Negative obstacle detection with stereo camera and long range radar
View Patent ↗A negative obstacle detection system for a vehicle comprises a stereo camera mountable to the vehicle to provide a forward facing image and a long range radar mountable to the vehicle to emit a signal in a forward direction from the vehicle. An electronic control unit receives data from the stereo camera and the long range radar to determine if a negative obstacle may be located in a forward proximity to the vehicle.
1. A negative obstacle detection system for a vehicle comprising:
a stereo camera mountable to the vehicle to provide a forward facing image;
a range radar mountable to the vehicle to emit a signal in a forward direction from the vehicle;
an electronic control unit to receive data from the stereo camera and the radar to determine if a negative obstacle may be located in a forward proximity to vehicle;
performing with the electronic control unit a first detection analysis on an image provided by the stereo camera;
performing with the electronic control unit a second detection analysis on the image provided by the stereo camera;
performing with the electronic control unit a third detection analysis on a signal received by the radar; and
utilizing the first detection analysis, the second detection analysis, and the third detection analysis to determine with the electronic control unit whether a negative obstacle is present in a forward proximity to the vehicle.
2. The display system of claim 1 , wherein the electronic control unit identifies a first reflection as a distance from the road to the vehicle immediately prior to the detected object, a second reflection as a distance from the road to a portion of the detected object, and a second reflection as a distance from the road to the vehicle immediately following the detected object.
3. The display system of claim 2 , wherein performing the first detection analysis further comprises performing a hole edge detection and a hole image detection using at least one image provided by the stereo camera.
4. The display system of claim 3 , wherein the electronic control unit performs the hole edge detection by:
comparing the first reflection on the image and the second reflection on the image to determine a difference in distance between the first reflection and the second reflection,
determining an object is present when the difference in distance between the first reflection and the second reflection is greater than expected.
5. The display system of claim 3 , wherein the electronic control unit performs the hole image detection by:
comparing the second reflection on the image and the third reflection on the image to determine a difference in light between the second reflection and the third reflection,
determining an object is present when the difference in light between the second reflection and the third reflection is greater than expected.
6. The display system of claim 2 , wherein performing the third detection analysis further comprises performing a hole edge detection using the signal received by the radar.
7. The display system of claim 6 , wherein the electronic control unit performs the hole edge detection by:
comparing the second reflection and the third reflection to determine a difference in distance between the second reflection and the third reflection,
determining an object is present when the difference in distance between the second reflection and the third reflection is greater than expected.
8. A method of detecting a negative obstacle in proximity to a vehicle comprising:
performing a first detection analysis on an image provided by a stereo camera;
performing a second detection analysis on an image provided by the stereo camera;
performing a third detection analysis on a signal received by a radar; and
utilizing the first detection analysis, the second detection analysis and the third detection analysis to determine whether a negative obstacle is present in a forward proximity to the vehicle.
9. The method of claim 8 , wherein the electronic control unit identifies a first reflection as a distance from the road immediately prior to the detected object to the vehicle, a second reflection as a distance from a portion of the object to the
vehicle, and a third reflection as a distance from the road immediately following the detected object to the vehicle.
10. The method of claim 9 , wherein performing a first detection analysis further comprises performing a hole edge detection using the image provided by the stereo camera.
11. The method of claim 10 , further comprising:
comparing the first reflection and the second reflection to determine a difference in distance between the first reflection and the second reflection; and
determining an object is present when the difference in distance between the first reflection and the second reflection is greater than expected.
12. The method of claim 9 , wherein performing a second detection analysis further comprises performing a hole image detection using the image provided by the stereo camera.
13. The method of claim 12 , further comprising:
comparing the second reflection and the third reflection to determine a difference in light between the second reflection and the third reflection,
determining an object is present when the difference in light between the second reflection and the third reflection is greater than expected.
14. The method of claim 9 , wherein performing the third detection analysis further comprises performing a hole edge detection using the signal received by the radar.
15. The method of claim 14 , further comprising:
comparing the second reflection and the third reflection to determine a difference in distance between the second reflection and the third reflection; and
determining an object is present when the difference in distance between the second reflection and the third reflection is greater than expected.