arrive at intended destination. For example, when vehicle usually on road when driving, various objects, such as other vehicle and pedestrians can be encountered.Autonomous driving system These objects can be identified in the environment of the vehicle, and take action properly and timely to avoid collision.In addition, autonomous driving System can identify regulation vehicle movement (for example, when vehicle must stop and when can be with the speed of vehicle no more than Degree traveling, vehicle must be located on road where, etc.) other instructions, such as traffic signals, traffic sign and lane mark Note.Autonomous driving system may be turned at the intersection, change lane etc. it needs to be determined that when vehicle should change lane.From Main driving system may be it needs to be determined that when vehicle should change lane, at the intersection turning, change road, etc..From this A little examples are apparent, it may be necessary to many factors are solved, in order to provide the autonomous vehicle that can safely and accurately navigate.
The system and method for autonomous vehicle navigation are provided with the consistent embodiment of the disclosure.The disclosed embodiments Camera can be used to provide autonomous vehicle navigation characteristic.For example, consistent with the disclosed embodiments, disclosed system can be with Including one, two, or more camera, monitor the environment of vehicle, and based on to one or more camera captured images Analysis come cause navigation respond.
It is consistent with the disclosed embodiments, provide a kind of object detection and braking system for vehicle.System can be with Including at least one image capture device, it is configured to obtain the multiple images in the region of the object in the front including vehicle.System System may include data-interface.System may include at least one processing equipment, be programmed to, and receive via data-interface more A image is executed the first image analysis based at least the first image and the second image and is touched with the first estimation for determining vehicle and object It hits the time, and the second image analysis is executed based at least third image and the 4th image and is estimated with determine vehicle and object second Count collision time.Processing equipment can be programmed to, and be calculated between the first estimation collision time and the second estimation collision time Difference determines that difference is no more than predetermined threshold, and is no more than predetermined threshold based on determining difference, makes vehicle braking.
It is consistent with the disclosed embodiments, provide a kind of vehicle.Vehicle may include vehicle body.Vehicle may include at least One image capture device is configured to obtain the multiple images in the region of the object in the front including vehicle.System can To include data-interface.System may include at least one processing equipment, be programmed to, and receive multiple figures via data-interface Picture, when executing the first image analysis based at least the first image and the second image to determine that the first estimation of vehicle and object is collided Between, and the second image analysis is executed based at least third image and the 4th image and is touched with the second estimation for determining vehicle and object Hit the time.Processing equipment can be programmed to, and calculate the difference between the first estimation collision time and the second estimation collision time, It determines that difference is no more than predetermined threshold, and predetermined threshold is no more than based on determining difference, make vehicle braking.
It is consistent with disclosed another embodiment, a kind of method for test object and abrupt deceleration vehicle is provided.Method can To include, via at least one image capture device, the multiple images in the region of the object in the front including vehicle are obtained.Method Further include receiving multiple images via processing equipment, is based at least the first image and the second image via processing equipment and executes the One image analysis, with determine vehicle and object first estimation collision time, via processing equipment be based at least third image and 4th image executes the second image analysis, to determine the second estimation collision time of vehicle and object.Method can also include passing through Difference between first estimation collision time and the second estimation collision time is calculated by processing equipment, it is really poor via processing equipment It is different to be no more than predetermined threshold, and via processing equipment, predetermined threshold is no more than based on determining difference, makes vehicle braking.
It is consistent with disclosed another embodiment, it provides a kind of associated with the braking decision systems of vehicle for assessing Total system failure rate method.Method includes, associated with the subsystem based on texture analysis using processing equipment determination Fisrt fault rate.Subsystem based on texture analysis is configured to, the texture between at least two images in the front based on vehicle Variation, make the decision of braking.Method further includes that, using processing equipment, determination is related to the subsystem based on structural analysis Second failure rate of connection.Subsystem based on structural analysis is configured to, at least two figures based on the region from the front of vehicle As derived Optic flow information, the decision of braking is made.Method further includes, using processing equipment, being based on Fisrt fault rate and second Failure rate determines total system failure rate.
Consistent with other the disclosed embodiments, non-transitory computer-readable storage media can store program instruction, It is run by least one processing equipment, and executes any method as described herein.
Aforementioned general description and it is described in detail below be only exemplary and illustrative, rather than to the limit of claim System.
Attached drawing is incorporated to the disclosure and constitutes a part of this disclosure, and the disclosed embodiments are shown in the attached drawings.Attached In figure:
Fig. 1 is the diagram with the consistent exemplary system of the disclosed embodiments.
Fig. 2A be include side view with the exemplary vehicle of the consistent system of the disclosed embodiments.
Fig. 2 B is the top view with vehicle and system shown in the consistent Fig. 2A of the disclosed embodiments.
Fig. 2 C be include top view with another embodiment of the vehicle of the consistent system of the disclosed embodiments.
Fig. 2 D be include top view with the another embodiment of the vehicle of the consistent system of the disclosed embodiments.
Fig. 2 E be include top view with the another embodiment of the vehicle of the consistent system of the disclosed embodiments.
Fig. 2 F is the diagram with the consistent exemplary vehicle control system of the disclosed embodiments.
Fig. 3 A is the diagram with the inside of the consistent vehicle of the disclosed embodiments comprising rearview mirror and for vehicle at As the user interface of system.
Fig. 3 B be with the exemplary legend of the consistent camera installation part of the disclosed embodiments, be configured to be located in backsight Behind mirror and against vehicle windscreen.
Fig. 3 C is the figure with camera installation part shown in the consistent Fig. 3 B observed with different view of the disclosed embodiments Example.
Fig. 3 D be with the exemplary legend of the consistent camera installation part of the disclosed embodiments, be configured to be located in backsight Behind mirror and against vehicle windscreen.
Fig. 4 is the exemplary block diagram with the consistent memory of the disclosed embodiments, is configured to storage for executing one The instruction of a or multiple operations.
Fig. 5 A be with the consistent flow chart of the disclosed embodiments, it illustrates for based on monocular image analysis generate one The example procedure of a or multiple navigation responses.
Fig. 5 B be with the consistent flow chart of the disclosed embodiments, it illustrates for detecting one in one group of image Or the example procedure of multiple vehicles and/or pedestrian.
Fig. 5 C be with the consistent flow chart of the disclosed embodiments, it illustrates for detecting the road in one group of image The example procedure of label and/or lane geological information.
Fig. 5 D be with the consistent flow chart of the disclosed embodiments, it illustrates for detecting the traffic in one group of image The example procedure of lamp.
Fig. 5 E be with the consistent flow chart of the disclosed embodiments, it illustrates for based on vehicle route generate one or The example procedure of multiple navigation responses.
Fig. 5 F be with the consistent flow chart of the disclosed embodiments, it illustrates for determining whether first vehicle is changing Become the example procedure in lane.
Fig. 6 be with the consistent flow chart of the disclosed embodiments, it illustrates for based on stereo-picture analysis generate one The example procedure of a or multiple navigation responses.
Fig. 7 be with the consistent flow chart of the disclosed embodiments, it illustrates the analyses based on three groups of images to generate one Or the example procedure of multiple navigation responses.
Fig. 8 is the diagram with the consistent exemplary vehicle including object detection and braking system of the disclosed embodiments, It is travelled on the road of another vehicle back.
Fig. 9 is the diagram with the consistent exemplary vehicle including object detection and braking system of the disclosed embodiments, It is travelled on the road for including the vehicle to come head-on.
Figure 10 is the exemplary block diagram with the consistent memory of the disclosed embodiments, be can store for executing one Or the instruction of multiple operations, one or more of operations are for detecting the object of vehicle front and based on detection braking vehicle ?.
Figure 11 be with the consistent flow chart of the disclosed embodiments, it illustrates the front object for detecting vehicle and Make the example procedure of vehicle braking based on detection.
Figure 12 be with the consistent flow chart of the disclosed embodiments, it illustrates for determining the first estimation collision time Exemplary first image analysis.
Figure 13 be with the consistent flow chart of the disclosed embodiments, it illustrates for determining the second estimation collision time Exemplary second image analysis.
Figure 14 A-14C show with the consistent image of the disclosed embodiments, with optical flow field and second estimation touch Hit distribution of the time in optical flow field.
Figure 15 A and 15B show with the disclosed embodiments it is consistent, when object showing when driving in a different direction Plasticity extends focus.
Figure 16 is shown and the consistent exemplary optical flow field of the disclosed embodiments and extension focus.
Figure 17 A and 17B show the image with the consistent object of the disclosed embodiments, and from the point in optical flow field to Extending has linear relationship between the distance of focus and the mobile range of point.
Figure 18 A and 18B show the image with the consistent object of the disclosed embodiments, and from the point in optical flow field to Extending has non-linear relation between the distance of focus and the mobile range of point.
Figure 19 be with the consistent flow chart of the disclosed embodiments, it illustrates for based on instruction collision time less than one A possibility that a or multiple threshold values, triggers the example procedure of warning.
Figure 20 be with the consistent flow chart of the disclosed embodiments, it illustrates can be in the first image shown in Figure 11 point That realizes in analysis is used to determine the example procedure of the first collision time (TTC1).
Figure 21 be with the consistent flow chart of the disclosed embodiments, it illustrates for using both modalities which execute system school The example procedure tested.
It is described in detail below to refer to attached drawing.In the case where various possible, in the accompanying drawings and the description below using identical Appended drawing reference refers to the same or similar component.While characterized as several illustrative examples, but modify, adaptation and Other are achieved in that possible.For example, component shown in the drawings can be replaced, adds or be modified, and can be with By being replaced, resequencing, removing or adding step to disclosed method, to modify illustrative side as described herein Method.Correspondingly, described in detail below to be not limited to the disclosed embodiments and example.On the contrary, range appropriate is wanted by appended right Book is asked to limit.
Fig. 1 is indicated with the block diagram of the exemplary open consistent system 100 of embodiment.According to wanting for specific embodiment It asks, system 100 may include various parts.In some embodiments, system 100 may include processing unit 110, image acquisition Unit 120, position sensor 130, one or more memory cell 140,150, map data base 160 and user interface 170.Processing unit 110 may include one or more processing equipments.In some embodiments, processing unit 110 may include Application processor 180, image processor 190 or any other suitable processing equipment.Similarly, it is wanted according to specific application It asks, image acquisition unit 120 may include any amount of image acquisition equipment and component.In some embodiments, image obtains Taking unit 120 may include one or more image capture devices (such as camera), such as image capture device 122, image are caught Obtain equipment 124 and image capture device 126.System 100 can also include data-interface 128, communicatedly by processing equipment 110 It is connected to image acquisition equipment 120.For example, data-interface 128 may include any (multiple) link wiredly and/or wirelessly, The image data obtained by image acquisition equipment 120 is transferred to processing unit 110.
Both application processor 180 and image processor 190 may include various types of processing equipments.For example, using Any one of processor 180 and image processor 190 or both may include microprocessor, (such as image is pre- for preprocessor Processor), image processor, central processing unit (CPU), support circuit, digital signal processor, integrated circuit, memory, Or it is suitable for operation application and is suitable for the equipment of any other type for handling and analyzing image.In some embodiments, Application processor 180 and/or image processor 190 may include that any kind of single or multiple core processor, mobile device are micro- Controller, central processing unit etc..Various processing equipments can be used, for example including from for example Deng system Make at quotient obtainable processor, and may include various frameworks (for example, x86 processor,Deng).
In some embodiments, application processor 180 and/or image processor 190 may include can be from The processor chips of any EyeQ series obtained.Each of these processors design includes having local storage and instruction set Multiple processing units.Such processor may include the video input for receiving image data from multiple images sensor Ability, and can also include video output ability.In one example,What use was worked with 332Mhz 90nm- micron technology.Framework is made up of: two floating-points, 32 RISC CPU of hyperthread (Core), five vision computing engines (VCE), three vector microcode processors Denali 64 is displaced dynamic DDR controller, 128 internal Sonics interconnection, the input of double 16 digital videos and the output control of 18 digital videos Device, 16 channel DMA and several peripheral equipments.MIPS34K CPU manages five VCE, three VMPTMWith DMA, the 2nd MIPS34K CPU and multi-channel DMA and other peripheral equipments.Five VCEs, threeMore function can be executed with MIPS34K CPU It can required enhancing vision (intensive vision) calculating of binding application.In another example,(it is Three generations's processor, thanPowerful 6 times) it can be used for the disclosed embodiments.
Any processing equipment disclosed herein is configurable to execute certain functions.Configuration processing equipment (such as any institute The EyeQ processor or other controllers or microprocessor stated) to execute certain functions, this may include that can run to computer The programming of instruction, and these instructions is made to can be used for processing equipment, to be run during the operation of processing equipment.In some embodiments In, configuration processing equipment may include instructing Direct Programming processing equipment using framework.In other embodiments, configuration processing is set It is standby may include storage on a memory can operating instruction, the memory can be accessed by processing equipment during operation.For example, The accessible memory of processing equipment, to obtain during operation and run stored instruction.
Although it includes two individual processing equipments that Fig. 1, which shows processing unit 110, can be used more or fewer Processing equipment.For example, in some embodiments, single processing equipment can be used to complete at application processor 180 and image Manage the task of device 190.In other embodiments, these tasks can be executed by more than two processing equipment.
Processing unit 110 may include various types of equipment.For example, processing unit 110 may include various equipment, example Such as controller, image pre-processor, central processing unit (CPU), auxiliary circuit, digital signal processor, integrated circuit, storage Device or for image procossing and analysis any other type equipment.Image pre-processor may include video processor, Image with capture, digitlization and processing from imaging sensor.CPU may include any amount of microcontroller or micro process Device.Auxiliary circuit can be any amount of circuit as known in the art, including caching, power supply, clock and input are defeated Circuit out.Memory can store software, when the software is run by processor, the operation of control system.Memory can be with Including database and image processing software.Memory may include any amount of random access memory, read-only memory, sudden strain of a muscle Deposit memory, disc driver, optical storage body, tape storage body, removable Storage body and other kinds of memory bank.One In the case of kind, memory can be separated with processing unit 110.In another case, memory can integrate in processing unit In 110.
Memory 140,150 can include software instruction, when the software instruction is by processor (such as application processor 180 and/or image processor 190) operation when, can control the operation of the various aspects of system 100.These memory cells can To include various databases and image processing software.Memory cell may include random access memory, read-only memory, sudden strain of a muscle Deposit memory, disc driver, optical storage body, tape storage body, removable Storage body and other kinds of memory bank.One In a little embodiments, memory cell 140,150 can be separated with application processor 180 and/or image processor 190.At other In embodiment, these memory cells be can integrate in application processor 180 and/or image processor 190.
Position sensor 130 may include being adapted to determine that appointing for position associated at least one component of system 100 The equipment of what type.In some embodiments, position sensor 130 may include GPS receiver.Such receiver can lead to Cross processing and determined by signal that GPS satellite is broadcasted the position and speed of user.From position sensor 130 Location information can be provided to application processor 180 and/or image processor 190.
