Camera adjustment system
A camera adjustment system includes a camera, an actuator, an inertial-measurement-unit, and one or more controller-circuits. The camera renders an image of lane-markings of a roadway traveled by a host-vehicle. The actuator is operable for controlling an aim-direction of the camera. The inertial-measurement-unit detects relative-movement of the host-vehicle. The one or more controller-circuits are in communication with the camera, the actuator, and the inertial-measurement-unit. The one or more controller-circuits determine whether a range-of-detection of the lane-markings in the image is less than a detection-threshold and adjust the aim-direction based on the relative-movement.
1. A camera adjustment system, the system comprising:
a camera, the camera rendering an image of lane-markings of a roadway traveled by a host-vehicle;
an actuator operable for controlling an aim-direction of the camera;
an inertial-measurement-unit, the inertial-measurement-unit detecting relative-movement of the host-vehicle; and
one or more controller-circuits in communication with the camera, the actuator, and the inertial-measurement-unit;
the one or more controller-circuits determining whether a range-of-detection of the lane-markings in the image is less than a detection-threshold, and
in accordance with the determination that the range-of-detection is less than the detection-threshold, adjusting the aim-direction based on the relative-movement; wherein the one or more controller-circuits recalibrates camera-settings based on the aim-direction.
2. The system in accordance with claim 1 , wherein the one or more controller-circuits adjusts the aim-direction based on a vehicle-yaw detected by the inertial-measurement-unit.
3. The system in accordance with claim 1 , wherein the one or more controller-circuits adjusts the aim-direction until the range-of-detection is greater than the detection-threshold.
4. The system in accordance with claim 1 , wherein the system further includes an image-magnification feature, and the one or more controller-circuits increases a magnification of the image thereby increasing the range-of-detection.
5. A camera adjustment system, the system comprising:
a camera, the camera rendering an image of lane-markings of a roadway traveled by a host-vehicle;
an actuator operable for controlling an aim-direction of the camera;
one or more controller-circuits in communication with the camera and the actuator;
the one or more controller-circuits determining whether a range-of-detection of the lane-markings in the image is less than a detection-threshold; and
in accordance with the determination that the range-of-detection is less than the detection-threshold;
adjusting the aim-direction based on the lane-markings; wherein the one or more controller-circuits recalibrates camera-settings based on the aim-direction.
6. The system in accordance with claim 5 , wherein the one or more controller-circuits adjusts the aim-direction based on a radius-of-curvature of lane-markings.
7. The system in accordance with claim 5 , wherein the one or more controller-circuits adjusts the aim-direction until the range-of-detection is greater than the detection-threshold.
8. The system in accordance with claim 5 , wherein the system further includes an image-magnification feature, and the one or more controller-circuits increases a magnification of the image thereby increasing the range-of-detection.
9. A camera adjustment system, the system comprising:
a camera, the camera rendering an image of lane-markings of a roadway traveled by a host-vehicle;
an actuator operable for controlling an aim-direction of the camera;
one or more controller-circuits in communication with the camera and the actuator;
the one or more controller-circuits determining a region-of-interest within the image indicative of a future-path of the host-vehicle;
the one or more controller-circuits determining whether a range-of-detection of the lane-markings in the image is less than a detection-threshold; and
in accordance with the determination that the range-of-detection is less than the detection-threshold;
adjusting the aim-direction based on the region-of-interest; wherein the one or more controller-circuits recalibrates camera-settings based on the aim-direction.
10. The system in accordance with claim 9 , wherein the one or more controller-circuits adjusts the aim-direction until the range-of-detection is greater than the detection-threshold.
11. The system in accordance with claim 9 , wherein the system further includes an image-magnification feature, and the one or more controller-circuits increases a magnification of the image thereby increasing the range-of-detection.
12. A method of adjusting a camera, the method comprising:
rendering an image, with a camera, of lane-markings of a roadway traveled by a host-vehicle;
detecting relative-movement of the host-vehicle with an inertial-measurement-unit; and
determining, with one or more controller-circuits in communication with the camera, an actuator, and the inertial-measurement-unit, whether a range-of-detection of the lane-markings in the image is less than a detection-threshold; and
in accordance with the determination that the range-of-detection is less than the detection-threshold;
adjusting the aim-direction with the actuator based on the relative-movement; further including the step of recalibrating camera-settings based on the aim-direction with the one or more controller-circuits.
13. The method in accordance with claim 12 , further including the step of adjusting the aim-direction, with the one or more controller-circuits, until the range-of-detection is greater than the detection-threshold.
