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WO2013034560A1 - Perfectionnements relatifs à la détermination de la vitesse d'un véhicule - Google Patents

Perfectionnements relatifs à la détermination de la vitesse d'un véhicule Download PDF

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Publication number
WO2013034560A1
WO2013034560A1 PCT/EP2012/067235 EP2012067235W WO2013034560A1 WO 2013034560 A1 WO2013034560 A1 WO 2013034560A1 EP 2012067235 W EP2012067235 W EP 2012067235W WO 2013034560 A1 WO2013034560 A1 WO 2013034560A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
interest
point
speed
calculator
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2012/067235
Other languages
English (en)
Other versions
WO2013034560A9 (fr
Inventor
Thomas Popham
Anna GASZCZAK
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jaguar Land Rover Ltd
Original Assignee
Land Rover UK Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Land Rover UK Ltd filed Critical Land Rover UK Ltd
Publication of WO2013034560A1 publication Critical patent/WO2013034560A1/fr
Publication of WO2013034560A9 publication Critical patent/WO2013034560A9/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/223—Analysis of motion using block-matching
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/36—Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/50—Systems of measurement based on relative movement of target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/66—Tracking systems using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2401/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60G2401/14—Photo or light sensitive means, e.g. Infrared
    • B60G2401/142—Visual Display Camera, e.g. LCD

Definitions

  • This invention relates to determination of vehicle speed and particularly, but not exclusively, to determination of low speed, with accuracy.
  • the invention has specific application to off- road travel where a degree of wheel slip may be encountered, and the terrain is typically not uniform. In this specification low speed is defined as less than 20 kph.
  • Aspects of the invention relate to an apparatus, to a calculator, to a system, to a method and to a vehicle. Accurate determination of vehicle speed is required for many electronic vehicle systems.
  • One example relates to cruise control whereby a set vehicle speed is maintained regardless of gradient.
  • a counting technique is generally reliable, and typically consists of counting wheel revolutions to determine the distance travelled.
  • Distance measurement can be combined with a clock signal to give an indication of vehicle speed.
  • a counter can provide a suitable electronic input for many vehicle systems, including cruise control, distance measure, speedometer and fuel consumption per unit distance.
  • wheels may spin on the road surface, and consequently a reliable indication of vehicle speed cannot be obtained; without such indication all systems reliant upon accurate measurement of distance travelled also become unreliable.
  • GPS global positioning system
  • Yet another speed determining system relies upon inertial sensors such as low g accelerometers and gyroscopes. Such systems are expensive, and tend to suffer from drift so that the output(s) are unreliable unless frequently re-calibrated.
  • a fourth system relies upon colour camera recognition techniques, but fails to be effective where the scene is uniform, such as a rock field or a desert.
  • a speed calculator for a vehicle comprising a vehicle mounted time of flight camera system having a forward facing camera, the system being configured to illuminate and repeatedly capture an image of the scene ahead of the vehicle, wherein the system is further configured to identify a point of interest in the repeating image and determine with respect to said point of interest:
  • a system for a vehicle comprising a vehicle-mounted time of flight camera arrangement, the system being arranged to illuminate and repeatedly capture an image of the scene ahead of the vehicle and to use the image data to determine the speed of movement of the vehicle with respect to said image.
  • the system may identify a point of interest in the repeating image, and determine speed of movement of the vehicle with respect to the point of interest.
  • some other data analysis technique may be used, such as using the entire image data to estimate change in relative position and orientation using an iterated closest point algorithm.
  • Time of flight camera systems are known. Generally speaking the camera illuminates a scene with infra-red light.
  • An imaging chip within the camera determines the time of flight of the infra red light to the scene and back to each pixel of the chip.
  • the image on the chip gives an instantaneous representation of the distance from the camera to topographical features in the scene, rather than an image constructed from line by line scanning.
  • the camera will refresh the image of the scene repeatedly, for example at a rate of 40 frames per second.
  • a high refresh rate facilitates following a point of interest despite changes of viewing position due to attitude change of the vehicle, and changes in the separation distance.
  • the vehicle speed calculator includes a processor adapted to select a point of interest which appears to be moving in a straight line toward the vehicle.