User interface 170 may include being suitable for providing information to one or more users of system 100 or receiving to come from being Any equipment of the input of one or more users of system 100.In some embodiments, user interface 170 may include user Input equipment, for example including touch screen, microphone, keyboard, pointing device, rail wheel, camera, knob, button etc..Using in this way Input equipment, user can provide information input or order to system 100 in the following manner: keying in instruction or information, provide Voice command selects menu option using button, pointer or eye tracks ability on the screen, or suitable by any other Technology is to 100 communication information of system.
User interface 170 can be configured to provide a user letter equipped with one or more processing equipments, the processing equipment It ceases and receives information from user, and handle the information for example to use for application processor 180.In some embodiments, in this way Processing equipment can execute instruction, with for identification with tracking eyes it is mobile, receive and interpretation voice command, identification and interpretation The touch made on the touchscreen and/or gesture, the input of response keyboard or menu selection, etc..In some embodiments, user Interface 170 may include that display, loudspeaker, haptic apparatus, and/or any other for providing a user output information are set It is standby.
Map data base 160 may include any kind of database, for storing the map number useful to system 100 According to.In some embodiments, map data base 160 may include being related to the number of position of the various projects in reference frame According to the project includes road, water scenery, geographical feature, business place, interested site, restaurant, gas station etc..Map data base 160 not only can store these destination locations, but also can store descriptor relevant to these projects, for example including with appoint The associated title of feature what is stored.In some embodiments, map data base 160 can be with other portions of system 100 Part is physically positioned together.Alternatively or additionally, map data base 160 or part thereof can relative to system 100 its He remotely positions component (such as processing unit 110).In such embodiments, the information from map data base 160 can To download (such as passing through cellular network and/or internet etc.) by the wired or wireless data connection to network.
Each of image capture device 122,124 and 126 may include being suitable at least one image of capture from environment Any kind of equipment.In addition it is possible to use any amount of image capture device, to obtain image to be input at image Manage device.Some embodiments can only include single image capture device, and other embodiments may include two or even four It is a, or more image capture device.Image capture device 122,124 and are further described below with reference to Fig. 2 B-2E 126。
System 100 or its various parts, can be incorporated in a variety of different platforms.In some embodiments, system 100 It can be included on vehicle 200, as shown in Figure 2 A.For example, vehicle 200 can equipped with processing unit 110 and, for example, on Any other component of text system 100 described in Fig. 1.Although in certain embodiments, vehicle 200 can be equipped only with list Those of a image capture device (for example, camera), but in other embodiments, such as discuss in conjunction with Fig. 2 B-2E, it can make With multiple images capture device.For example, as shown in Figure 2 A, any of image capture device 122 and 124 of vehicle 200 can To be the part in ADAS (Senior Officer's auxiliary system) image-forming assembly.
Image capture device is included on vehicle 200, using a part as image acquisition unit 120, can be determined Position is in any suitable position.In some embodiments, as shown in Fig. 2A -2E and Fig. 3 A-3C, image capture device 122 can be with Near rearview mirror.The sight that the position can provide is similar to the sight of the driver of vehicle 200, this can contribute to really Determine for driver, what is visible and what is sightless.Image capture device 122 can be positioned at backsight Any position near mirror, but the side that image capture device 122 is disposed close to driver can be further helped in Obtain the image of the visual field and/or sight that represent driver.
Also the other positions of the image capture device of image acquisition unit 120 can be used.For example, image capture device 124 can be located on the bumper (bumper) of vehicle 200 or in bumper.Such position may be particularly suitable for having width The image capture device of visual field.Sight positioned at the image capture device of bumper may be different from the sight of driver, therefore, Bumper image capture device and driver may not always see identical object.Image capture device (such as image capture Equipment 122,124 and other positions 126) can also be located at.For example, image capture device can also be located at one of vehicle 200 Or on two side mirrors (in or), on the roof of vehicle 200, on the hood of vehicle 200, on the boot of vehicle 200, vehicle On 200 side, the above or below of any window for being mounted on any window of vehicle 200 or being located in vehicle 200, And be mounted on vehicle 200 front and/or rear lamps and lanterns in or its nearby, etc..
Other than image capture device, vehicle 200 may include various other components of system 100.For example, processing is single Member 110 can be included on vehicle 200, or integrally or separately with the control unit of engine (ECU) of vehicle.Vehicle 200 is also It can be equipped with position sensor 130 (such as GPS receiver), and can also include map data base 160 and memory list Member 140 and 150.
Fig. 2A is the side view with the consistent exemplary vehicle imaging system of the disclosed embodiments.Fig. 2 B is shown in Fig. 2A Embodiment top view.As shown in Figure 2 B, the disclosed embodiments may include vehicle 200, include system in its vehicle body 100, system 100 have positioning near the rearview mirror and/or close to vehicle 200 driver the first image capture device 122, The second image capture on the bumper region (for example, one in bumper region 210) of vehicle 200 (in or) is located in set Standby 124 and processing unit 110.
As shown in Figure 2 C, both image capture device 122 and 124 positions near the rearview mirror and/or close to vehicle 200 Driver.Although in addition, show two image capture devices 122 and 124 in Fig. 2 B and Fig. 2 C, it is to be understood that, His embodiment may include more than two image capture device.For example, the first image is caught in the embodiment shown in Fig. 2 D and 2E Equipment 122, the second image capture device 124, third image capture device 126 is obtained to be included in the system 100 of vehicle 200.
As shown in Figure 2 D, image capture device 122 can be positioned at the driving near rearview mirror and/or close to vehicle 200 Member, and image capture device 124 and 126 can be positioned at the bumper region of vehicle 200 (for example, in bumper region 210 One) on (in or).And as shown in Figure 2 E, image capture device 122,124 and 126 can be positioned at rearview mirror nearby and/ Or the operating seat close to vehicle 200.The disclosed embodiments be not limited to image capture device any specific quantity and Configuration mode, and image capture device can be located at any appropriate location in vehicle 200 and/or on vehicle 200.
It should be appreciated that the disclosed embodiments are not limited to vehicle and can be applied to other occasions.It is also understood that institute is public The embodiment opened is not limited to certain types of vehicle 200, but can be adapted for all types of vehicles, including automobile, truck, Trailer and other kinds of vehicle.
First image capture device 122 may include the image capture device of any suitable type.Image capture device 122 It may include optical axis.In one case, image capture device 122 may include the Aptina with global (global) shutter M9V024WVGA sensor.In other embodiments, image capture device 122 can provide the resolution ratio of 1280 × 960 pixels, It and may include rolling (rolling) shutter.Image capture device 122 may include various optical elements.In some implementations It may include one or more lens in example, for example, image capture device provides required focal length and visual field.In some implementations In example, image capture device 122 can be associated with 6mm lens or 12mm lens.In some embodiments, image capture device 122 are configurable to the image that capture has required visual field (field of view, FOV) 202, as shown in Figure 2 D.For example, Image capture device 122 is configurable to have well-regulated FOV, such as in the range of 40 degree to 56 degree, including 46 degree of FOV, 50 degree of FOV, 52 degree of FOV or bigger.Alternatively, image capture device 122 is configurable to the range for having at 23 degree to 40 degree Interior narrow FOV, such as 28 degree of FOV or 36 degree of FOV.In addition, image capture device 122 is configurable to have at 100 degree to 180 Spend the wide FOV in range.In some embodiments, image capture device 122 may include wide-angle bumper camera or have Up to 180 degree FOV.
Available multiple first images relative to scene associated with vehicle 200 of first image capture device 122. Each of the multiple first image can be used as a series of images scan line (scan lines) and be acquired, and can be used Rolling shutter captures described image scan line.Each scan line may include multiple pixels.
First image capture device 122 can have associated with each of the picture line of acquisition First Series Sweep speed.Sweep speed can refer to: imaging sensor it is available with include each pixel phase in particular scan The rate of associated image data.
Image capture device 122,124 and 126 may include the imaging sensor of any suitable type and quantity, such as wrap Include ccd sensor or cmos sensor.In one embodiment, cmos image sensor can be used together with rolling shutter, So that each pixel in a line is once read, and the scanning of row carries out on a row by row basis, until capturing whole image Frame.In some embodiments, row can be sequentially captured from the top to the bottom relative to frame.
The pixel in different rows can be caused to be exposed and capture in different times using rolling shutter, this will lead to Occur crooked (skew) and other image artifacts (artifact) in captured image frame.On the other hand, when image capture is set When being configured to operate using global or synchro-shutter for 122, all pixels can be exposed during shared exposure period Identical time quantum.As a result, from the pictorial data representation in the frame that the system using global shutter is collected in the whole of specific time The snapshot of a FOV (such as FOV 202).In contrast, in rolling shutter application, every a line in frame is exposed in different time Light, and data are captured in different time.Therefore, in the image capture device with rolling shutter, Moving Objects will appear Distortion.This phenomenon is described in more detail below.
Second image capture device 124 and third image capture device 126 can be any kind of image capture device. Similar image capture device 122, each of image capture device 124 and 126 may include optical axis.In one embodiment In, each of image capture device 124 and 126 may include that there is the Aptina M9V024WVGA of global shutter to sense Device.Alternatively, each of image capture device 124 and 126 may include rolling shutter.Similar image capture device 122, Image capture device 124 and 126 is configurable to include various lens and optical element.In some embodiments, it is caught with image FOV (such as FOV 204 and 206) can be provided by obtaining the associated lens of equipment 124 and 126, be equal to or be narrower than and image 122 associated FOV (such as FOV 202) of capture device.For example, the FOV that image capture device 124 and 126 has can be 40 degree, 30 degree, 26 degree, 23 degree, 20 degree or smaller.
Available multiple second images relative to scene associated with vehicle 200 of image capture device 124 and 126 With multiple third images.Each of multiple second images and multiple third images can be used as second series picture line It is acquired with third image series scan line, rolling shutter capture described image scan line can be used.Each scan line or row It can have multiple pixels.Image capture device 124 and 126 have with include second series and third series in each figure As associated second sweep speed of the acquisition of scan line and third sweep speed.
Each of image capture device 122,124 and 126 can be located in any suitable position relative to vehicle 200 And orientation.It can choose the relative positioning of image capture device 122,124 and 126, with facilitate will be from each image capture device The information fusion (fuse) of acquisition is together.For example, in some embodiments, FOV associated with image capture device 124 (such as FOV 204) can be the same as FOV (such as FOV 202) associated with image capture device 122 and and image capture device 126 associated FOV (such as FOV 206) are overlapped partially or completely.
Image capture device 122,124 and 126 can be located on vehicle 200 with any suitable relative altitude.One In the case of kind, there may be differences in height between image capture device 122,124 and 126, can provide enough parallax informations To realize stereoscopic analysis.For example, as shown in Figure 2 A, two image capture devices 122 and 124 are located at different height.In image It is poor that there may also be lateral displacements between capture device 122,124 and 126, for example, providing for being stood by processing unit 110 The attached parallax information of body analysis.Lateral displacement difference can be by dxIt indicates, as shown in Figure 2 C and 2 D shown in FIG..In some embodiments, There may be move forward and backward (for example, range displacement) between image capture device 122,124 and 126.For example, image capture is set Standby 122 can be located at subsequent 0.5 to 2 meters or farther of image capture device 124 and/or image capture device 126.This seed type Displacement can make one in the image capture device potential blind spot that can cover other (multiple) image capture devices.
Image capture device 122 can have any suitable resolution capabilities (for example, associated with imaging sensor Pixel quantity), also, the resolution ratio of (multiple) imaging sensors associated with image capture device 122 with image capture The resolution ratio of associated (multiple) imaging sensors of equipment 124 and 126 is compared, can be higher, lower or identical.In some realities It applies in example, (multiple) imaging sensors associated with image capture device 122 and/or image capture device 124 and 126 can be with With 640 × 480,1024 × 768,1280 × 960 resolution ratio or any other suitable resolution ratio.
(for example, under the rate, image capture device obtains one group of pixel data of a picture frame to frame rate, so Continue associated with the next picture frame pixel data of capture afterwards) can be it is controllable.It is associated with image capture device 122 Frame rate with compared with the associated frame rate of image capture device 124 and 126, can be higher, lower or identical.With image Capture device 122,124 and 126 associated frame rate can depend on influencing the various factors of the timing of frame rate.Example Such as, one or more of image capture device 122,124 and 126 may include the selectable pixel delayed period, obtain Take image data associated with one or more pixels of imaging sensor in image capture device 122,124 and/or 126 Before or after apply.In general, can be obtained according to the clock rate (for example, one pixel of each clock cycle) of equipment with The corresponding image data of each pixel.In addition, in the embodiment for including rolling shutter, image capture device 122,124 and One or more of 126 may include selectable horizontal blanking (blanking) phase, in acquisition and image capture device 122, apply before or after the associated image data of row of the pixel of the imaging sensor in 124 and/or 126.In addition, figure As one or more of capture device 122,124 and 126 may include selectable vertical blanking interval, in acquisition and image Apply before or after the associated image data of picture frame of capture device 122,124 and 126.
These timing controlleds may be implemented it is synchronous with image capture device 122,124 and 126 associated frame rate, i.e., Make in the case where the line scan rate of each is different.In addition, as will be discussed in more detail below, these are selectable Timing controlled and other factors (for example, image sensor resolutions, maximum line scan rate, etc.) may be implemented scheming As image capture is same in the region FOV of capture device 122 Chong Die with one or more FOV of image capture device 124 and 126 Step, even if in the case where the visual field of image capture device 122 is different from the FOV of image capture device 124 and 126.
Frame rate timing in image capture device 122,124 and 126 can depend on associated imaging sensor Resolution ratio.For example, it is assumed that the line scan rate of two equipment is similar, if an equipment includes having the resolution ratio of 640x480 Imaging sensor, and another equipment includes the imaging sensor with the resolution ratio of 1280x960, then higher from having The frame that the sensor of resolution ratio obtains image data will need more times.
It is maximum for can influencing another factor of the timing of the image data acquisition in image capture device 122,124 and 126 Line scan rate.For example, from including the imaging sensor acquisition image data in image capture device 122,124 and 126 It is about to need the time of some minimums.Assuming that not dosing the pixel delayed period, then it is used to obtain being somebody's turn to do for the row of image data The minimum time will be related to the maximum line scan rate of particular device.With the equipment phase with lower maximum line scan rate Than the equipment for providing higher maximum line scan rate, which has, provides the possibility of higher frame rate.In some embodiments, scheme The maximum line scan rate having as one or more of capture device 124 and 126 can be higher than and image capture device 122 Relevant maximum line scan rate.In some embodiments, the maximum line scan rate of image capture device 124 and/or 126 can Be image capture device 122 maximum line scan rate 1.25,1.5,1.75 or 2 times or more large multiple.
In another embodiment, image capture device 122,124 and 126 can have identical maximum line scan rate, But image capture device 122 can be operated with the sweep speed for being less than or equal to its maximum scan rate, system can configure For the line for making one or more of image capture device 124 and 126 to be equal to the line scan rate of image capture device 122 Sweep speed operation.In other cases, system may be configured such that one or more in image capture device 124 and 126 It is a be equal to the line scan rate of image capture device 122 1.25,1.5,1.75, the line scan rate of 2 times or more large multiple Operation.
