초록 ▼

A system and method detects obstacles in a road being traveled by a vehicle. Edge points of the road are calculated from known road data. A series of scan lines are made of the road ahead of the vehicle to obtain an image plane of the road ahead of the vehicle. The calculated edge points are project

A system and method detects obstacles in a road being traveled by a vehicle. Edge points of the road are calculated from known road data. A series of scan lines are made of the road ahead of the vehicle to obtain an image plane of the road ahead of the vehicle. The calculated edge points are projected into the image plane to determine the left and right edge points of each scan line in the image plane. Each scan line is processed to locate any discontinuities between the left and right edge points, where the discontinuities correspond to objects in the road.

대표청구항 ▼

A computer based method of detecting an object in a road, said computer based method adapted for use with a land based vehicle, said computer based method comprising the steps of: (1) determining a stopping distance of the vehicle; (2) scanning the road ahead of the vehicle to obtain an image plane

A computer based method of detecting an object in a road, said computer based method adapted for use with a land based vehicle, said computer based method comprising the steps of: (1) determining a stopping distance of the vehicle; (2) scanning the road ahead of the vehicle to obtain an image plane of the road, said image plane comprised of scan lines, said scan lines including range information; (3) selecting those scan lines in said image plane that include range information indicating distances that are beyond said stopping distance; (4) projecting left and right edge points of the road into said image plane; and (5) processing said selected scan lines to detect obstacles between said left and right edge points.