  • the point feature may be defined by a plurality of pixels of the imaging chip.
  • the processor may select more than one point of interest so as to increase confidence in calculation of vehicle speed. Relative movement of the point of interest and the vehicle need not be on the shortest line. Triangulation techniques permit relative motion in any desired direction to be determined. Relative speeds in relation to several points of interest provide comparison so as to give greater confidence in the calculated speed of the vehicle.
  • the vehicle speed calculator may select several points of interest to define a line feature, or several line features, and determine the speed of movement of the vehicle with respect to the or each line feature.
  • the vehicle speed calculator may select several points of interest to define a topographical array, or several such arrays, and determine the speed of movement of the vehicle with respect to the or each array. As noted above the entire image data may be used to estimate relative position, and thus speed.
  • Relative motion of the vehicle may not be forward with respect to the scene.
  • a vehicle may slip sideways on a slope without making forward movement.
  • the present invention allows such sideways motion to be analysed to give a relative speed across the scene.
  • the relative speed forward with respect to the scene and the relative speed across the scene can provide a velocity.
  • Relative motion in all directions can be computed so as to determine movement in three mutually perpendicular directions of translation and in pitch, roll and yaw. These relative motions together provide a velocity.
  • a system according to the invention can provide a vehicle state estimation.
  • the processor may calculate vehicle speed at the refresh rate of the camera. However a lesser rate may be selected to save processor capacity, and because speed calculation at the refresh rate is not of practicable use. Repeated speed calculation at intervals of about 1 second may be sufficient.
  • the vehicle speed calculator identifies one or more points of interest in the near field and in the far field.
  • the near and far fields may be defined in any suitable manner, for example the near field may comprise the scene within 10 metres of the camera, and the far field may comprise the scene beyond 10 metres.
  • the invention is particularly suitable as a means of providing low speed cruise control, so that the vehicle can maintain a steady speed off-road regardless of gradient.
  • Repeating images from a time of flight camera system can give information about the gradient ahead of a vehicle.
  • the system can provide speed adjustment information suitable for maintaining a pre-set cruise speed during attitude changes.
  • the system can prepare a vehicle engine for the new gradient in advance, thus overcoming the inherent delay between requesting a change of engine output, and delivery of the requested output. The vehicle can thereby better maintain a set speed in cruise control mode.
  • This technique allows handover from near field points of interest to far field points of interest as the near field points pass out of the field of view of the camera (typically beneath the vehicle).
  • Identification of points of interest is by conventional pattern recognition techniques which form no part of the present invention. Such techniques can accommodate the relative increase in size of a point of interest in successive images, as the vehicle approaches the point of interest.
  • counting techniques are not reliable for vehicle speed determination where wheel slip is a significant factor. Counting wheel revolutions can however be performed reliably, using for example techniques employed in anti-lock braking system.
  • a vehicle wheel slip calculator comprising the system of the previous aspect, a wheel rotation calculator to determine the theoretical speed of rotation of a vehicle wheel commensurate with the instant speed of the vehicle, a wheel speed indicator for indicating the instant speed of rotation of said wheel, and a comparator to continually compare said theoretical speed of rotation with said instant speed of rotation in order to determine instant wheel slip.
  • the wheel slip calculator may determine wheel slip for all wheels of the vehicle.
  • Such a device can give information concerning the time level of traction at the wheels, and thus allow other vehicle systems to be more effective. For example suspension and engine adjustments may be effected in order to for example gain ground clearance or increase engine output torque; an alternative transmission ratio may be engaged and other measures appropriate to improving vehicle traction.
  • This aspect of the invention overcomes prior wheel slip measurement techniques which tend to compare instant speed of rotation of several wheels in order to identify slip. Such systems cannot give absolute information if all of the compared wheels are slipping. According to a further aspect of the invention there is provided a method of vehicle speed calculation comprising the steps of illuminating the scene ahead of the vehicle, and repeatedly capturing an image thereof using a camera, and determining the speed of movement of the vehicle with respect to said image.
  • the speed of movement may be determined from the entire image data, using for example an iterated closest point algorithm, or by identifying one or more points of interest in the repeating image.