In some embodiments, image capture device 122,124 and 126 can be asymmetric.That is, they may include Camera with different visual field (FOV) and focal length.For example, the visual field of image capture device 122,124 and 126 may include phase For any desired region of the environment of vehicle 200.In some embodiments, in image capture device 122,124 and 126 One or more be configurable to the environment from the front of vehicle 200, the environment at 200 rear of vehicle, 200 side of vehicle ring Border, or combinations thereof obtain image data.
In addition, can be to each of image capture device 122,124 and/or 126 relevant focal length selectable (for example, by including suitable lens etc.), so that each equipment is obtained relative to the desired apart from model of vehicle 200 Enclose the image of the object at place.For example, in some embodiments, image capture device 122,124 and 126 available away from vehicle The image of feature (close-up) object in several meters.Image capture device 122,124 and 126 be also configured as obtain away from The image of object at the farther distance of vehicle (for example, 25m, 50m, 100m, 150m or more).In addition, image capture device 122,124 and 126 focal length can be selected, so that image capture device (for example, image capture device 122) can be with Acquisition is relatively close to the image of the object of vehicle (such as in 10m or in 20m), and other image capture devices are (for example, figure Picture capture device 124 and 126) the available object away from vehicle 200 farther (being greater than 20m, 50m, 100m, 150m etc.) Image.
According to some embodiments, the FOV of one or more of image capture device 122,124 and 126 be can have extensively Angle.For example, can be advantageously, there is 140 degree of FOV, especially for the image that can be used for capturing 200 near zone of vehicle Image capture device 122,124 and 126.For example, image capture device 122 can be used for capturing the right side or left side of vehicle 200 The image in region, and in such embodiments, image capture device 122 may expect have width FOV (for example, at least 140 Degree).
Respective focal length can be depended on each of image capture device 122,124 and 126 associated visual field. For example, corresponding visual field reduces as focal length increases.
Image capture device 122,124 and 126 is configurable to have any suitable visual field.In a specific example In, image capture device 122 can have 46 degree of horizontal FOV, and image capture device 124 can have 23 degree of horizontal FOV, And image capture device 126 can have the horizontal FOV between 23 degree and 46 degree.In another case, image capture is set Standby 122 can have 52 degree of horizontal FOV, and image capture device 124 can have 26 degree of horizontal FOV, and image capture is set Standby 126 can have the horizontal FOV between 26 degree and 52 degree.In some embodiments, the FOV of image capture device 122 with The ratio of the FOV of image capture device 124 and/or image capture device 126 can change between 1.5 to 2.0.In other realities It applies in example, which can change between 1.25 and 2.25.
System 100 may be configured such that the visual field and image capture device 124 and/or image of image capture device 122 The visual field of capture device 126 is at least partially or completely overlapped.In some embodiments, system 100 may be configured such that figure It is for example fallen into as the visual field of capture device 124 and 126 in the visual field of (such as being narrower than) image capture device 122, and shared Shared center.In other embodiments, image capture device 122,124 and 126 can capture adjacent FOV or can be at it FOV in have partly overlap.In some embodiments, the visual field of image capture device 122,124 and 126 can be aligned, The center of the image capture device 124 and/or 126 of relatively narrow FOV is allowed to be located at the lower half of the visual field of wider FOV equipment 122 In portion.
Fig. 2 F is the diagram with the consistent exemplary vehicle control system of the disclosed embodiments.As shown in Figure 2 F, vehicle 200 may include throttle system 220, braking system 230 and steering system 240.System 100 can pass through one or more data Link (such as any (multiple) link wiredly and/or wirelessly for being used for transmission data) is to throttle system 220, braking system 230 and steering system 240 in one or more provide input (for example, control signal).For example, based on to image capture device 122, image acquired in 124 and 126 is analyzed, and system 100 can be to throttle system 220, braking system 230 and steering system One or more provide in system 240 controls signal, with navigation vehicle 200 (for example, by causing acceleration, turning, transformation vehicle Road etc.).In addition, system 100 can connect from one or more of throttle system 220, braking system 230 and steering system 240 Input is received, indicates the operating condition (for example, whether speed, vehicle 200 are in braking and/or steering etc.) of vehicle 200.Hereafter tie It closes Fig. 4-7 and further details is provided.
As shown in Figure 3A, vehicle 200 can also include user interface 170, to hand over the driver and passenger of vehicle 200 Mutually.For example, the user interface 170 in vehicle application may include touch screen 320, knob 330, button 340 and microphone 350. The driver or passenger of vehicle 200 also can be used handle (for example, be located at vehicle 200 steering column on or near, for example including Turn signal handle), button (for example, be located at vehicle 200 steering wheel on) etc. interacted with system 100.In some embodiments, Microphone 350 can be located proximate to rearview mirror 310.Similarly, in some embodiments, image capture device 122 can position Near rearview mirror 310.In some embodiments, user interface 170 can also include one or more speakers 360 (for example, The loudspeaker of vehicle audio frequency system).For example, system 100 can provide various notices (for example, alarm) via loudspeaker 360.
Fig. 3 B-3D be with the legend of the consistent exemplary camera installation part 370 of the disclosed embodiments, be configured to position Behind rearview mirror (for example, rearview mirror 310), and against vehicle windscreen.As shown in Figure 3B, camera installation part 370 may include Image capture device 122,124 and 126.Image capture device 124 and 126 can be positioned at antiglare shield (glare shield) Behind 380, antiglare shield 380 can be concordant with vehicle windscreen, and the compound including film and/or antireflection material.For example, anti-dazzle Plate 380 can be positioned as being aligned it with having the vehicle windscreen of matching slope.In some embodiments, image capture device 122, it each of 124 and 126 can be positioned at behind antiglare shield 380, go out as shown in fig.3d.The disclosed embodiments It is not limited to any specific configuration mode of image capture device 122,124 and 126, camera installation part 370 and antiglare shield 380. Fig. 3 C is the diagram of camera installation part 370 shown in Fig. 3 B from positive view.
The disclosure is benefited from, it will be understood by those skilled in the art that many variations can be carried out to aforementioned disclosed embodiment And/or modification.For example, and not all component the operation of system 100 is necessary.In addition, any part can be located at In any appropriate part of system 100, and component can be re-arranged to various configurations, while provide the disclosed embodiments Function.Therefore, aforementioned arrangements are examples, and regardless of above-mentioned configuration, and system 100 can provide extensive function to divide It analyses the ambient enviroment of vehicle 200 and carrys out navigation vehicle 200 in response to analyzing.
Discuss in greater detail below, and consistent with various disclosed embodiments, system 100 can provide with independently Driving and/or the relevant various features of driver assistance technology.For example, system 100 can analyze image data, position data (for example, GPS position information), map datum, speed data and/or from the data for including sensor in vehicle 200.System System 100 can for example collect the data for analysis from image acquisition unit 120, position sensor 130 and other sensors.Separately Outside, system 100 can analyze the data of collection, to determine whether vehicle 200 should take some movement, then automatically take Identified movement is without human intervention.For example, when vehicle 200 navigates in the case where no human intervention, system 100 The braking of vehicle 200, acceleration can automatically be controlled and/or turned to (for example, by throttle system 220, braking system 230 And/or one or more send in steering system 240 controls signal).In addition, system 100 can analyze collected data, And it is given a warning based on the analysis to collected data to vehicle occupant and/or alarm.It is provided below about by system 100 The additional detail of the various embodiments provided.
Forward direction multiple imaging system
As discussed above, system 100 can provide the drive assistance function using multicamera system.Multicamera system can To use one or more cameras in the front towards vehicle.In other embodiments, multicamera system may include towards vehicle Side or vehicle rear one or more cameras.In one embodiment, for example, system 100 can be used it is double Camera imaging system, wherein first camera and second camera (for example, image capture device 122 and 124) can be positioned at vehicle The front and/or side of (for example, vehicle 200).The visual field that first camera has can be greater than, less than the visual field of second camera, Or it is partly be overlapped with it.In addition, first camera may be coupled to the first image processor, with the image provided first camera Monocular (monocular) image analysis is executed, and second camera may be coupled to the second image processor, to second camera system The image of system executes monocular image analysis.Can combine the first image processor and the second image processor output (for example, through The information of processing).In some embodiments, the second image processor can receive from both first camera and second camera Image is to execute solid (stereo) analysis.In another embodiment, three camera imaging systems can be used in system 100, wherein Each camera has different visual fields.Such system is so as to based at the front and side different distance for being located at vehicle The obtained information of object and make decision.Monocular image analysis refer to such situation: based on from single viewpoint (for example, From single camera) captured image execution image analysis.Stereo-picture analysis refers to such situation: based on one or Two or more of multiple images capture Parameters variation capture images to execute image analysis.For example, being adapted for carrying out solid The capture image of image analysis may include: from two or more different locations, from different visual fields, using different focal lengths And the capture image with parallax information etc..
For example, in one embodiment, system 100 can be used image capture device 122-126 and realize three camera configurations. In such a configuration, image capture device 122 can provide narrow visual field (for example, 34 degree, or the model selected from about 25 to 45 degree The other values etc. enclosed), image capture device 124 can provide wide visual field and (for example, 150 degree, or arrive 180 degree selected from about 100 The other values of range), and image capture device 126 can provide medium visual field (for example, 46 degree, or selected from about 35 to about The other values of 60 degree of range).In some embodiments, image capture device 126 may be used as main phase machine or basic camera.Figure As capture device 122-126 can be positioned at behind rearview mirror 310, and it is (for example, interval 6cm) substantially positioned side by side. In addition, in some embodiments, as discussed above, one or more of image capture device 122-126 can be installed Behind the anti-dazzle shield 380 concordant with the windscreen of vehicle 200.Such shield may be used to any anti-from car The influence to image capture device 122-126 is penetrated to minimize.
In another embodiment, as discussed above in association with Fig. 3 B and Fig. 3 C, wide visual field camera is (for example, above-mentioned example In image capture device 124) can be installed as lower than narrow visual field and main view field camera (for example, the image in above-mentioned example is set Standby 122 and 126).This configuration can provide the free sight from wide visual field camera.In order to reduce reflection, camera can pacify Dress is the windscreen close to vehicle 200, and can include polarizer on camera to inhibit reflected light.
Three camera systems can provide certain performance characteristics.For example, some embodiments may include the function: based on coming from The testing result of one camera verifies detection of another camera to object.In three camera configurations discussed above, place Managing unit 110 can be for example including three processing equipment (for example, as discussed above, the processor core of three EyeQ series Piece), wherein each processing equipment is exclusively used in handling one or more captured images by image capture device 122-126.
In camera system, the first processing equipment can receive the image from both main phase machine and narrow visual field camera, and And execute the visual processes of narrow FOV camera, such as detect other vehicles, pedestrian, lane markings, traffic sign, traffic lights and its His road object.In addition, the first processing equipment can calculate the view of the pixel between the image from main phase machine and narrow visual field camera Difference, and the 3D for creating the environment of vehicle 200 is rebuild.Then, 3D can be rebuild and be combined with 3D map datum by the first processing equipment, Or it is combined with based on the information 3D information calculated from another camera.
Second processing equipment can receive the image from main phase machine, and execute visual processes, with detect other vehicles, Pedestrian, lane markings, traffic sign, traffic lights and other road objects.In addition, second processing equipment can calculate phase seat in the plane It moves, and the pixel parallax between consecutive image is calculated based on the displacement, and the 3D for creating scene rebuilds (such as motion structure). 3D based on motion structure can be rebuild and be sent to the first processing equipment by second processing equipment, to combine with three-dimensional 3D rendering.
Third processing equipment can receive come the image for FOV camera of comforting oneself, and handle image, with detect vehicle, pedestrian, Lane markings, traffic sign, traffic lights and other road objects.Third processing equipment can further run additional processing and refer to It enables to analyze image, thus the object that identification moves in the picture, such as changing the vehicle in lane, pedestrian etc..
In some embodiments, independently capture and handle the information flow based on image can be provided in system provide it is superfluous Remaining chance.Such redundancy can be for example including, the image verification for using the first image capture device and handling from the equipment And/or the information that supplement is obtained by the image information that at least the second image capture device captures and handles.
In some embodiments, two image capture devices can be used (for example, 122 He of image capture device in system 100 124) navigation auxiliary is provided for vehicle 200, and superfluous using third image capture device (for example, image capture device 126) offer Data analyses remaining and that verification is received from other two image capture devices.For example, in such a configuration, image capture Equipment 122 and 124 can provide the image of the stereoscopic analysis for navigation vehicle 200 for system 100, and image capture is set Standby 126 can provide the image of the monocular analysis for system 100, to provide redundancy and to based on from image capture device 122 and/or 124 captured image of image capture device information obtained verified.I other words image capture device 126 (and corresponding processing equipment) can be considered as providing redundant subsystems, for checking from image capture device 122 and 124 The analysis (for example, automatic emergency brake (AEB) system of offer) of acquisition.
It would be recognized by those skilled in the art that above-mentioned camera configuration, camera arrangement, camera quantity, camera position etc. are only Example.In the case where not departing from the range of the disclosed embodiments, relative to these components of whole system description and other Component can be assembled and be used with a variety of different configuration modes.Be described below it is related using multicamera system to provide driver The further details of auxiliary and/or automatic driving vehicle function.
Fig. 4 is the exemplary functional block diagram of memory 140 and/or 150, can store/is programmed with for execution and institute The instruction of the consistent one or more operations of disclosed embodiment.Although being related to memory 140, those skilled in the art below Member is it will be recognized that instruction can store in memory 140 and/or 150.
As shown in figure 4, memory 140 can store monocular image analysis module 402, stereo-picture analysis module 404, speed Degree and acceleration module 406, navigation respond module 408.The disclosed embodiments are not limited to any of memory 140 and specific match It sets.In addition, application processor 180 and/or image processor 190 can run and be stored in the module including in memory 140 Instruction in any of 402-408.It will be understood by those skilled in the art that in the following discussion, to drawing for processing unit 110 With can either individually or collectively refer to application processor 180 and image processor 190.Correspondingly, the step of any process below Suddenly it can be executed by one or more processing equipments.
In one embodiment, monocular image analysis module 402 can store an instruction (such as Software of Computer Vision), When the instruction is run by processing unit 110, execute by one image of acquisition in image capture device 122,124 and 126 The monocular image analysis of group.In some embodiments, processing unit 110 can be by information and additional biography from an image group Sense information (for example, information from radar) combination is to execute monocular image analysis.As described in below with reference to Fig. 5 A-5D, monocular Image analysis module 402 may include the instruction for detecting the one of the image group group of feature, the feature such as lane markings, Vehicle, pedestrian, road sign, expressway exit ramp, traffic lights, dangerous object and join with the environmental correclation of vehicle Any other feature.Based on the analysis, system 100 (for example, via processing unit 110) can cause one in vehicle 200 Or multiple navigation responses, such as steering, lane change, change acceleration etc., as described in following navigation respond module 408.
