Vehicle underside impact prevention

Abstract

System for installation in a vehicle (101), comprising: a camera (110) adapted to be installed looking forward from a front of the vehicle (101); and a computer (105) including a processor and a memory, and programmed to: Receiving a first and a second image from the camera (110); Determining a height of an obstacle (210) located in front of the front of the vehicle (101) using at least the first and second images; Sending an instruction to a component controller via a communication bus to control a speed of the vehicle (101) based at least in part on the height of the obstacle (210); Determining a slope of the obstacle (210) using at least the first and second images; and Sending an instruction to a component controller via a communication bus to control a speed of the vehicle (101) based at least in part on the gradient of the obstacle (210).

Description

BACKGROUND

[0001] Even at low speeds, damage to the vehicle's front fascia or underbody can be caused if the driver over-enters a parking space with a high curb, drives over a speed bump, encounters a curb or other obstacle on a roadway, etc. Accordingly, a mechanism to avoid impacts that can damage a vehicle's underbody would be useful.

[0002] DE 10 2012 207 328 A1 discloses a system for detecting the distance and dimensions of uneven surfaces using a PMD time-of-flight camera arranged at the front of a vehicle in order to control components of the vehicle on this basis. A method for detecting a clear path for a host vehicle, which method includes merging the detection of the clear path by image analysis and the detection of an object within an operating environment of the host vehicle, is known from US 2010 / 0 104 199 A1. DRAWINGS Fig. 1 is a block diagram of an exemplary vehicle equipped for underside impact avoidance. Fig. Figure 2 illustrates an example vehicle operating environment including an obstacle that poses a risk of underside damage. Fig. Figure 3 illustrates an exemplary vehicle operating environment including an obstacle that poses no risk of underside damage. Fig. Figure 4 is a process flow diagram for an example process for avoiding a bottom markup. DETAILED DESCRIPTIONSYSTEM OVERVIEW

[0003] Fig. 1 is a block diagram of an exemplary vehicle 101 equipped for curb detection and monitoring. The vehicle 101 generally includes one or more sensor data collectors 110, particularly video cameras, which may be used to provide data 115 to a vehicle computer 105 during operation of the vehicle 101, e.g., when traveling at relatively low speeds, e.g., less than 15 kilometers per hour. Advantageously, the computer 105 may be programmed to use the data 115 to detect a curb, speed bump, or other obstacle, and may further be configured to determine whether the obstacle extends from a roadway surface, e.g., a roadway, parking lot, etc., at a height that poses a risk of impact and / or damage to a vehicle underbody, e.g., a fascia, underbody, etc.The computer 105 may be further programmed to provide an instruction to a component controller in the vehicle 101 to mitigate the risk posed by the obstacle, e.g., an engine controller 25 to change the throttle position of a vehicle 101, a brake controller 130 to apply the brakes, e.g., an auto-brake functionality, etc. Further, the computer 105 may be configured to provide a warning via a human-machine interface (HMI) 120 in the vehicle 101. EXAMPLE SYSTEM ELEMENTS

[0004] As indicated above, a vehicle 101 includes a vehicle computer 105. The vehicle 101 is generally a land-based vehicle having three or more wheels, e.g., a passenger car, a light truck, etc. The computer 105 generally includes a processor and memory, where the memory includes one or more forms of computer-readable media and stores instructions executable by the processor for performing various operations, including those disclosed herein. Further, the computer 105 may include and / or be communicatively coupled to more than one computing device, e.g., to controllers or the like included in the vehicle 101 for monitoring and / or controlling various vehicle components, e.g., an engine control unit, a transmission control unit, etc.Computer 105 is generally configured for communications with one or more communication mechanisms of vehicle 101, such as a controller area network (CAN) bus or the like. Computer 105 may also have a connection to an on-board diagnostics (OBD-II) connector.

[0005] Via the CAN bus, OBD-II, and / or other wired or wireless mechanisms, the computer 105 may send messages to and / or receive messages from various devices in a vehicle, e.g., from controllers, actuators, sensors, etc., including the data collectors 110, an engine control unit (ECU) 125, a brake controller 130, etc. Alternatively or additionally, in cases where the computer 105 actually includes multiple devices, the CAN bus or the like may be used for communications between devices represented in this disclosure as the computer 105. Additionally, the computer 105 may be configured to communicate with other devices via various wired and / or wireless networking technologies, e.g., cellular, Bluetooth, a universal serial bus (USB), wired and / or wireless packet networks, etc.

