Granted Patent B1

US 9,727,795 · App. 15/018,077 · Granted Aug 8, 2017

Abstract

Claims (57)

1. A method comprising:

receiving, at a computing device of a vehicle, an image of an environment of the vehicle, wherein the image includes a plurality of pixels having respective red color values, green color values, and blue color values;

identifying given pixels in the plurality of pixels having one or more of: (i) a red color value greater than a green color value, and (ii) the red color value greater than a blue color value;

making a comparison between one or more characteristics of a shape of an object represented by the given pixels in the image and corresponding one or more characteristics of a predetermined shape of a road flare;

determining one or more motion characteristics of the object represented by the given pixels;

determining, using the computing device, a likelihood that the object represents the road flare based at least on (i) the comparison, and (ii) the one or more motion characteristics of the object, such that the likelihood is increased when the one or more motion characteristics indicate that the object remains stationary; and

controlling the vehicle based on the likelihood.

2. The method of claim 1 , wherein the computing device is configured to control the vehicle in an autonomous operation mode.

3. The method of claim 1 , wherein identifying the given pixels comprises:

converting the image into a monochrome space image, wherein in the monochrome space image:

any pixel having a difference between a red color value and a green color value less than zero, or a difference between the red color value and a blue color value less than zero, is assigned a zero intensity value, and

remaining pixels are assigned an intensity value equal to a maximum of the difference between the red color value and the green color, or the difference between the red color value and the blue color.

4. The method of claim 1 , identifying the given pixels comprises:

making a comparison of the red color value of the given pixels to a predetermined red color value threshold,

wherein determining the likelihood comprises determining the likelihood further based on an output of the comparison of the red color value of the given pixels to the predetermined red color value threshold.

5. The method of claim 1 , wherein making the comparison between the one or more characteristics of the shape of the object represented by the given pixels and the corresponding one or more characteristics of the predetermined shape of the road flare comprises:

applying a predetermined shape template, associated with the road flare, to the object to determine whether one or more pixels surrounding the object have respective color values different from predetermined color values of the road flare.

6. The method of claim 1 , further comprising:

determining a first likelihood that the object represents the road flare based on the red color value of the given pixels; and

determining a second likelihood that the object represents the road flare based on an output of the comparison between the one or more characteristics of the shape of the object and the corresponding one or more characteristics of the predetermined shape of the road flare,

wherein determining the likelihood that the object represents the road flare is based on a combination of the first likelihood and the second likelihood.

7. The method of claim 6 , further comprising:

determining a third likelihood that the object represents the road flare based on one or more motion characteristics of the object,

wherein determining the likelihood comprises determining the likelihood based on a combination of the first likelihood, the second likelihood, and the third likelihood.

8. The method of claim 1 , further comprising:

detecting, using the computing device, based on the road flare, a hazard condition in the environment of the vehicle, wherein modifying the control strategy is based on the detected hazard condition.

9. The method of claim 1 , wherein providing instructions to control the vehicle comprises providing instructions for one or more of: (i) utilizing sensor information received from on-board or off-board sensors in making a navigation decision rather than preexisting map information, (ii) utilizing the sensor information to estimate lane boundaries rather than the preexisting map information, (iii) determining locations of hazard condition markers rather than lane markers on a road to estimate and follow the lane boundaries, (iv) activating one or more sensors for detection of humans and making the navigation decision based on the detection, (v) following another vehicle, (vi) maintaining a predetermined safe distance with other vehicles, (vii) turning-on lights, and (viii) reducing a speed of the vehicle.

10. A non-transitory computer readable medium having stored thereon instructions that, when executed by a computing device of a vehicle, cause the computing device to perform functions comprising:

receiving an image of an environment of the vehicle, wherein the image includes a plurality of pixels having respective red color values, green color values, and blue color values;

identifying given pixels in the plurality of pixels having one or more of: (i) a red color value greater than a green color value, and (ii) the red color value greater than a blue color value;

making a comparison between one or more characteristics of a shape of an object represented by the given pixels in the image and corresponding one or more characteristics of a predetermined shape of a road flare;

determining one or more motion characteristics of the object represented by the given pixels;

determining a likelihood that the object represents the road flare based at least on (i) the comparison, and (ii) the one or more motion characteristics of the object, such that the likelihood is increased when the one or more motion characteristics indicate that the object remains stationary; and

controlling the vehicle based on the likelihood.

11. The non-transitory computer readable medium of claim 10 , wherein the function of identifying the given pixels comprises:

assigning to any pixel having a difference between a red color value and a green color value less than zero, or a difference between the red color value and a blue color value less than zero, a zero intensity value; and

assigning to remaining pixels an intensity value equal to a maximum of the difference between the red color value and the green color, or the difference between the red color value and the blue color.

12. The non-transitory computer readable medium of claim 10 , wherein the function of making the comparison between the one or more characteristics of the shape of the object represented by the given pixels and the corresponding one or more characteristics of the predetermined shape of the road flare comprises:

applying a predetermined shape template, associated with the road flare, to the object to determine whether one or more pixels surrounding the object have respective color values different from predetermined color values of the road flare.

13. The non-transitory computer readable medium of claim 10 , wherein the function of providing instructions to control comprises providing instruction for one or more of: (i) utilizing sensor information received from on-board or off-board sensors in making a navigation decision rather than preexisting map information, (ii) utilizing the sensor information to estimate lane boundaries rather than the preexisting map information, (iii) determining locations of hazard condition markers rather than lane markers on a road to estimate and follow the lane boundaries, (iv) activating one or more sensors for detection of humans and making the navigation decision based on the detection, (v) following another vehicle, (vi) maintaining a predetermined safe distance with other vehicles, (vii) turning-on lights, and (viii) reducing a speed of the vehicle.

14. A system, comprising:

at least one processor; and

data storage comprising instructions that, when executed by the at least one processor, cause the system to perform functions comprising:

receiving an image of an environment of a vehicle, wherein the image includes a plurality of pixels having respective red color values, green color values, and blue color values;

identifying given pixels in the plurality of pixels having one or more of: (i) a red color value greater than a green color value, and (ii) the red color value greater than a blue color value;

making a comparison between one or more characteristics of a shape of an object represented by the given pixels in the image and corresponding one or more characteristics of a predetermined shape of a road flare;

determining one or more motion characteristics of the object represented by the given pixels;

determining a likelihood that the object represents the road flare based at least on (i) the comparison, and (ii) the one or more motion characteristics of the object, such that the likelihood is increased when the one or more motion characteristics indicate that the object remains stationary; and

controlling the vehicle based on the likelihood.

15. The system of claim 14 , wherein the functions further comprise:

determining a first likelihood that the object represents the road flare based on the red color value of the given pixels; and

determining a second likelihood that the object represents the road flare based on an output of the comparison between the one or more characteristics of the shape of the object and the corresponding one or more characteristics of the predetermined shape of the road flare,

wherein determining the likelihood that the object represents the road flare is based on a combination of the first likelihood and the second likelihood.

16. The system of claim 15 , wherein the functions further comprise:

determining a third likelihood that the object represents the road flare based on one or more motion characteristics of the object,

wherein determining the likelihood comprises determining the likelihood based on a combination of the first likelihood, the second likelihood, and the third likelihood.

17. The system of claim 14 , wherein the function of determining the likelihood comprises determining the likelihood in real-time.

Assignments (6)