In one embodiment, stereo-picture analysis module 404 can store an instruction (such as Software of Computer Vision), When the instruction is run by processing unit 110, execution is caught by any image in image capture device 122,124 and 126 Obtain the stereo-picture analysis of the first image group and the second image group of the combination acquisition of equipment.In some embodiments, processing is single Member 110 can by from the first image group and the second image group information and additional heat transfer agent (for example, the letter from radar Breath) it combines to execute stereo-picture analysis.For example, stereo-picture analysis module 404 may include for based on by image capture The the first image group and analyzed by the second image group that image capture device 126 obtains to execute stereo-picture that equipment 124 obtains Instruction.As described in below with reference to Fig. 6, stereo-picture analysis module may include for detecting the first image group and the second image The instruction of one group of feature in group, the feature such as lane markings, vehicle, pedestrian, road sign, expressway exit slope Road, traffic lights, dangerous object, etc..Based on the analysis, processing unit 110 can cause one or more to be led in vehicle 200 Boat response, such as steering, lane change, change acceleration etc., as described in following navigation respond module 408.
In one embodiment, velocity and acceleration module 406 can store a software, which is that analysis receives From one or more data calculated with electromechanical equipment in vehicle 200, one or more of calculating and electromechanical equipment configuration To cause the speed of vehicle 200 and/or the variation of acceleration.For example, processing unit 110 can be run and velocity and acceleration mould The associated instruction of block 406, with based on being led from the operation of monocular image analysis module 402 and/or stereo-picture analysis module 404 Data out calculate the target velocity of vehicle 200.Such data may include such as target position, speed and/or acceleration Degree, vehicle of the vehicle 200 relative to neighbouring vehicle, the position of pedestrian or road object and/or speed, vehicle 200 relative to road The location information, etc. of road label.In addition, processing unit 110 can based on sensing input (for example, information from radar) and Other systems (such as throttle system 220, braking system 230, and/or steering system 240 of vehicle 200) from vehicle 200 Input calculate vehicle 200 target velocity.Target velocity based on calculating, processing unit 110 can be to the throttlings of vehicle 200 System 220, braking system 230, and/or steering system 240 send electric signal, such as by physically depressing brake or putting The accelerator of loose vehicle 200 triggers the variation of speed and/or acceleration.
In one embodiment, navigation respond module 408 can store the software that can be run by processing unit 110, with base In derived from the operation of monocular image analysis module 402 and/or stereo-picture analysis module 404 data determine required lead Boat response.Such data may include, position and speed information associated with neighbouring vehicle, pedestrian and road object, The target position information, etc. of vehicle 200.In addition, in some embodiments, navigation response can (partially or even wholly) base In map datum, the predetermined position of vehicle 200, and/or vehicle 200 with from monocular image analysis module 402 and/or stereo-picture In the operation of analysis module 404 it is detected one or more objects between relative velocity or relative acceleration.Navigation response Module 408 is also based on sensing input (for example, information from radar) and other systems (such as the vehicle from vehicle 200 200 throttle system 220, braking system 230 and steering system 240) input determine required navigation response 200.Base It is responded in required navigation, processing unit 110 can be to the throttle system 220 of vehicle 200, braking system 230 and steering system 240 send electric signal, for example to realize the rotation of predetermined angular by rotation 200 steering wheel of vehicle, thus desired by triggering Navigation response.In some embodiments, the output of navigation respond module 408 can be used (for example, institute's phase in processing unit 110 The navigation of prestige responds) input as the speed of service and acceleration module 406, the variation of the speed for calculating vehicle 200.
Fig. 5 A be with the consistent example procedure 500A of the disclosed embodiments, for based on monocular image analysis cause one A or multiple navigation responses.In step 510, processing unit 110 can be via processing unit 110 and image acquisition unit 120 Between data-interface 128 receive multiple images.E.g., including in (such as the figure with visual field 202 of image acquisition unit 120 As capture device 122) in camera can capture the multiple of 200 front region of vehicle (such as side or rear of vehicle) Image, and processing unit 110 is sent by data connection (for example, digital, wired, USB, wireless, bluetooth etc.) by them. Processing unit 110 can run monocular image analysis module 402 to analyze multiple images, such as below with reference to figure in step 520 What 5B-5D was described in further detail.By executing the analysis, processing unit 110 can detecte one group of feature in this group of image, Such as lane markings, vehicle, pedestrian, road sign, expressway exit ramp, traffic lights etc..
Processing unit 110 can also run monocular image analysis module 402 to detect different kinds of roads danger in step 520 Danger, for example, the component of truck tyre, the road sign fallen, bulk goods, toy, etc..Road hazard may be in structure, shape Different in shape, size and color, this may make the detection to this danger have more challenge.In some embodiments, it handles Unit 110 can run monocular image analysis module 402, to execute multi-frame analysis to multiple images, to detect road hazard. For example, processing unit 110 can estimate the camera motion between successive image frame, and the pixel difference between frame is calculated to construct The 3D map on road.Then, 3D map detection road surface, and the danger being present on road surface can be used in processing unit 110.
In step 530, processing unit 110 can be based on the analysis executed in step 520 and above in association with Fig. 4 institute The technology of description, to run navigation respond module 408 to cause one or more navigation responses in vehicle 200.Navigation response It can be for example including steering, lane change, change acceleration, etc..In some embodiments, processing unit 110 can be used rapidly Data derived from the operation of degree and acceleration module 406, to cause one or more navigation responses.In addition, multiple navigation responses It can simultaneously, in order or it occurs in any combination.For example, processing unit 110 can make one lane of the transformation of vehicle 200 right After accelerate, such as by sequentially sending control signal to the steering system 240 of vehicle 200 and throttle system 220.Alternatively, Processing unit 110 can make changing Lane while braking of vehicle 200, such as by simultaneously to the braking system of vehicle 200 System 230 and steering system 240 send control signal.
Fig. 5 B be with the consistent flow chart of the disclosed embodiments, it illustrates example procedure 500B, for one One or more vehicles and/or pedestrian are detected in group image.Processing unit 110 can run monocular image analysis module 402 with Realization process 500B.In step 540, processing unit 110 can determine the candidate target for indicating possible vehicle and/or pedestrian Group.For example, processing unit 110 can scan one or more images, image and one or more predetermined patterns are compared Compared with, and in each image identification may include object of interest (for example, vehicle, pedestrian, or part thereof) possible position. Predetermined pattern can be designed to effect " miss " (miss) of " accidentally hitting " (false hit) and low rate of high-speed. For example, processing unit 110 can use Low threshold similar with predetermined pattern, by candidate target be identified as possible vehicle or Pedestrian.Do so the candidate target that can permit the reduction loss of processing unit 110 (for example, nonrecognition) expression vehicles or pedestrians Probability.
In step 542, processing unit 110 can filter candidate target group based on classification standard, to exclude certain times Select object (for example, uncorrelated or less relevant object).Such standard can be from database be stored in (for example, being stored in Database in memory 140) in each attribute associated with object type obtain.The attribute may include object Shape, size, texture, position (for example, relative to vehicle 200), etc..Therefore, processing unit 110 can be used one group or more Group standard, the candidate target of mistake to be discharged from this group of candidate target.
In step 544, processing unit 110 can analyze multiple images frame, to determine the object in this group of candidate target Indicate whether vehicle and/or pedestrian.For example, processing unit 110 can track candidate target detected across successive frame, and Frame by frame accumulates associated with object detected data (for example, size, relative to position of vehicle 200, etc.).This Outside, processing unit 110 can estimate the parameter of object detected, and the position data frame by frame of object and predicted position are carried out Compare.
In step 546, processing unit 110 can construct one group of measured value for object detected.Such survey Magnitude can be for example including (relative to vehicle 200) position associated with object detected, velocity and acceleration value.One In a little embodiments, processing unit 110 can based on using a series of based on time observation (such as Kalman (Kalman) filter Or linear quadratic estimation (liner quadratic estimation, LQE)) estimation technique, and/or based on for different right The type (for example, automobile, truck, pedestrian, bicycle, etc.) of elephant can construct measurement with modeling data.Kalman filter Device can be based on the measured value of subjective scales, and wherein dimension measurement is with the time to collision (for example, vehicle 200 reaches object Time quantum) it is proportional.Therefore, by executing step 540-546, processing unit 110, which can identify, appears in captured image Group in vehicle and pedestrian, and export associated with vehicle and pedestrian information (for example, position, speed, size).It is based on It identifies and derived information, processing unit 110 can cause one or more navigation responses in vehicle 200, such as tie above It closes described in Fig. 5 A.
In step 548, processing unit 110 can execute the optical flow analysis of one or more images, be detected with reducing " accidentally hitting " and lose the probability for indicating the candidate target of vehicles or pedestrians.Optical flow analysis can refer to, for example, analysis and other The motor pattern relative to vehicle 200 in the associated one or more images of vehicle and pedestrian, and the fortune of itself and road surface Dynamic difference.Processing unit 110 can be by observing in the different positions for the object crossed in the multiple images frame that different time captures It sets, to calculate the movement of candidate target.Position and time value can be used as calculating candidate target in processing unit 110 The input of the mathematical model of movement.Therefore, optical flow analysis can provide the another kind of the vehicle and pedestrian near detection vehicle 200 Method.Processing unit 110 can execute optical flow analysis in conjunction with step 540-546, to provide for detecting vehicle and pedestrian Redundancy, and increase the reliability of system 100.
Fig. 5 C be with the consistent flow chart of the disclosed embodiments, it illustrates example procedure 500C, for detecting Pavement marker and/or lane geological information in one group of image.Processing unit 110 can run monocular image analysis module 402 To realize process 500C.In step 550, processing unit 110 can detect one group pair by scanning one or more images As.It can be filtered to detect lane markings, lane geological information and other sections in relation to pavement marker, processing unit 110 The group objects is confirmed as incoherent object (such as craterlet, finger stone, etc.) to exclude those.In step 552, Processing unit 110 can combine the section detected in step 550 for belonging to same link label or lane markings one It rises.Based on the combination, processing unit 110 can develop the model for indicating section detected, such as mathematical model.
In step 554, processing unit 110 can construct one group of measured value associated with section detected.One In a little embodiments, processing unit 110 can create projection of the section detected on from the plane of delineation to real world plane (projection).It can be used to have and correspond to physical property (such as position, the gradient, curvature and the song of road detected Rate derivative) the cubic polynomial of coefficient characterize the projection.When producing projection, processing unit 110 is it is contemplated that in road surface Variation, and pitching associated with vehicle 200 and Rolling Velocity Aerocraft.In addition, processing unit 110 can be by depositing on analysis road surface Position and movement clue model road height.In addition, processing unit 110 can be by tracking in one or more images One group of characteristic point estimate pitching associated with vehicle 200 and Rolling Velocity Aerocraft.
In step 556, processing unit 110 can execute multi-frame analysis, such as by tracking on continuous picture frame Section detected, and accumulate data frame by frame associated with section detected.When processing unit 110 executes multi-frame analysis When, the group measurement constructed at step 554 can become relatively reliable, and related to higher and higher level of confidence Connection.Therefore, by executing step 550-556, processing unit 110 can identify the road appeared in this group of image captured Label, and export lane geological information.It can be caused in vehicle 200 based on identifying with derived information, processing unit 110 One or more navigation response, as above in conjunction with described in Fig. 5 A.
In step 558, processing unit 110 it is contemplated that additional information source, with further develop vehicle 200 at it Security model in environment scene.Security model can be used to define a scene in processing unit 110, in the scene, system 100 can run the autonomous control to vehicle 200 in a secure manner.In order to develop security model, in some embodiments, processing Unit 110 is it is contemplated that the position of other vehicles and movement, road edge detected and barrier, and/or from map datum The Ordinary Rd shape description that (for example, data from map data base 160) are extracted.By considering additional information source, place Reason unit 110 can provide the redundancy for detecting pavement marker and lane geometry, and increase the reliable of system 100 Property.
Fig. 5 D is to be used to detect one it illustrates example procedure 500D with the consistent flow chart of the disclosed embodiments Traffic lights in group image.Processing unit 110 can run monocular image analysis module 402 with implementation method 500D.In step In 560, processing unit 110 can scan this group of image, and identify present in the position that may include traffic lights in the picture Object.For example, processing unit 110 can filter identified object to construct one group of candidate target, excludes those and less may be used The object of traffic lights can be corresponded to.It can be filtered based on each attribute associated with traffic lights, such as shape, ruler Very little, texture, position (for example, relative to vehicle 200), etc..Such attribute can be based on traffic lights and traffic control signal Multiple examples, and store in the database.In some embodiments, processing unit 110 can be to the possible traffic of reflection The group of the candidate target of lamp executes multi-frame analysis.For example, processing unit 110 can be candidate right across the tracking of continuous picture frame As estimating the real-world locations of candidate target, and filter out and those of moving object (it is unlikely to be traffic Lamp).In some embodiments, processing unit 110 can execute color analysis to candidate target, and identify and appear in possible friendship The relative position of color detected in logical lamp.
In step 562, processing unit 110 can analyze the geometry of intersection (junction).Analysis can be with base In any combination below: (i) lane quantity detected by the either side of vehicle 200, in road detected by (ii) On label (such as arrow mark), and (iii) from map datum (for example, data from map data base 160) extract The description for intersection.Information can be used derived from the operation of monocular analysis module 402 to carry out in processing unit 110 Analysis.In addition, processing unit 110 can determine traffic lights detected in step 560 and appear in the vehicle near vehicle 200 Corresponding relationship between road.
When vehicle 200 is close to intersection, in step 564, processing unit 110 can update and the intersection analyzed Geometry and the associated confidence level of traffic lights detected.For example, the number with the practical traffic lights occurred in intersection Amount is compared, and estimates that the quantity for the traffic lights for appearing in intersection may influence confidence level.Therefore, the confidence level, place are based on Control can be entrusted to the driver of vehicle 200 by reason unit 110, to improve safe condition.By executing step 560- 564, processing unit 110 can identify the traffic lights in the group for appearing in institute's captured image, and analyze the geometry of intersection Information.Based on identification and analysis, processing unit 110 can cause one or more navigation responses in vehicle 200, such as tie above It closes described in Fig. 5 A.
Fig. 5 E is to be used to be based on vehicle it illustrates example procedure 500E with the consistent flow chart of the disclosed embodiments Path causes one or more navigation responses in vehicle 200.In step 570, processing unit 110 can construct and vehicle 200 associated initial vehicle paths.The set of the point indicated with coordinate (x, z) can be used to indicate in vehicle route, and The distance between two points in the set of point diIt can fall in the range of 1 to 5 meter.In one embodiment, processing is single Two multinomials (such as left and right Path polynomials) can be used to construct initial vehicle path in member 110.Processing unit 110 can With calculate two multinomials between geometry midpoint, and make include in the vehicle route of synthesis each point offset it is scheduled Offset (for example, smartway offset, if any, offset of zero can correspond among lane travel).Offset It can be on the direction perpendicular to the line segment between any two points in vehicle route.In another embodiment, processing unit 110 The lane width of a multinomial and estimation can be used, so that the lane width of each of vehicle route bias estimation Half adds scheduled offset (for example, smartway offset).