[0006] The vehicle 101 generally includes at least one camera data collector 110. For example, a camera data collector 110 may be equipped to obtain still and / or video images and could be a mono or stereo camera. As best described in the Fig. 2 and Fig. 3, a camera data collector 110 is generally mounted at a front of the vehicle 101, e.g., at a central, high location of a windshield of the vehicle 101, so as to provide a field of view 215. As discussed further below, the field of view 215 includes a portion of an operating surface 205 of the vehicle 101, wherein the camera 110, possibly in conjunction with one or more data collectors 110, can provide data 115 from which the computer 105 can determine a height of an obstacle 210 in front of the vehicle 101 and whether the obstacle 210 poses a risk of damage to an underside of the vehicle 101.

[0007] As previously mentioned, the data collectors 110 could include a variety of devices in addition to the one or more camera data collectors 110. For example, the data collectors 110 could include ultrasonic sensor data collectors 110 and / or other data collectors 110 that collect dynamic data of the vehicle 101, such as speed, yaw rate, steering angle, etc. Furthermore, the aforementioned examples are not intended to be limiting; other types of data collectors 110 could be used to provide data 115 to the computer 105. For example, various controllers in a vehicle can operate as data collectors 110 to provide data 115 via the CAN bus, e.g., data 115 regarding speed, acceleration, position of the vehicle, etc.

[0008] A memory of computer 105 generally stores collected data 115 in addition to program instructions for performing operations, including those described herein. Collected data 115 may include a variety of data collected within a vehicle 101. Examples of collected data 115 include measurements and / or calculations from such measurements of distances and / or heights of objects, e.g., potential obstacles 210 such as curbs, speed bumps, etc. Generally, collected data 115 includes any data that may be collected by a collection device 110 and / or calculated from such data.

[0009] The vehicle 101 generally includes a human-machine interface (HMI) 120. Generally, the HMI 120 is equipped to accept inputs to and / or outputs from the computer 105. For example, the vehicle 101 may include one or more displays configured to provide a graphical user interface (GUI) or the like, an interactive voice response (IVR) system, audio output devices, mechanisms for providing haptic output, e.g., via a steering wheel or seat of the vehicle 101, etc. Further, a user device, e.g., a portable computing device such as a tablet computer, a smartphone, or the like, may be used to provide some or all of an HMI 120 to a computer 105. For example, a user device could be connected to the computer 105 using technologies discussed above, e.g., USB, Bluetooth, etc., and could be used to accept inputs to and / or provide outputs from the computer 105. In any event, the HMI 120 could provide outputs regarding obstacles 210, e.g., describing a height, distance, etc., of the obstacle 210, whether the obstacle 210 poses a risk to the vehicle 101, etc. Further, implementations are possible in which the HMI 120 is used to accept inputs to begin a process of detecting obstacles 210, as mentioned below.

[0010] The ECU 125 is known to be an engine control unit, such as including a processor and memory, and is programmed to provide instructions for controlling a powertrain and / or an engine of the vehicle 101. For example, the ECU may receive an instruction regarding an appropriate throttle level, torque magnitude, etc., for the powertrain of the vehicle 101 via a CAN bus of the vehicle 101 or the like. Further, the computer 105 may be programmed to provide such instructions based on the detection of an obstacle 210.

[0011] The brake controller 130 generally includes a processor and memory and is programmed to provide instructions to control the brakes of the vehicle 101, e.g., in a known manner. For example, the brake controller 130 may receive an instruction via the CAN bus or the like of the vehicle 101 regarding application of the brakes of the vehicle 101 and may be programmed to provide such instructions based on the detection of an obstacle 210.

[0012] The Fig. 2 and Fig. 3 illustrate an exemplary operating environment 200 of the vehicle 101 including a roadway 205 having an obstacle 210 thereon that could pose a risk of damage to the underside of the vehicle 101. The Fig. For example, Figure 2 shows an obstacle 210a of sufficient height to damage an underside of the vehicle 101, such as an apron or underbody. Fig. 3, however, shows an obstacle 210b which does not have a height at which damage to the vehicle 101 is likely.