14. A method of operating a camera adjustment system, the method comprising:
rendering an image, with a camera, of lane-markings of a roadway traveled by a host-vehicle;
determining, with one or more controller-circuits in communication with the camera and an actuator:
whether a range-of-detection of the lane-markings in the image is less than a detection-threshold; and
in accordance with the determination that the range-of-detection is less than the detection-threshold; adjusting the aim-direction with the actuator based on the lane-markings; further including the step of recalibrating camera-settings based on the aim-direction with the one or more controller-circuits.
15. The method in accordance with claim 14 , further including the step of adjusting the aim-direction, with the one or more controller-circuits, until the range-of-detection is greater than the detection-threshold.
16. A method of operating a camera adjustment system, the method comprising:
rendering an image, with a camera, of lane-markings of a roadway traveled by a host-vehicle;
determining, with one or more controller-circuits in communication with the camera and an actuator:
a region-of-interest within the image indicative of a future-path of the host-vehicle;
whether a range-of-detection of the lane-markings in the image is less than a detection-threshold; and
in accordance with the determination that the range-of-detection is less than the detection-threshold;
adjusting the aim-direction with the actuator based on the region-of-interest; further including the step of recalibrating camera-settings based on the aim-direction with the one or more controller-circuits.
17. The method in accordance with claim 16 , further including the step of adjusting the aim-direction, with the one or more controller-circuits, until the range-of-detection is greater than the detection-threshold.
18. The system in accordance with claim 1 , wherein a plurality of calibration files are stored in a memory of the one or more controller-circuits and include calibrations of the camera-settings for each unique aim-direction.
19. The system in accordance with claim 18 , wherein the camera-settings include extrinsic parameters that link the camera-position and orientation to a calibration-plane.
20. The system in accordance with claim 19 , wherein the extrinsic parameters include one or more of a rotation matrix and a translation vector.
21. The system in accordance with claim 1 , wherein the calibrations are calculated for each aim-direction based on an initial calibration of polynomial parameters.
22. The system in accordance with claim 5 , wherein a plurality of calibration files are stored in a memory of the one or more controller-circuits and include calibrations of the camera-settings for each unique aim-direction.
23. The system in accordance with claim 22 , wherein the camera-settings include extrinsic parameters that link the camera-position and orientation to a calibration-plane.
24. The system in accordance with claim 23 , wherein the extrinsic parameters include one or more of a rotation matrix and a translation vector.
25. The system in accordance with claim 5 , wherein the calibrations are calculated for each aim-direction based on an initial calibration of polynomial parameters.
26. The system in accordance with claim 9 , wherein a plurality of calibration files are stored in a memory of the one or more controller-circuits and include calibrations of the camera-settings for each unique aim-direction.
27. The system in accordance with claim 26 , wherein the camera-settings include extrinsic parameters that link the camera-position and orientation to a calibration-plane.
28. The system in accordance with claim 27 , wherein the extrinsic parameters include one or more of a rotation matrix and a translation vector.
29. The system in accordance with claim 9 , wherein the calibrations are calculated for each aim-direction based on an initial calibration of polynomial parameters.
30. The method in accordance with claim 12 , wherein a plurality of calibration files are stored in a memory of the one or more controller-circuits and include calibrations of the camera-settings for each unique aim-direction.
31. The method in accordance with claim 30 , wherein the camera-settings include extrinsic parameters that link the camera-position and orientation to a calibration-plane.
32. The method in accordance with claim 31 , wherein the extrinsic parameters include one or more of a rotation matrix and a translation vector.
33. The method in accordance with claim 12 , wherein the calibrations are calculated for each aim-direction based on an initial calibration of polynomial parameters.
34. The method in accordance with claim 14 , wherein a plurality of calibration files are stored in a memory of the one or more controller-circuits and include calibrations of the camera-settings for each unique aim-direction.
35. The method in accordance with claim 34 , wherein the camera-settings include extrinsic parameters that link the camera-position and orientation to a calibration-plane.
36. The method in accordance with claim 35 , wherein the extrinsic parameters include one or more of a rotation matrix and a translation vector.
37. The method in accordance with claim 14 , wherein the calibrations are calculated for each aim-direction based on an initial calibration of polynomial parameters.
38. The method in accordance with claim 16 , wherein a plurality of calibration files are stored in a memory of the one or more controller-circuits and include calibrations of the camera-settings for each unique aim-direction.
39. The method in accordance with claim 38 , wherein the camera-settings include extrinsic parameters that link the camera-position and orientation to a calibration-plane.
40. The method in accordance with claim 39 , wherein the extrinsic parameters include one or more of a rotation matrix and a translation vector.
41. The method in accordance with claim 16 , wherein the calibrations are calculated for each aim-direction based on an initial calibration of polynomial parameters.