In step 572, processing unit 110 can update the vehicle route constructed in step 570.Processing unit 110 High-resolution can be used and be reconstituted in the vehicle route constructed in step 570, so that indicating in the set of the point of vehicle route The distance between two o'clock dkLess than above-mentioned distance di.For example, distance dkIt can fall into 0.1 to 0.3 meter of range.Processing is single 110 parabola spline algorithms (parabolic spline algorithm) Lai Chongjian vehicle route can be used in member, can be with Generate the Cumulative Distance vector S for corresponding to the total length of vehicle route (namely based on the set for the point for indicating vehicle route).
In 574, processing unit 110 can determine prediction based on the vehicle route of the update constructed in step 572 Point is (with coordinate representation for (xl, zl)).Processing unit 110 can extract future position, and the future position from Cumulative Distance vector S It can be associated with Prediction distance and predicted time.Prediction distance (it can have lower limit of the range from 10 to 20 meter) can be by It is calculated as the speed of vehicle 200 and the product of predicted time.For example, Prediction distance can also be with when the speed of vehicle 200 reduces It reduces (for example, until it reaches lower limit).Predicted time (it can be in the range from 0.5 to 1.5 second) can in vehicle 200 In cause the gain of the associated one or more control loops of navigation response to be inversely proportional, such as course error tracing control returns Road.For example, the gain of course error tracking control loop can depend on yaw speed circuit, steering actuator circuit, automobile The bandwidth of lateral dynamics etc..Therefore, the gain of course error tracking control loop is higher, and predicted time is lower.
In step 576, processing unit 110 can determine course error based on the future position determined in step 574 The order of (heading error) and yaw rate (yaw rate).Processing unit 110 can by calculate future position arc tangent come Determine course error, such as arctan (xl/zl).Yaw rate order can be determined as course error and Gao Shui by processing unit 110 The product of flat control gain.High level control gain can be equal to: (2/ predicted time), if Prediction distance is not in lower limit.It is no Then, high level control gain can be equal to: (speed/Prediction distance of 2* vehicle 200).
Fig. 5 F be with the consistent flow chart of the disclosed embodiments, it illustrates example procedure 500F, for determining Whether leading vehicle is changing lane.In step 580, processing unit 110 can determine with leading vehicle (for example, In the vehicle of the traveling ahead of vehicle 200) associated navigation information.For example, processing unit 110 can be used above in conjunction with figure Technology described in 5A and Fig. 5 B determines position, speed (for example, direction and speed), and/or the acceleration of leading vehicle.Place Reason unit 110 can also use above in conjunction with technology described in Fig. 5 E come determine one or more Path polynomials, future position (with Vehicle 200 is associated), and/or volute track (snail trail) (for example, the point in path used by the leading vehicle of description Set).
In step 582, processing unit 110 can analyze the navigation information determined in step 580.In one embodiment In, processing unit 110 can calculate the distance between volute track and Path polynomials (for example, along track).If along The variation of the distance of track is more than predetermined threshold (for example, being 0.1 to 0.2 meter on forthright, being on the road of medium flexion 0.3 to 0.4 meter and on the road with sharp curve be 0.5 to 0.6 meter), processing unit 110 can determine leading Vehicle may change lane.Detect multiple vehicles in the case where the traveling ahead of vehicle 200, processing unit 110 Volute associated with each vehicle track can be compared.Based on the comparison, processing unit 110 is it was determined that its volute track Lane may changed with the unmatched vehicle in volute track of other vehicles.Processing unit 110 can be additionally by volute The curvature of track (relevant with leading vehicle) and leading vehicle just in the expection curvature in the section wherein travelled compared with. Expected curvature can be from following extraction: map datum (for example, data from map data base 160), Path polynomials, its The volute track of his vehicle, related road existing knowledge, etc..If the difference of the expection curvature of the curvature and section in volute path More than predetermined threshold, then processing unit 110 can determine that leading vehicle is likely to changing lane.
In another embodiment, processing unit 110 can be leading in the specific period (for example, 0.5 to 1.5 second) Vehicle instantaneous position and future position (associated with vehicle 200).If the instantaneous position of leading vehicle and future position it Between distance change during the specific period, and change accumulated total be more than predetermined threshold (for example, being on forthright 0.3 to 0.4 meter, on the road of medium flexion be 0.7 to 0.8 meter and on the road with sharp curve be 1.3 to 1.7 meters), then processing unit 110 can determine that leading vehicle may change lane.In another embodiment, processing is single Member 110 can be by the way that the lateral distance travelled along track to be compared with the expection curvature of volute track, to analyze volute The geometry of track.It is expected that radius of curvature can be determined according to following calculating: (δz 2+δx 2)/2/(δx), wherein δxIndicate row The lateral distance sailed, δzIndicate the fore-and-aft distance of traveling.If the difference between the lateral distance of traveling and expected curvature is more than Predetermined threshold (for example, 500 to 700 meters), then processing unit 110 can determine that leading vehicle may change lane.? In another embodiment, processing unit 110 can analyze the position of leading vehicle.If the Position disturbance road of leading vehicle Multinomial (for example, leading vehicle covers the top for being added in Path polynomials), then processing unit 110 can determine leading vehicle Lane may changed.In this case, wherein the position of leading vehicle to detect before leading vehicle Another vehicle, and the volute track of two vehicles is not parallel, then and processing unit 110 can determine (closer) leading vehicle It may change lane.
In step 584, processing unit 110 can determine leading vehicle based on the analysis performed by step 582 Whether 200 changing lane.For example, processing unit 110 can be based on the weighting of performed each analysis in step 582 It is average to be determined.Under such scheme, for example, being based on certain types of analysis, the leading vehicle of processing unit 110 The determination for being likely to change lane can be assigned to numerical value " 1 " and (and numerical value " 0 " is assigned to, to indicate leading Vehicle is less likely changing lane).Performed different analyses can be assigned different weights in step 582, and And the disclosed embodiments are not limited to any specific combination of analysis and weight.
Fig. 6 be with the consistent flow chart of the disclosed embodiments, it illustrates example procedure 600, for based on vertical Body image analysis causes one or more navigation responses.In step 610, processing unit 110 can connect via data-interface 128 Receive the first multiple images and the second multiple images.E.g., including in image acquisition unit 120 (for example, having visual field 202 and 204 Image capture device 122 and 124) in camera can capture vehicle 200 front region the first multiple images and second Multiple images, and processing unit 110 is sent by number connection (for example, USB, wireless, bluetooth, etc.) by them.One In a little embodiments, processing unit 110 can receive the first multiple images and more than second via two or more data-interfaces Image.The disclosed embodiments are not limited to any specific data-interface configuration or agreement.
In step 620, processing unit 110 can run stereo-picture analysis module 404, to execute to more than first figures Picture and the analysis of the stereo-picture of the second multiple images, to create the 3D map of vehicle front road, and the spy in detection image Sign, such as lane markings, vehicle, pedestrian, road sign, expressway exit ramp, traffic lights, road hazard etc..Stereo-picture Analysis can be executed in a manner of being similar to above in conjunction with step described in Fig. 5 A-5D.For example, processing unit 110 can be transported Row stereo-picture analysis module 404, in the first multiple images and the second multiple images detect candidate target (for example, vehicle, Pedestrian, pavement marker, traffic lights, road hazard, etc.), the subset of candidate target is gone out based on various standard filtrations, and execute Multi-frame analysis, building measurement, and determine the confidence level of remaining candidate target.When executing above-mentioned steps, processing unit 110 it is contemplated that the information from both the first multiple images and the second multiple images, rather than only considers to come from one group of image Information.For example, processing unit 110 can analyze appear in the first multiple images and second multiple images the two candidate it is right The difference of the Pixel-level data (or other data subsets among two image streams captured) of elephant.As another example, Processing unit 110 can be appeared in one in multiple images by observing object without in another, or relative to it His difference (difference is in the presence of two image streams relative to object presence) estimates candidate target (for example, relative to vehicle 200) position and/or speed.For example, can be based on feature associated with the object appeared in one or two image stream Track, position, kinetic characteristic etc. determine the position relative to vehicle 200, speed and/or acceleration.
In act 630, processing unit 110 can be based on performed analysis in step 620 and above in conjunction with Fig. 4 The technology of description runs navigation respond module 408, to cause one or more navigation responses in vehicle 200.Navigation response Can for example including turning, lane change, change acceleration, change speed, braking, etc..In some embodiments, processing unit 110 can be used data derived from the institute of the speed of service and acceleration module 406 to cause one or more navigation responses.This Outside, multiple navigation response can occur simultaneously, in order or any combination thereof.
Fig. 7 be with the consistent flow chart of the disclosed embodiments, it illustrates example procedure 700, with for based on pair The analysis of three groups of images responds to cause one or more to be navigated.In step 720, processing unit 110 can connect via data Mouth 128 receives the first multiple images, the second multiple images and third multiple images.E.g., including in image acquisition unit 120 The camera image capture device 122,124 and 126 of visual field 202,204 and 206 (for example, with) vehicle 200 can be captured First multiple images in front and/or side region, the second multiple images and third multiple images, and they are connected by number It connects (for example, USB, wireless, bluetooth, etc.) and is sent to processing unit 110.In some embodiments, processing unit 110 can be through The first multiple images, the second multiple images and third multiple images are received by three or more data-interfaces.For example, image is caught Obtaining each of equipment 122,124,126 can have associated data-interface, for data communication is single to processing Member 110.The disclosed embodiments are not limited to any specific data-interface configuration or agreement.
In step 720, processing unit 110 can analyze the first multiple images, the second multiple images and the multiple figures of third Picture, with the feature in detection image, such as lane markings, vehicle, pedestrian, road sign, expressway exit ramp, traffic Lamp, etc..The analysis can be executed in step described in Fig. 5 A-5D and Fig. 6 above in conjunction similar mode.For example, Processing unit 110 can execute monocular figure to each of the first multiple images, the second multiple images and third multiple images Picture analysis (for example, via the operation of monocular image analysis module 402, and based on above in association with step described in Fig. 5 A-5D).It replaces Dai Di, processing unit 110 can to the first multiple images and the second multiple images, the second multiple images and third multiple images, And/or first multiple images and third multiple images execute stereo-picture analysis (for example, via stereo-picture analysis module 404 Operation, and based on above in association with step described in Fig. 6).Corresponding to the first multiple images, the second multiple images and/or The processed information of the analysis of three multiple images can be combined.In some embodiments, processing unit 110 can execute list The combination of mesh image analysis and stereo-picture analysis.For example, processing unit 110 can execute monocular image to the first multiple images It analyzes (for example, via operation of monocular image analysis module 402), and the second multiple images and third multiple images is executed vertical Body image analysis (for example, via operation of stereo-picture analysis module 404).The configuration of image capture device 122,124 and 126 (including their corresponding positions and visual field 202,204 and 206) can influence to the first multiple images, the second multiple images and The type for the analysis that third multiple images are carried out.The unlimited imaged capture device 122,124 and 126 of the disclosed embodiments Concrete configuration does not limit the type of the analysis carried out to the first multiple images, the second multiple images and third multiple images yet.
In some embodiments, processing unit 110 can be based on the image pair for obtaining and analyzing in step 710 and 720 System 100 executes test.Such test can provide system 100 for certain configurations of image capture device 122,124 and 126 Overall performance indicator.For example, processing unit 110 can determine " accidentally hitting " (for example, system 100 improperly determines Vehicles or pedestrians there are the case where) and " miss " ratio.
In step 730, processing unit 110 can be based on multiple from the first multiple images, the second multiple images and third Information derived from two institutes in image responds to cause one or more to be navigated in vehicle 200.To the first multiple images, Two selections in two multiple images and third multiple images can depend on various factors, for example, in described multiple images Each in object detected quantity, type and size.Processing unit 110 is also based on following make a choice: figure The quantity of the frame of the effective viewing field, capture reflected in image quality amount and resolution ratio, image, one or more interested objects are practical Appear in frame degree (for example, the ratio of the object percentage of frame occurred, the object occurred in each such frame, Etc.), etc..
In some embodiments, processing unit 110 can by determine derived from an image source information with from another The consistent degree of information derived from image source is selected from the first multiple images, the second multiple images and third multiple images Two derived information.It is led for example, processing unit 110 can be combined from each of image capture device 122,124 and 126 Processing information (any combination for either passing through monocular analysis, stereoscopic analysis or the two) out, and determine and crossing over from figure As visual indicator consistent in each of capture device 122,124 and 126 institute's captured image (for example, lane markings, Vehicle detected and its position and/path, traffic lights detected etc.).Processing unit 110 can also exclude crossing over institute Inconsistent information is (for example, change the vehicle in lane, one vehicle of instruction gets too close to the lane of vehicle 200 in captured image Model, etc.).Therefore, processing unit 110 can be based on the determination for consistent and inconsistent information, to select from first Two derived information in multiple images, the second multiple images and third multiple images.
Navigation response can be for example including turning, lane change, change acceleration, etc..Processing unit 110 can be based in step Performed analysis and cause one or more navigation responses above in association with technology described in Fig. 4 in rapid 720.Processing unit 110 can also use data derived from 406 institute of the speed of service and acceleration module, to cause one or more navigation responses.? In some embodiments, processing unit 110 can based on vehicle 200 in the first multiple images, the second multiple images and third it is more Relative position, relative velocity, and/or relative acceleration in any of a image between object detected cause one A or multiple navigation responses.Multiple navigation response can occur simultaneously, in order or any combination thereof.
Object detection and braking system
In some embodiments, vehicle 200 may include object detection and braking system, be configured to detection vehicle 200 The object in front, and using such as braking system 230 vehicle 200 is braked based on object is detected.For example, object detection Vehicle 200 can be made to brake automatically or automatically in the case where not having or there is limited driver's intervention with braking system. Automatic or autonomous object detection and braking system can permit or not allow driver's intervention and take over to braking system 230 Control.