[0013] As also in the Fig. 2 and Fig. 3, a camera data collector 110 generally has a field of view 215. With respect to a distance measured in front of the vehicle 101 along a longitudinal axis of the vehicle 101, the field of view 215 begins at a distance D min and ends at a distance D max . A visibility D v , which is also measured along the longitudinal axis of the vehicle 101, is defined as a difference between D max and D minIt is understood that the view distance may depend on the capabilities of a particular camera data collector 110, e.g., a viewing angle of the optics of a camera 110, etc. Furthermore, the camera data collector 110 generally captures a generally rectangular field of view on a surface 205 defined by the view distance D v and a width perpendicular to the visibility D v is defined, wherein the field of view is provided according to the capabilities of a particular camera data collector 110. EXAMPLE PROCESS FLOWS

[0014] Fig.4 is a process flow diagram for an exemplary underside impact avoidance process 400. The process 400 begins at a block 405 where the computer 105 initiates obstacle detection 210. In one implementation, the process 400 is initiated, for example, when the speed of the vehicle 101 falls below a predetermined threshold, e.g., 15 km / h. Alternatively or additionally, the underside impact avoidance process 400 could be initiated according to input received via the HMI 120, indicating, for example, that a parking operation is being initiated, that a vehicle 101 is traveling over an operating surface potentially including obstacles 210, such as speed bumps or the like, GPS data 115 could be used to indicate that a vehicle 101 is near a parking bay and an operating surface 205 including speed bumps or other obstacles 210, etc.

[0015] Next, in block 410, the computer 105 determines a height of an obstacle 210 in the field of view. The computer 105 may, for example, receive collected data 115 that may be used to create what may be referred to as a "texturing map" of the field of view. This means that if the field of view is a rectangular surface, X and Y coordinates may be assigned to it, and a height, e.g., a distance above an elevation of the operating surface 205 on which a vehicle 101 is located, may be associated with various XY positions in the texture map, i.e., within the field of view. Further, a height H of an obstacle 210 for a field of view could be defined as a highest height of an object in the field of view, e.g., a highest height associated with an XY coordinate in the texture map. The height could be identified as a height for an obstacle 210 for the field of view.Such data 115 generally includes images and could include other data, such as data from ultrasonic sensors, radar, lidar, or other data collectors 110.

[0016] Accordingly, a height of an obstacle 210 could be determined in various ways. For example, in one implementation, a camera data collector 110 may provide two or more images of a field of view at successive points in time. Further, the collected data 115 could include, in addition to the images, a speed, such as an average speed, of the vehicle 101 between a first and a last such point in time. A height of an obstacle 210 could then be determined from such images, e.g., in a known manner. For example, a first image of an obstacle 210 at the minimum distance D min with a second image of the obstacle 210 at the maximum distance D maxbe compared, and a height H of the obstacle 210 could then be determined by including a change in apparent heights of the obstacle 210 in the respective first and second images over the distance D v be determined, where the distance D v can be determined based on the speed of the vehicle 101. This understandably means that a change in apparent heights of the obstacle 210 with time in the first and second images between the distances D min and D maxcould be used to determine an absolute or actual height H of the obstacle 210. Alternatively, or additionally, additional data 115 could be used to create a texture map, for which purpose, for example, ultrasonic sensor data collectors 110 or the like could be used. As mentioned above, a stereo camera data collector 110 can be used, for example, to provide two images at a single time to measure the height H in a known manner.

[0017] It should further be noted that, in addition to the height H, the computer 105 could use images or other data 115 to determine a slope of an obstacle 210. For example, a slope can be derived, as is known, by measuring corresponding heights of an obstacle 210 at various distances, ie, at least two distances, from a vehicle 101, and then determining a slope based on a change in the heights.

[0018] Following block 410, the computer 105 determines in a block 415 whether an obstacle 210 in the field of view has a height H that exceeds a threshold height. A threshold height could be determined, for example, according to a required ground clearance to avoid impact with the underside of the vehicle 101, e.g., a fascia or underbody. The threshold height could be stored in a memory of the computer 105. If a threshold height is exceeded, then a block 420 is next executed. Otherwise, the process 400 proceeds to a block 425. It should be noted that in addition to the threshold height in block 410, the computer 105 could include a threshold slope of the obstacle 210. Furthermore, a threshold height and a threshold slope could be interdependent.For example, a threshold height, without any consideration of threshold slope, could be a height necessary for underbody clearance of the vehicle 101, but a smaller threshold height could be used for slopes greater than a predetermined threshold, e.g., 30 degrees, 45 degrees, etc.