Object detection and braking system may include multiple other systems discussed above.For example, object detection and braking System may include one or more of system 100, braking system 230 and image capture device 122,124 and 126.Figure As one or more of environment or region in front of the available vehicle 200 of one or more of capture device 122,124 and 126 A image may include object, such as another vehicle, pedestrian, road surface, etc..Processing unit 110 can be based at least two Independent analysis is to handle image, to determine at least two collision time (time-to- of vehicle 200 and object collision collision,TTC).In some embodiments, vehicle 200 and two TTC of object can be determined respectively, and each other solely It is vertical." collision time " (TTC) can also be referred to as " time of contact ".Collision time is in vehicle 200 and another pair as colliding it The preceding estimation time by process.Processing unit 110 can determine that the difference between two collision times is no more than predetermined threshold.Base In the determination, processing unit 110 may cause to vehicle 200 using such as braking system 230 to brake.It automatically or can from main brake To assist driver to avoid colliding with the object in 200 front of vehicle, to improve the safety of driving.By making vehicle 200 exist Difference between two TTC is braked in the case where being no more than predetermined threshold, can prevent or reduce accidentally braking (false braking)。
In some embodiments, object detection and braking system can be used monocular video sensing intrinsic two it is independent Channel (channel of information).First channel can be referred to as " texture (texture) " or " appearance information " letter Road.System 100 can execute analysis based on texture or appearance information.In the channel, system 100 can be in different images (example Such as, two continuous images or frame) between respectively in each image image pixel intensities execute pattern identification.System 100 can be with By comparing the image data of two successive images, to estimate to occupy size (footprint size) (for example, in image The dimensions length of the feature of object) variation.Second channel can be referred to as " structure " or " Optic flow information " channel.System 100 Analysis can be executed based on structure or Optic flow information.For example, system 100 can handle two or more images (such as sequentially The image or frame of acquisition) to obtain optical flow field.Optical flow field can provide about traceable texture in two or more images or The information of movement between frame.Light stream field analysis can indicate honest (upright) object of the small collision time in image.This Two kinds of analyses can also be referred to as both modalities which, method or model.
In some embodiments, the analysis based on structure (or light stream) can be used for verifying the knot of the analysis based on texture Fruit.For example, the analysis based on texture can be executed for multiple images (for example, at least two images), structure-based analysis It can be after performing based on the analysis of texture, based on two or more are identical used in the analysis based on texture Image executes.In such embodiments, structure-based analysis can verify the result of the analysis based on texture.Some In embodiment, the analysis based on texture can execute after executing structure-based analysis, and can verify based on structure Analysis result.
In some embodiments, first group at least two images can be used in the analysis based on texture, based on knot The analysis of structure can be used second group at least two images.First group and second group can be identical or different.Some In embodiment, first group at least two images can obtain from by least one of image capture device 122-126 Multiple images in odd number of images in select, can be from by image capture device 122- with second group of at least two images It is selected in even image at least one of 126 multiple images obtained.
In some embodiments, first group at least two images can be multiple from being obtained with first time interval It is selected in image, second group at least two images can be from the identical multiple images obtained with the second time interval Selection, the second time interval can be different from first time interval.In some embodiments, it is possible to specify the first image capture is set Standby (or first imaging sensor) captures the image for the analysis based on texture, and can specify the second image capture device (or second imaging sensor) captures the image for structure-based analysis.
Analysis and structure-based analysis based on texture can be complimentary to one another, and the combination of their result can be by Processing unit 110 is determined using to make braking.For example, the analysis based on texture can produce the first estimation of collision time, Structure-based analysis can also generate the second estimation of collision time.When the difference between the first estimation and the second estimation is less than When threshold value, processing unit 110 may cause to 230 abrupt deceleration vehicle 200 of braking system.Analysis based on texture and structure-based point One in analysis can provide redundancy for another, thus by prevent or reduce accidentally braking come improve braking (such as In emergency running from main brake) accuracy.
In some embodiments, as the structure-based verifier analyzed as the analysis based on texture, it is based on texture Analysis can detecte the object (for example, automobile or pedestrian) in the front of vehicle 200, and can determine collision time it is lower (for example, Lower than predetermined threshold).Analysis based on texture can be by based on the occupancy ruler in the image sequentially obtained at least two It is very little to change with time to calculate collision time, to realize decision.Then, this determination from the analysis based on texture can To trigger structure-based analysis.In some embodiments, from the analysis based on texture determine collision time it is low can be used as to Vehicular system release braking determines the precondition of (for example, autonomous emergency braking determines).In some embodiments, until being based on Structure has been analyzed to identify before the determination made via the analysis based on texture, can not execute braking (for example, autonomous urgent Braking).
In some embodiments, system 100 can require, and estimate collision time determined by structure-based analysis (TTC) identical or substantially the same as estimation collision time (TTC) determined by the analysis based on texture (to reach error to hold Limit).For example, as described below, processing unit 10 can be determined by two of analysis and structure-based analysis determination based on texture Difference between a TTC is no more than predetermined threshold (it can be error margin).In some embodiments, system 100 can be examined The extension focus of object is considered from the diverging of the extension focus of static environment.If it is remote that the extension focus of object dissipates (such as movement) Extension focus from static environment, then it is strongly indicating that for the low honest object of TTC that this, which can be object,.With reference to Figure 15 A and Figure 15 B Discuss an example in more detail.The requirement is optional, this is because it, which can be only applicable to target object, has perpendicular to vehicle The case where velocity component of 200 steering direction, on the direction not parallel with the steering direction of vehicle 200 (for example, travel Target object).
In some embodiments, processing unit 110 can make when making braking (for example, autonomous emergency braking) decision Determined structure-based to analyse whether to support the analysis based on texture with certain standards.For example, such standard may include Claimed below: light stream meets the model of the honest object (LTU object) of low collision time, rather than open route (or open road Face) model.
Fig. 8 is the exemplary vehicle 200 for including object detection and braking system (or being emergency braking decision systems) Schematic diagram.Object detection and braking system may include system 100 and braking system 230.Object detection and braking system may be used also To include at least one of image capture device 122 and 124 (and 126, not shown in FIG. 8).Object detection and system Dynamic system may include processing unit 110, can be a part of system 100.In image capture device 122 and 124 extremely One or more images in the region of the few one available object including 200 front of vehicle.The object can be another vehicle , such as can be the vehicle 800 in 200 traveling ahead of vehicle.As shown in figure 8, in some embodiments, vehicle 800 can be with It is travelled on the direction of driving direction for being parallel to vehicle 200.Parallel direction may include following situations, vehicle 800 with vehicle It travels, and aligns or substantial alignment is (for example, front row of the vehicle 800 in vehicle 200 on 200 identical directions Sail), as shown in Figure 8.Parallel direction further includes following situations, and vehicle 800 travels on the opposite direction relative to vehicle 200, And it is aligned with vehicle 200 (for example, vehicle 800 is in the 180 degree opposite with the driving direction of vehicle 200 or substantially 180 degree Side is mobile upwardly toward vehicle 200).Parallel direction further includes following situations, and vehicle 800 is not aligned traveling with vehicle 200, but Traveling is (for example, vehicle 800 deviates a distance in the front side row of vehicle 200 on the direction parallel with the driving direction of vehicle 200 It sails).
In some embodiments, object can be the pedestrian to stand on road, or pass by or ran the pedestrian of road.Packet The region for including in the picture may include other objects, for example, road surface, house, wall, mark, etc., static state can be formed Environment.When object not on the direction parallel with 200 driving direction when driving, the driving direction of object can be to be both not zero (or being substantially zero) is not the driving direction of the angle transverse to vehicle 200 of 180 degree (or substantially 180 degree) yet.Image It may include both mobile object and/or static object.
Processing unit 110 can be communicated at least one of braking system 230 and image capture device 122 and 124. For example, processing unit 110 can receive image from least one of image capture device 122 and 124, and can be used each Kind of method or mode handle image, to detect one or more collision times of vehicle 200 Yu object 800.Although in fig. 8 Show two image capture devices 122 and 124, but use additional image capture device (such as 3,4,5, etc. Equal image capture devices) it is consistent with the disclosed embodiments.
Fig. 9 is the schematic diagram of exemplary vehicle 200 comprising object detection and braking system, object detection and braking system System is configurable to detect the object travelled on the direction for being not parallel to the driving direction of vehicle 200.Object can be vehicle 900 or pedestrian's (not shown).Object detection and braking system can be based on by least one in image capture device 122 and 124 One or more images of a acquisition, to detect the vehicle 900 travelled towards vehicle 200.In addition, object detection and braking system It can be based at least one or more image, to determine at least two collision times of vehicle 200 Yu vehicle 900.When at least two When difference between a collision time is no more than predetermined threshold, processing unit 110 may cause to the braking of vehicle 200, with prevent with Vehicle 900 collides.
Figure 10 is the exemplary block diagram of memory 140 or 150, can store the finger for executing one or more operations It enables, to detect the object in 200 front of vehicle, and brakes vehicle 200 based on the detection.As shown in Figure 10, memory 140 or 150 can store one or more modules to execute operations described herein.For example, memory 140 or 150 can store first Image analysis module 1002, the second image analysis module 1003 and brake module 1004.At application processor 180 and/or image Reason device 190, which can be run, is stored in the instruction including in any of module 1002-1004 in memory 140 or 150. It will be understood by those skilled in the art that in the following discussion, can either individually or collectively refer to application to the reference of processing unit 110 Processor 180 and image processor 190.Correspondingly, any process steps can be executed by one or more processing equipments below.
First image analyzing unit 1002 can store an instruction, which can hold when being run by processing unit 110 The first image analysis of row, to calculate or generate the first estimation collision time of vehicle 200 and object (for example, vehicle 800 or 900) (TTC1).First image analyzing unit 1002 can be handled for example using based on appearance detecting method by image capture device At least one of 122 and 124 at least two images obtained, this can be based on the appearance of the object at least two images The variation of (for example, size) calculates TTC1.Exemplary first image analysis is discussed in more detail below with reference to Figure 12.
Second image analyzing unit 1002 can store an instruction, which can hold when being run by processing unit 110 The second image analysis of row estimates collision time to calculate or generate vehicle 200 and object (for example, vehicle 800 or 900) second (TTC2).Second image analyzing unit 1003 based on the method for light stream for example using being handled by 122 He of image capture device At least one of 124 obtain at least two images, this can based on derived from least two image Optic flow information come Calculate TTC2.Exemplary second image analysis is discussed in more detail below with reference to Figure 13.
Brake module 1004 can store an instruction, which can be used braking system when being run by processing unit 110 System 230 brakes vehicle 200.For example, when processing unit 110 determines that the difference between TTC1 and TTC2 is no more than predetermined threshold When, brake module 1004 can make the application braking of braking system 230, to reduce the speed of vehicle 200 or stop vehicle 200 Only, to prevent from colliding with object.
Figure 11 is to show the flow chart of example procedure or method 1100, is used to detect the object in 200 front of vehicle, And brake vehicle 200 based on the detection.Method 1100 may include obtaining the multiple images (step in the region in 200 front of vehicle It is rapid 1110).For example, one of the region in available 200 front of vehicle of at least one of image capture device 122 and 124 Or multiple images.The region may include object, such as another vehicles or pedestrians.The region may include other static objects, Such as mark, house, mountain, road surface, etc., static environment can be formed.
Method 1100 may include executing the first image analysis based at least the first image and the second image to generate first Collision time (TTC1) (step 1120).For example, processing unit 110 executes first based at least the first image and the second image Image analysis.More than two images can be used in the first image analysis to generate TTC1.In some embodiments, first Image analysis may include the detection method based on appearance.Detection based on appearance can be based in the first image and the second image The variation (for example, variation of size) of appearance of object detect TTC1.It further discusses below with reference to Figure 12 based on appearance Detection technique.
Figure 12 is the first image analysis of demonstration 1200 shown for determining the first estimation collision time (TTC1) Flow chart.First image analysis 1200 may include detection method (therefore, the first image analysis based on appearance or based on texture Analysis or texture analysis based on texture can be referred to as).Detection method based on appearance can include determining that at least two figures As the variation of the feature of the appearance or object of the object in (such as the first image and second image), and can be based on appearance Variation is to calculate TTC1.In some embodiments, the variation of appearance can be the variation of the size of object (or feature of object).
In the first image analysis of demonstration 1200 shown in Figure 12, processing unit 110, which can determine, appears in the first figure First size (the step 1210) of object (or feature of object) as in.Processing unit 110, which can determine, appears in the second figure Second size (step 1220) of the object (or feature of object) as in.When vehicle 200 is close to object, the second size can be with Greater than first size.Processing unit 110 can based on appear in the object in the first image and the second image size (for example, Pixel Dimensions) determine first size and the second size.Processing unit 110 can determine the size of object (or feature of object) Variation (the step 1230) of (or relative scale).For example, processing unit 110 can subtract first size from the second size with true Determine size difference.In some embodiments, size difference can be determined the phase of size by processing unit 110 divided by first size To difference.The variation of size (or relative scale) can refer to the relative different of size, can be percentage.Processing unit 110 Can variation based on size and obtain the first image and the first predetermined time interval between the time of the second image come it is true Determine TTC1 (step 1240).First scheduled time interval can depend on obtaining the camera (example of the first image and the second image Such as, including the camera in the first image capture device 122) setting, once and camera setting be fixed can be known.The One predetermined time interval can be any suitable interval, such as 0.05 second, 0.1 second, 0.2 second, etc..For example, first is predetermined Time interval can indicate that the opposite variation of size can be indicated by S0, and processing unit 110 can be by following formula meter by dt1 Calculate TTC1:TTC1=dt1/S0.
Referring back to Figure 11, method 1100 may include executing the second image point based at least third image and the 4th image Analysis, to generate second estimation collision time (TTC2) (step 1130).For example, processing unit 110 can be from third image and Four images export Optic flow information, and can calculate TTC2 based on Optic flow information.Second image analysis, which can be referred to as, to be based on The analysis or structural analysis of structure.In some embodiments, more than two images can be used in the second image analysis Export Optic flow information.
Figure 13 is to show the flow chart of exemplary second image analysis 1300, is used to determine the second estimation collision time (TTC2).Second image analysis 1300 may include obtaining or exporting optical flow field (step from least third image and the 4th image 1310).In some embodiments, processing unit 110 can be from third image and the 4th image, and/or by image capture device At least one of 122 and 124 additional images obtained export optical flow field.Optical flow field can be vector field, wherein each point can With by showing from first point in such as third image to the mobile range of the corresponding second point in such as the 4th image and The vector representation in direction.
As shown in figure 13, the second image analysis 1300 may include that extension focus (step 1320) is determined based on optical flow field. Extension focus can be the convergence point of the vector in optical flow field, discuss in more detail below with regard to Figure 16 to it.The Two image analyses 1300 can also include determining the spreading rate (step relative to extension focus of each point in optical flow field 1330).For example, for each point in optical flow field, processing unit 110 can mobile range based on point and from point to expansion The distance of focus is opened up to calculate spreading rate.For example, the mobile range of any point can be indicated by d, from putting to focus is extended Distance can be indicated by r, and processing unit 110 can calculate spreading rate by following formula: Rexp=d/r.For every in optical flow field It is a, mobile range r can be calculated by the amplitude of vector associated with the point.Mobile range r can indicate such as third First point in image has moved how many, to reach the second point in such as the 4th image.
As shown in figure 13, the second image analysis 1300 may include based on spreading rate and the second predetermined time interval come really Fixed second estimation collision time (TTC2).Second predetermined time interval can be obtain between third image and the 4th image when Between difference.Second scheduled time interval dt2 can depend on the setting (for example, frame rate) of camera, and can with the The first predetermined time interval used in one image analysis is identical or different.Second predetermined time interval can be any suitable Interval, such as 0.05 second, 0.1 second, 0.2 second, etc..In some embodiments, TTC2 can be with spreading rate d/r at anti- Than, and can be directly proportional to the second predetermined time interval dt2.For example, processing unit 110 can calculate TTC2:TTC2 by following formula =dt2/ (d/r).