[0019] In block 420, which may follow block 415, the computer 105 provides an instruction to avoid a collision between the vehicle 101 and the detected obstacle 210 with a height H that exceeds the threshold height. For example, the computer 105 could send an instruction to the brake controller 132 to apply braking to the vehicle 101. The instruction depends on a gradient as well as a height of the obstacle 210. For example, if an obstacle 210 has a gradient within a certain range, e.g., substantially ninety degrees, heavier braking may be necessary, whereas gradients below a certain threshold, e.g., ten degrees or less, warrant gentler braking. Additionally or alternatively, the computer 105 could further, for example, instruct the ECU 125 to reduce a throttle opening of a vehicle 101. The amount of braking, throttle opening reduction, etc. to be applied depends on the vehicle 101.could depend on the stopping distance of the vehicle 101 at a current speed of the vehicle 101 and / or a gradient of the obstacle 210. Following block 420, the process 400 proceeds to a block 430.

[0020] In a block 425, which may follow block 415, the computer 105 may take action based on a determination that the detected obstacle 210 has a height H at or below the threshold height. In some cases, block 425 may be omitted and / or the computer 105 may be programmed not to take any action. However, in some implementations, the computer 105 may be programmed to control the speed of the vehicle 101 when a vehicle 101 is within a predetermined distance of an obstacle 210. For example, it may be appropriate to program the computer 105 to decelerate the vehicle 101, e.g., brake, when the vehicle 101 is close to a parking curb or the like, even if the parking curb does not represent an obstacle 210 that would damage a fascia or underbody of the vehicle 101.In this context, "close" could mean when the vehicle 101 is within half a meter or less of an obstacle 210, such that braking results in tires of the vehicle 101 being within a distance of 10 centimeters or less when the vehicle 101 stops close to the obstacle 210.

[0021] In a block 430 following block 420, the computer 105 may update the HMI 120 regarding a status of the process 400. For example, if block 430 is reached following block 415, the HMI 120 may display "Obstacle Detection in Progress" or some similar message. On the other hand, if block 430 is reached following block 420, the HMI 120 may display "Caution -- Possible Obstacle Impact," "Warning -- Obstacle Avoidance Active," and / or some similar message. If block 430 is reached following block 425, the HMI 120 may display "Parking Curb Approaching" and / or some similar message.

[0022] Following block 430, computer 105 determines in block 435 whether process 400 should continue. For example, vehicle 101 could be turned off, user input could be received indicating that process 400 should be terminated, vehicle 101 could be stopped, placed in a "park" position, etc. If process 400 continues, process 400 returns to block 410. Otherwise, process 400 ends. FINAL EXECUTION

[0023] Computing devices such as those discussed herein generally each include instructions executable by one or more computing devices such as those identified above, for performing blocks or steps of processes described above. For example, process blocks discussed above may be embodied as computer-executable instructions.

[0024] Computer-executable instructions may be compiled from or interpreted from computer programs created using a variety of programming languages ​​and / or technologies, including, without limitation, and either alone or in combination, Java™, C, C++, Visual Basic, Java Script, Perl, HTML, etc. In general, a processor (e.g., a microprocessor) receives instructions from, e.g., memory, a computer-readable medium, etc., and executes those instructions to thereby perform one or more processes, including one or more of the processes described herein. Such instructions and other data may be stored and transmitted using a variety of computer-readable media. A file in a computing device is generally a collection of data stored in a computer-readable medium, such as a storage medium, random access memory, etc.

[0025] A computer-readable medium includes any medium that participates in the provision of data (e.g., instructions) that can be read by a computer. Such a medium can take many forms, including, but not limited to, non-volatile media, volatile media, and so on. Non-volatile media includes, for example, optical or magnetic disks and other persistent storage. Volatile media includes dynamic random-access memory (DRAM), which typically forms main memory.Common forms of computer-readable media include, for example, a floppy disk, a diskette, a hard disk, magnetic tape, any other magnetic medium, a CD-ROM, a DVD, any other optical medium, punched cards, paper tape, any other physical medium with a pattern of holes, a RAM, a PROM, an EPROM, a flash EEPROM, any other memory chip or memory cartridge, or any other medium from which a computer can read.

[0026] In the drawings, the same reference numerals refer to the same elements. Further, some or all of these elements could be changed. With respect to the media, processes, systems, methods, etc. described herein, it should be understood that although the steps of such processes, etc., have been described as occurring according to a certain ordered sequence, such processes could be practiced such that the steps described herein are performed in a different order than that described herein. Further, it should be understood that certain steps could be performed concurrently, that other steps could be added, or that certain steps described herein could be omitted. In other words, the descriptions of processes herein are provided for the purpose of illustrating particular embodiments and should not be construed in any way as limiting the claimed invention.