First image analysis 1200 and the second image analysis 1300 shown in Figure 12 and Figure 13 can independently and separately be held Row.First image used in the first image analysis 1200 and the second image can be used in the second image analysis 1300 Third image and the 4th image it is identical or different.In some embodiments, the first image can be identical as third image, and the Two images can be identical as the 4th image.In some embodiments, the first image can be different from third image, and the second image It can be different from the 4th image.In some embodiments, the alternate sequence of image can be used for the first analysis and the second analysis.Power Such as, the odd number of images in same group of image can be used for the first image analysis, and even image can be used for the second image analysis. In some embodiments, at least one image capture device (for example, image capture device 122) is configurable to capture first Image used in image analysis (for example, the first image and second image), to generate the first estimation collision time.At least one Other image capture devices (for example, image capture device 124) are configurable to capture figure used in the second image analysis As (for example, third image and the 4th image), to generate the second estimation collision time.In some embodiments, when using at least One image capture device is come when capturing the multiple images for the first image analysis and the second image analysis, at least one figure As capture device may include the first imaging sensor, be configured to capture image used in the first image analysis (for example, First image and the second image) and the second imaging sensor, it is separated with the first imaging sensor and independent, and be configured to It captures the image used in the second image analysis (for example, third image and the 4th image).
Referring back to Figure 11, method 1100 may include calculating the first estimation collision time (TTC1) and the second estimation collision Difference (step 1140) between time (TTC2).In some embodiments, processing unit 110 can be with subtracting TTC1 in TTC2 To generate difference.Processing unit 110 can determine whether the difference is more than predetermined threshold (step 1150).Predetermined threshold can be Any suitable threshold value, for example, 0.05 second, 0.1 second, 0.2 second, etc..When the determined difference of processing unit 110 is more than predetermined threshold It (is, step 1150) that processing unit 110 can repeat step 1110-1150 when value.When processing unit 110 determines that difference does not surpass (no, step 1150), processing unit 110 may cause to vehicle 200 and for example braked using braking system 230 when crossing predetermined threshold (step 1160).
Figure 14 A-14C shows the figure of the distribution of the second estimation collision time (TTC2) in optical flow field and optical flow field Picture.Figure 14 A shows image 1400, and it illustrates the vehicles 1410 travelled on road 1420.For illustrative purposes, do not show It out include other objects in image 1400.Figure 14 B is shown based on optical flow field 1430 derived from least two images.Example Such as, optical flow field 1430 can be from image 1400 and in the second scheduled time interval from the time for obtaining image 1400 At least one the second image (not shown) export for the vehicle 1410 that dt2 is obtained.Can image 1400 or at least one second Multiple images point is selected in image, and the vector for connecting the corresponding point of these images can be generated by processing unit 110. Vector can be formed about the optical flow field 1430 in the region of vehicle 1410, schematically show in fig. 14b.
Although for illustrative purposes, optical flow field 1430 is illustrated in the region of vehicle 1410, optical flow field 1430 can be for smaller region (for example, the window for focusing on vehicle 1430) or bigger region (for example, in image 1400 Shown in whole region) export.Each point in optical flow field 1430 can pass through the arrow with length and one direction of direction Join with the vector correlation indicated in Figure 14 B.The length of arrow can indicate the amplitude of vector.For example, the amplitude of vector can refer to Diagram is as first point of mobile range to the second point at least one second image in 1400.The direction of arrow can indicate The direction of the movement between each pair of corresponding point in the two images.
After executing the second image analysis 1300 discussed above, processing unit 110 can determine optical flow field 1430 In each point second estimation collision time (TTC2).Figure 14 C is shown in the whole region shown in image 1400 The exemplary distribution of TTC2.As shown in Figure 14 C, the point in different regions can different values from TTC2 it is associated.Scheming Different pattern and/or shade are shown in 14C, to be schematically illustrated the different values of TTC2.For being substantially converged in Region 1440 on the vehicle body of vehicle 1410, all or most of points in region 1440 can be substantially the same with TTC2 Value it is associated.In other words, all or most of on the honest object for the honest mobile object of such as vehicle 1410 Point can have identical or substantially the same collision time.
However, all or most of point may not have identical or substantially the same collision time for road surface.Example Such as, the point in the first part 1450 of road 1420 can be associated with a collision time, and second of road 1420 Divide the point in 1460 can be associated with another collision time.These collision times can be different, as in Figure 14 C with difference Pattern/shade shown in.In some embodiments, the collision time of the first part 1450 of road 1420 and second part 1460 Between there may be discontinuity (for example, the variation between these collision times may not be gradual change).Although first part 1450 and the light stream that looks like in single image for honest object, but generated from least two images of second part 1460 Field can be with display additional information (for example, collision time), and can distinguishing real honest object, (it can move or can not It is mobile) and road surface (it is not honest).This aspect is further discussed with reference to Figure 17 A-18B.
As shown in Figure 14 C, the point in region 1470,1480 and 1490 can be associated from different collision times, such as schemes Shown in indicated by different pattern/shade.Region 1470 and 1480 can indicate a part of road 1420, and area The variation of collision time value in domain 1470 and 1480 and first part 1450 can be (for example, continuous) of gradual change.Example Such as, region 1490 can indicate a part of sky, associated collision time can with region 1470 and/or 1480 phases The associated time is different.
Figure 15 A and Figure 15 B show the exemplary extended focus in optical flow field.Figure 15 A shows the object in image and exists With on (or on substantially the same direction) the identical direction of vehicle 200 and with vehicle 200 with being aligned (or substantial alignment) Traveling (for example, in the identical portable cord in 200 front of vehicle, towards or away from vehicle 200).As shown in fig. 15, object Extending focus can be completely or substantially Chong Die with the extension focus of static environment.Figure 15 B shows object and is being not parallel to vehicle Travelled on the direction of 200 driving direction, for example, when object on the direction transverse to the driving direction of vehicle 200 laterally Ground is when driving.As shown in fig. 15b, the extension focus of object can not be Chong Die with the extension focus of static environment.
For example, Figure 15 A shows the environment 1500 in the region in 200 front of vehicle.It is consistent with the disclosed embodiments, image Available the first image 1510 for obtaining environment 1500 of capture device (for example, one in image capture device 122-126), Environment 1500 includes the object in the first image 1510.Static environment can be indicated (for example, road around the environment of object Road, building, mountain, sky, etc.).Figure 15 A also shows the second image 1520, and image capture device is (for example, image capture is set One in standby 122-126) object can be obtained after the second predetermined time interval dt2.It can be in vehicle 200 towards object Image 1520 is obtained when mobile, therefore, image 1520 can be greater than image 1510, to indicate to extend.
Figure 15 A also shows extension focus 1530.Extension focus 1530 can be the extension focus of static environment, such as assemble Indicated by two dotted lines to extension focus 1530.The position of the extension focus 1530 of static environment can depend on camera, And the multiple images of the object or region for exporting Optic flow information can not be continuously obtained with camera and are changed.When right As with the identical direction of vehicle 200 on (or on substantially the same direction) and be aligned with vehicle 200 it is (or substantially right Together) when driving (for example, in 200 front of vehicle, identical or opposite as the driving direction of vehicle 200), focus 1530 is extended It may be constructed the extension focus of object.In other words, it is travelled in alignment on direction identical with vehicle 200 and with vehicle 200 The extension focus of object can completely or substantially be overlapped the extension focus of (or completely or substantially converging on) static environment. Therefore, processing unit 110 can from from derived from multiple images in optical flow field detect an extension focus.In order to illustrate mesh , Figure 15 A also shows the distance r from certain points to extension focus.
Figure 15 B shows the environment 1540 in the region in 200 front of vehicle, and by camera in the second scheduled time interval (object is included in the first image 1550 and the second figure for first image 1550 of the object that dt2 is successively obtained and the second image 1560 In 1560).For example, the image of object for example can expand to image from image 1550 when vehicle 200 is mobile towards object 1560.Figure 15 B also shows the first focus 1570 of extension, can according to from object image 1550 and image 1560 export Optical flow computation.For illustrative purposes, Figure 15 B shows the distance r of the first focus 1570 from certain points to extension.Figure 15B also shows the second focus 1580 of extension, can be the extension focus of static environment.Second focus 1580 of extension Position can depend on camera, and the figure of the object or region for exporting Optic flow information can not be continuously acquired with camera As and change.In the example shown in Figure 15 B, the first focus 1570 of extension can not be with 1580 weight of the second focus of extension It is folded.It detects two or at least two nonoverlapping extension focuses can indicate that there are cross runnings in image 1540 at least One object for example, on the direction of driving direction for being not parallel to vehicle 200, or (or is being substantially to be not zero Zero) pair also not travelled on the direction of the driving direction of vehicle 200 for the angle of 180 degree (or substantially 180 degree) As.
Figure 16 shows exemplary optical flow field and extension focus.To Figure 16 following discussion illustrate how to export optical flow field And how to determine extension focus.For example, vehicle 1600 is included in the image capture device for example by being mounted on vehicle 200 Object in image acquired in 122, and vehicle 200 is travelled towards vehicle 1600.When vehicle 200 is close to vehicle 1600 When, image capture device 122 can sequentially and/or continuously obtain the multiple images in the region in 200 front of vehicle.It can be from Select any two or more image to export optical flow field in multiple images.In Figure 16, the first image with solid line by being indicated Vehicle 1600 indicate that the second image indicates by the vehicle 1610 being represented by dotted lines.For multiple selections on the first image Point, such as point (x1, y1), (x2, y2) and (x3, y3), processing unit 110 can determine their corresponding point, such as (u1, v1) in two images, (u2, v2) and (u3, v3).Can be directed to each pair of point (x1, y1) and (u1, v1), (x2, y2) and (u2, v2), (x3, y3) and (u3, v3) determine vector.Vector can indicate amplitude and the side of the extension of the point in the first image To.The length (being indicated by the solid arrow in Figure 16) of each vector can indicate one o'clock from the first image to the second figure The distance or amplitude of the movement of corresponding point as in, and the direction of vector can indicate propagation direction or moving direction. The convergence point 1620 of vector can indicate extension focus.In some embodiments, the position of convergence point 1620, which can be used, is based on The suitable mathematical model of the coordinate of vector calculates.For example, the position of convergence point 1620 can be calculated by following formula:
SS*(xi-FOEx)=ui (1)
SS*(yi-FOEy)=vi (2)
Wherein SS can be constant, (xi, yi) it can be i-th point of coordinate in the first image, (ui, vi) can be I-th point of coordinate in second image.FOExAnd FOEyIt can be the position (that is, extension focus) for indicating convergence point 1620 Coordinate.
Figure 17 A and Figure 17 B show the image of object and from the point in optical flow field to the distance of extension focus and point Linear relationship between mobile range.Figure 17 A and Figure 17 B are shown, from the point in optical flow field to the distance of extension focus and point It is honest object (for example, the honest object of low collision time) that linear relationship between mobile range, which is determined for object,.
Figure 17 A shows the image including object (that is, vehicle 1700).The image of vehicle 1700 may include two vehicle windows 1710 and 1720 image seems darker in the image of vehicle 1700.It can choose multiple points 1730, wherein most of It can come from the region in the image of vehicle 1700.It can be from the vehicle 1700 successively obtained by scheduled time interval dt2 Optical flow field is exported at least two images.Processing unit 110 can determine mobile range d based on optical flow field and from point to expansion Open up the distance r of focus.Processing unit 110 can determine the relationship between amplitude d and distance r.In some embodiments, the relationship It can be linear relationship, as seen in this fig. 17b, instruction d/r (for example, the slope for the line drawn) is for all or base in optical flow field All points are identical in sheet.As discussed above, d/r can be inversely proportional with the second estimation collision time (TTC2).Cause This, the linear relationship between d and r can indicate the value of the constant or substantially constant of d/r, this can indicate in turn TTC2 for All or substantially all points in optical flow field are constant or substantially constants.Constant or identical TTC2 can indicate light Object in flow field is honest object or the honest object of low collision time.
In order to illustrate the linear relationship between mobile range d and distance r, Figure 17 B shows hang down relevant to mobile range d Vertical component (example of the straight component (y-component) (for example, the mobile range on the direction y, " dy ") in Figure 17 B relative to distance r Such as, the distance for arriving extension focus in y-direction, " y " in Figure 17 B) curve graph.Although not shown in Figure 17 B, water The curve graph of the amount of dividing equally (for example, distance in amplitude and the direction x on the direction x) can also indicate that linear relationship, this in turn can To indicate collision time for all or substantially all selected element constant or substantially constants in optical flow field.In addition, away from Curve graph from r and amplitude d can also indicate that linear relationship, and then can indicate all or substantially all in optical flow field The collision time of constant (or identical) or substantial constant (or identical) of selected element.
When detecting or determining mobile range d and between the distance r of extension focus for non-linear relation, the nonlinear dependence System can indicate the collision time of the second estimation for including that the different points in optical flow field are different, this can refer in turn Diagram picture may include road surface, rather than honest object.It as discussed above, can be based on derived from least two images Optic flow information determines the second estimation collision time.Figure 18 A and Figure 18 B show the image of object and from the points in optical flow field Non-linear relation between the mobile range d for the distance r and point for extending focus.Figure 18 A shows the image in house 1810 1800, two garages 1820 and 1830 that there is garage door to open in house 1810, and lead to the lane in garage 1820 and 1830 1840 (for example, road surfaces).Since garage door is open, garage 1820 and 1830 can seem darker on the image, similar The vehicle window 1710 and 1720 shown in Figure 17 A.The region 1850 of image be can choose for image procossing.It can be in region The multiple points of selection in 1850, and available include at least two images in region corresponding with region 1850 and export light Flow field.Based on the optical flow field with multiple vectors, processing unit 110 can determine the distance of extension focus, point to extension focus R, the mobile range d for the point for and in optical flow field including.Processing unit 110 can determine the relationship between distance r and amplitude d. Shown in Figure 18 A, processing unit 110 can determine that the relationship between distance r and amplitude d is nonlinear.Distance r Non-linear relation between amplitude d can indicate that the collision time of these points is different different points.This in turn can To indicate that selected region 1850 includes the image on road surface, rather than such as vehicle 1700 as shown in Figure 17 A is honest right As.