[0027] As used herein, the adverbial modifier "substantially" means that a structure or process may vary from an exactly described geometry, shape, timing, etc. due to imperfections in materials, machining, fabrication, processing and / or processing speeds, network connectivity, etc.

[0028] Accordingly, it is to be understood that the above description is not intended to be limiting, but illustrative. Many other embodiments and applications than the examples given would become apparent to those skilled in the art upon review of the above description. The scope of the invention should not be determined with reference to the above description, but instead with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled. It is anticipated and intended that future developments will occur in the art discussed herein and that the disclosed systems and methods will be incorporated into such future embodiments. In summary, it should be understood that the invention is susceptible of modification and variation and is limited only by the following claims.

[0029] All terms used in the claims are intended to be given their ordinary meaning as understood by one skilled in the art, unless an explicit indication to the contrary is made herein. In particular, the use of singular articles such as "a," "an," "the," "the," and variations thereof is intended to indicate one or more of the recited elements, unless a claim expressly states a contrary limitation.

Claims

[1] System for installation in a vehicle (101), comprising: a camera (110) adapted to be installed looking forward from a front of the vehicle (101); and a computer (105) including a processor and a memory, and programmed to: Receiving a first and a second image from the camera (110); Determining a height of an obstacle (210) located in front of the front of the vehicle (101) using at least the first and second images; Sending an instruction to a component controller via a communication bus to control a speed of the vehicle (101) based at least in part on the height of the obstacle (210); Determining a slope of the obstacle (210) using at least the first and second images; and Sending an instruction to a component controller via a communication bus to control a speed of the vehicle (101) based at least in part on the gradient of the obstacle (210). [2] The system of claim 1, wherein the instruction to the component controller is an instruction to reduce the vehicle speed. [3] The system of claim 1, wherein the component controller is a brake controller (130) or an engine controller. [4] The system of claim 1, wherein the computer (105) is further programmed to generate a texture map recording elevations of a plurality of points in a field of view of the camera (110), wherein the obstacle height is included in the texture map. [5] The system of claim 4, wherein the obstacle height is determined according to a highest point in the texturing map. [6] The system of claim 1, wherein the computer (105) is programmed to determine the height of the obstacle (210) when the vehicle (101) is moving at a speed below a predetermined threshold. [7] The system of claim 1, wherein the computer (105) is programmed to determine the height of the obstacle (210) at least in part by determining first and second distances of the vehicle (101) from the obstacle (210) in the first and second images, respectively, and using a comparison of the images and the distances to determine the height of the obstacle (210). [8] The system of claim 1, further comprising at least one non-camera sensor, wherein the computer (105) is further programmed to use data from the non-camera sensor in addition to the first and second images in determining the height of the obstacle (210). [9] The system of claim 1, further comprising at least one second camera (110), wherein the computer (105) is further programmed to receive at least one third image from the at least one second camera and to use the third image in determining the height of the obstacle (210). [10] Procedure comprising: Receiving a first and a second image from a camera (110) installed in a vehicle (101); Determining a height of an obstacle (210) located in front of the front of the vehicle (101) using at least the first and second images; Sending an instruction to a component controller to control a speed of the vehicle (101) via a communication bus based at least in part on the height of the obstacle (210); Determining a slope of the obstacle (210) using at least the first and second images; and Sending an instruction to a component controller via a communication bus to control a speed of the vehicle (101) based at least in part on the gradient of the obstacle (210). [11] The method of claim 10, wherein the instruction to the component controller is an instruction to reduce the vehicle speed. [12] The method of claim 10, wherein the component controller is a brake controller (130) or an engine controller. [13] The method of claim 10, further comprising generating a texturing map recording heights of a plurality of points in a field of view of the camera (110), wherein the obstacle height is included in the texturing map. [14] The method of claim 13, wherein the obstacle height is determined according to a highest point in the texturing map. [15] The method of claim 10, further comprising determining the height of the obstacle (210) when the vehicle (101) is moving at a speed below a predetermined threshold. [16] The method of claim 10, further comprising determining the height of the obstacle (210) at least in part by determining first and second distances of the vehicle (101) from the obstacle (210) in the first and second images, respectively, and using a comparison of the images and the distances to determine the height of the obstacle (210). [17] The method of claim 10, further comprising receiving data from at least one non-camera sensor and using data from the non-camera sensor in addition to the first and second images in determining the height of the obstacle (210). [18] The method of claim 10, further comprising receiving at least a third image from at least a second camera and using the third image in determining the height of the obstacle (210).

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