In order to illustrate the non-linear relation between mobile range d and distance r, Figure 18 B shows relevant to mobile range d Vertical component (y-component) (for example, the mobile range on the direction y, " dy ") in Figure 18 B and distance r vertical component (for example, The distance for arriving extension focus in y-direction, " y " in Figure 18 B) curve graph.It is horizontal although not shown in Figure 18 B The curve graph of component (such as distance in the amplitude and the direction x on the direction x) can also indicate that non-linear relation, therefore, collision Difference of the time for point selected in optical flow field.In addition, the curve graph of distance r and amplitude d can also indicate that nonlinear dependence System, and thereby indicate that collision time for point selected in optical flow field difference.Here, the image in region 1850 can be with The image of the vehicle 1700 shown in Figure 17 A is looked similar in single image.From in the second scheduled time interval dt2 Optical flow field derived from the multiple images of acquisition can be with display additional information, such as about including the object in selected region Collision time information.It is honest object or road surface that collision time information, which is determined for object,.Processing unit 110 can be with The determination is determined whether into actuated vehicle 200 in conjunction with the TTC2 of calculating.
Figure 19 is to show the flow chart of example procedure 1900, is used for less than one or more based on instruction collision time One or more probability of a threshold value alert to trigger.As discussed above, as the substitution for determining collision time, processing is single Member 110 can determine collision based at least two images as acquired in one or more image capture devices 122,124 and 126 Time is less than the probability of predetermined threshold.For example, one or more image capture device 122-126 can be obtained in process 1900 Multiple images (the step 1910) for 200 front regions of picking up the car.In some embodiments, the figure with a camera can be used As capture device.In some embodiments, two or more image captures with two or more cameras can be used Equipment.For example, a video camera can have 45 degree of visual fields in the region in 200 front of vehicle, and another video camera can have There are 30 degree of visual fields.
In some embodiments, processing unit 110 can execute third image analysis based at least two images, with true Determine the first probability (the P1) (step 1920) of collision time (TTC) less than the first predetermined threshold T1 (i.e. TTC < T1).First is predetermined Threshold value T1 can be any suitable value, for example, 0.1 second, 0.2 second, 0.5 second, etc..Processing unit 110 can determine collision The second probability (the P2) (step 1930) of time (TTC) less than the second predetermined threshold T2 (that is, TTC < T2).Second predetermined threshold T2 It is any suitable value, for example, 0.1 second, 0.2 second, 0.5 second, etc..Second predetermined threshold T2 can be with the first predetermined threshold T1 It is identical or different.
If the first probability P 1 is greater than the first predetermined probability threshold value Tp1, or makes a reservation for if the second probability P 2 is greater than second Probability threshold value Tp2, then processing unit 110 can trigger warning.Tp1 and Tp2 can be any suitable value, for example, 0.5,0.8, 0.9 etc..Tp1 and Tp2 can be identical or not identical.In some embodiments, Tp2 can be less than Tp1.Processing unit 110 can The first probability P 1 to be compared with the first predetermined probability threshold value Tp1, to determine it is predetermined whether the first probability P 1 is greater than first Probability threshold value Tp1.Second probability P 2 can also be compared by processing unit 110 with the second predetermined probability threshold value Tp2, with determination Whether the second probability P 2 is greater than the second predetermined probability threshold value Tp2.Warning may include audio alert, visual alarm, vibration alarm Or combinations thereof.Warning can alert driver so that driver can take navigation action appropriate, such as using brake, Steered wheel, etc..
Figure 20 be show can be realized in the first image analysis shown in Figure 11 for determining the first collision time (TTC1) flow chart of example procedure 2000.Process 2000 can be used as in the first image analysis substitution based on texture TTC1 calculation method, with process 1200 shown in alternate figures 12.Processing unit 110 can handle DT at predetermined intervals At least two images obtained.Processing unit 110 can determine the first dimension length y1 (step of the object in the first image 2010).First dimension length of object can be object in vertical direction, horizontal direction or any side on the first image Upward characteristic length.For example, feature can be the vertical side of the licence plate on vehicle when object is vehicle.Processing unit 110 The the second dimension length y2 that can determine the same object (or same characteristic features of same object) in the second image, can obtain After taking the time of the first image, after the first image (step 2020) is obtained when time DT.Processing unit 110 can be based on First dimension length and the second dimension length determine zoom factor Sf (scaling factor).For example, processing unit 110 can be with It is calculated based on following formula: Sf=y1/y2.In some embodiments, processing unit can be tracked in the first image and the second image The horizontal coordinate and vertical coordinate (dx, dy) of object, and Sf can be calculated based on coordinate (dx, dy), for example, Sf=dy1/dy2.
Processing unit 110 can determine that (it can be Figure 11 institute to collision time based on zoom factor and time interval DT The first collision time shown).In some embodiments, processing unit 110 can calculate TTC1:TTC1=DT/ (Sf- by following formula 1)。
Using both as described above, that is, be based on texture and structure-based sensing mode, method or model, have Several benefits and advantage.For example, compared with the braking decision systems of one (or only one information channel) being used only in mode, It the use of the direct result of two mode is the probability that can reduce the system failure in braking decision systems.
Another advantage is related to system verifying.Using at least two mode (information channel or two independences and/or Separated analysis) assessment total system failure rate is allowed the vehicle to (for example, average time between failures (mean-time- Between-failures) or MTBF).Total system failure rate can be determined by assessing the failure rate of every kind of mode respectively (for example, by assessing the failure rate of the analysis based on texture and the failure rate of structure-based analysis respectively).Both modalities which can To be realized in two subsystems: the subsystem based on texture analysis and the subsystem based on structural analysis.The event of both modalities which Barrier rate can be multiplied.Multiplied result may be used as calculating the indicator of total system failure rate, or can be used for calculating total system event Barrier rate.In some embodiments, MTBF can be estimated based on multiplied result, even if its is higher than available verify data significantly Degree (in time).
For example, the record of only 1000 hours data is available, and combined system MTBF is 1000000 in a scenario Hour.In 1/100 hour, the analysis based on texture may trigger accidentally braking and determine.In the case where 1/10000, it is based on The analysis inspection of texture assumes to determine (such as assume to determine to be braked due to the honest object of low TTC in 200 front of vehicle It determines).In this case, the analysis based on texture may mistakenly be ratified to assume to determine.By directly assessing combination system System (or combinatory analysis of the analysis and structure-based analysis based on texture), Vehicular system is possible in 1000 hours can only be real Existing 0 failure, and possibly can not assess MTBF.By considering two independent information letters in the braking of vehicle 200 decision Road, for example, vehicle can assess each subsystem (for example, base respectively using analysis and structure-based analysis based on texture Subsystem in texture analysis and the subsystem based on structural analysis) failure rate.Such failure rate can be multiplied, and multiply The result of method can be used for assessing MTBF.For example, in some embodiments, the subsystem based on texture analysis can be protected individually Operation is held, and may be failed 10 times in 1000 hours.If mistakenly excited based on the subsystem of structural analysis 1000000 times, if, for example, the subsystem based on texture analysis has reached needs issues autonomous urgent system on open route Dynamic decision, the subsystem based on structural analysis may fail primary in 10000 excitations.Based on these observations, processing is single Member 110 may infer that (or determination) total system average time between failures (MTBF) is actually 1000000 hours.Can only it make Reach the estimation with the data of 1000 hours records.Therefore, it by using disclosed both modalities which, can be based only upon The data of the record of hour are limited to more efficiently carry out system verifying.
Figure 21 is to show the flow chart of example procedure 2100, is used to execute system verifying using both modalities which. Process 2100 summarizes system verifying discussed above.Processing unit 110 can determine and the subsystem phase based on texture analysis Associated Fisrt fault rate (step 2110).For example, processing unit 110 can be based on being by the subsystem based on texture analysis Accidentally braking is made in the sum of system hours run determines that the total degree of (for example, having falsely detected the low honest object of TTC) comes really Determine Fisrt fault rate.As discussed above, the subsystem based on texture analysis can be based on the region to 200 front of vehicle The decision of braking is made in the detection of the texture variations variation of size (for example, occupy) between at least two images.Processing is single Member 110 can determine the second failure rate (step 2120) associated with the subsystem based on structural analysis.For example, processing unit 110 can based on by the subsystem based on structural analysis in the same population of system hours run or the difference of system hours run The total degree of the accidentally decision (for example, having falsely detected the low honest object of TTC) of braking is made in sum to determine the second failure Rate.Processing unit 110 can determine total system failure rate (step 2130) based on Fisrt fault rate and the second failure rate.Example Such as, Fisrt fault rate can be multiplied by processing unit 110 with the second failure rate, and use multiplied result average as total system The indicator of time between failures (MTBF).
The description of front has been presented for illustrative purposes.It is not exhaustive, and is not limited to disclosed Precise forms or embodiment.By considering the specification and practice of the disclosed embodiments, modifications and adaptations are for this field Technical staff will be apparent.In addition, although being described as storage in terms of the disclosed embodiments in memory, Be it will be understood by those skilled in the art that these aspects also can store on other kinds of computer-readable medium, such as it is auxiliary Secondary storage device, such as the RAM or ROM, USB medium of hard disk or CD ROM or other forms, DVD, blue light or other optical drives Medium.
Computer program based on written description and disclosed method is within the scope of the technical ability of experienced developer.Respectively Any technology well known by persons skilled in the art can be used to create or can combine existing soft in kind program or program module Part designs.For example, program segment or program module can be designed by following language or by following language: .Net Framework, Net Compact Framework (and relational language, such as Visual Basic, C etc.), Java, C++, Objective-C, HTML, HTML/AJAX combination, XML or the HTML including Java.
In addition, although such as those skilled in the art will based on the disclosure there have been described herein illustrative embodiments Understand, the ranges of any and all embodiments has equivalent element, modification, omission, combination (such as across various embodiments The combination of aspect), adaptation and/or change.Limitation in claim will widely be solved based on the language used in claim It releases, and is not limited to the example of example described in this specification or the course of the review in the application.These examples are explained For nonexcludability.In addition, the step of disclosed method can modify in any way, including pass through rearrangement step And/or it is inserted into or deletes step.Therefore, it is intended that it is illustrative to be to be considered only as specification and example, real range and Spirit is indicated by the full scope of the following claims and their equivalents.
1. a kind of object detection and braking system for vehicle, comprising:
At least one image capture device is configured to obtain the multiple images in the region including the vehicle front object；
Data-interface；And
At least one processing equipment, is programmed to:
Described multiple images are received via the data-interface；
The first image analysis is executed based at least the first image and the second image, with the determination vehicle and the first of the object Estimate collision time；
The second image analysis is executed based at least third image and the 4th image, with the determination vehicle and the second of the object Estimate collision time, the second image analysis includes:
Determine that extension focus, the extension focus are determined from third image and the 4th image based on third image and the 4th image Vector field in vector convergence point；And
By being divided by by the amplitude of the vector for the point being associated in the vector field and from this to the distance of the extension focus, really Surely it is associated with the spreading rate relative to the extension focus of the point；
Calculate the difference between the first estimation collision time and the second estimation collision time；
Determine that the difference is no more than predetermined threshold；And
It is no more than the predetermined threshold based on the determination difference, causes the vehicle braking.
2. object detection according to claim 1 and braking system, wherein the first image analysis include:
Determine the first size for appearing in the object in the first image；
Determine the second size for appearing in the object in second image；
The change in size of the object is determined based on the first size and second size；And
Change in size based on the object and obtain the first image and predetermined between the time of second image Time interval determines the first estimation collision time.
3. object detection according to claim 1 and braking system, wherein each o'clock of the vector field by a vector table Show, which indicates from first point in the third image to the mobile width of the corresponding second point in the 4th image Degree and direction, and wherein, the second image analysis further comprises:
Based on the spreading rate and the third image and the time interval between the time of the 4th image are obtained, Determine the second estimation collision time.
4. object detection according to claim 1 and braking system, wherein second image analysis includes:
Determine the relationship between the amplitude of multiple points in the vector field and distance；And
It is linear relationship based on the determination relationship, determines that the object indicated by the multiple point is that low collision time is honest right As.
5. object detection according to claim 1 and braking system, wherein second image analysis includes:
It is non-linear relation based on the determination relationship, determines that at least part of the object is road surface.
6. object detection according to claim 1 and braking system, wherein each o'clock in the vector field is by a vector It indicates, which indicates from first point in the third image to the movement of the corresponding second point in the 4th image Amplitude and direction, and wherein, the second image analysis further comprises:
Detection the first extension focus, is the first convergence point of more than first a vectors in the vector field；
Detection the second extension focus, is the second convergence point of more than second a vectors in the vector field；And
Determine that the third image and the 4th image include moving up in the direction for the driving direction for being not parallel to the vehicle Dynamic mobile object.
7. object detection according to claim 1 and braking system, wherein each o'clock in the vector is by a vector table Show, which indicates from first point in the third image to the mobile width of the corresponding second point in the 4th image Degree and direction, and wherein, the second image image further comprises:
Determine that the third image and the 4th image indicate that an environment, the environment travel on it relative to the vehicle Road surface be static.
8. object detection according to claim 1 and braking system, wherein described for the first image analysis One image is different from for the third image of second image analysis, and the wherein institute for the first image analysis It is different from for the 4th image of second image analysis to state the second image.
9. object detection according to claim 1 and braking system, wherein described for the first image analysis One image is identical as the third image of second image analysis, and the wherein institute for the first image analysis It is identical as the 4th image of second image analysis to state the second image.
10. object detection according to claim 1 and braking system, wherein the first image is analyzed and second figure As analysis is independent of one another.
11. object detection according to claim 1 and braking system, wherein at least one described image capture device packet It includes:
First imaging sensor is configured to the first image and second figure of the capture for the first image analysis Picture；And
Second imaging sensor independently of the first image sensor, and is configured to capture for second image point The third image and the 4th image of analysis.
12. a kind of vehicle, comprising:
Vehicle body；
At least one image capture device is configured to the multiple figures obtained include in the region of the object of the vehicle front Picture；
13. vehicle according to claim 12, wherein the first image analysis include:
14. vehicle according to claim 12, wherein each o'clock of the vector field by a vector representation, vector instruction From first point in the third image to the mobile range of the corresponding second point in the 4th image and direction, and Wherein, the second image analysis further comprises:
15. vehicle according to claim 14, wherein second image analysis includes:
16. a kind of method for test object and abrupt deceleration vehicle, comprising:
Via the multiple images that the acquisition of at least one image capture device includes in the region of the object of the vehicle front；
Described multiple images are received via processing equipment；
At least the first image is based on via the processing equipment and the second image executes the first image analysis, with the determination vehicle Collision time is estimated with the first of the object；
At least third image is based on via the processing equipment and the 4th image executes the second image analysis, with the determination vehicle Collision time is estimated with the second of the object, and the second image analysis includes:
The difference between the first estimation collision time and the second estimation collision time is calculated via the processing equipment；
Determine that the difference is no more than predetermined threshold via the processing equipment；And
The predetermined threshold is no more than based on the determining difference via the processing equipment, causes the vehicle braking.
17. according to the method for claim 16, wherein the first image analysis includes:
18. according to the method for claim 16, wherein each point of the vector field is by vector representation, the vector instruction From first point in the third image to the mobile range of the corresponding second point in the 4th image and direction, and Wherein the second image analysis further comprises:
CN201580040400.8A 2014-05-22 2015-05-22 System and method based on test object abrupt deceleration vehicle CN106536299B (en)
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