  • This aspect also provides a method of calculating wheel slip and comprising determining vehicle speed according to the second aspect of the invention, determining the theoretical speed of rotation of a vehicle wheel according to said determination of vehicle speed, measuring the actual speed of rotation of said vehicle wheel and determining the instant slip of said wheel.
  • the method is carried out continually for all wheels of the vehicle so as to obtain a substantially continuous indication of wheel slip.
  • Fig. 1 is a schematic representation of a vehicle off-road and employing the invention.
  • Figs. 2-4 show schematically successive images from a moving vehicle.
  • Fig. 1 represents a vehicle 10 with off-road capability travelling on an uneven rock surface 1 1 , such as a river bed.
  • wheel traction may be poor so that one or more driving wheels of the vehicle slips with respect to the rock surface.
  • the vehicle driver may wish to select a low speed cruise control function, say at 5 kph, in order to maintain progressive forward travel whilst concentrating on steering.
  • Current systems of measuring vehicle speed by counting wheel rotations are inaccurate where repeated wheel slip is encountered, and methods relying on GPS or inertial devices have the disadvantages mentioned earlier.
  • a forward facing time of flight camera 12 illuminates the terrain ahead of the vehicle, and generates an image thereof on an imaging chip. Illumination is indicated by the cone of infra red light 13, and it will be appreciated that any forward facing fixed location of the camera may be suitable, for example in a conventional light fitting or at the leading edge of the bonnet.
  • the chip image repeats at a p re-determined refresh rate, so that the speed of movement of a point of interest 14 with respect to the vehicle can be determined.
  • the points of interest can be any topographical feature having a repeated form in successive images, but techniques for identifying and comparing successive images form no part of the invention.
  • the point of interest may comprise a number of pixels in an image which represent a topographical feature or may be a line feature, or a group of topographical features having an identifiable spatial relationship. Several points of interest may be identified simultaneously, and known techniques may be used to use such points to increase confidence in the measured speed.
  • Time of flight camera systems have a resolution of 5 mm or better. Accordingly the point of interest may for example be a feature on a rock, such as a crack or a depression.
  • a preceding point of interest 15 and a next point of interest 16 are indicated in Fig. 1.
  • These successive points of interest may be mapped simultaneously to ensure that speed calculation is continual.
  • Vehicle speed may for example be re-calculated at the refresh rate of the image, or may be at a slower rate.
  • the relative speed of each point of interest with respect to the vehicle can be calculated.
  • the mean of these points is taken to represent the speed of the vehicle, though in further embodiments other values such as the median may be used. If the number of points of interest identified in an image is above a predetermined value, such as ten, a distribution of calculated relative speeds is calculated and statistical outliers are ignored, thereby producing a more accurate result.
  • the sideways motion of the vehicle relative to the image can be analysed to give a relative speed across the scene. This sideways motion may be horizontal or vertical with respect to the vehicle.
  • Relative motion in all directions can be computed so as to determine movement in three mutually perpendicular directions of translation and in pitch, roll and yaw. Any combination of these relative motions can then provide a velocity.
  • a velocity in three dimensions and the pitch, roll and yaw of the vehicle a vehicle state estimation is provided.
  • the selected points of interest may be allocated to distance ranges, such that at least a near and far field are identified in order to provide for new points of interest as old points of interest pass beneath the vehicle.
  • Figs. 2-4 indicate schematically how large discontinuities may appear in frames spaced by several seconds. For ease of illustration three discontinuities in the near/far continuum are shown. The near and far criteria may be set or adjusted according to circumstances of vehicle use, and may for example have a transition at 5 metres. More than two distance bands may be defined. Also, for ease of illustration a generally flat surface is depicted from which discontinuities project upwardly - depressions may also be used as discontinuities, and the ground surface may not be flat.
  • the illustrated frames of Figs. 2-4 are several seconds apart. It will be appreciated that the refresh rate is tens of frames per second, so that much information is available for processing, and image discrimination.
  • the repeated images generated on the imagin g ch i p may be u sed to gen erate a topographical plan view of the terrain ahead of the vehicle - a so-called birds-eye view.
  • the passage of the vehicle over such a view can be tracked as the images repeat, and the relative speed with respect to a reference location, or in a reference direction, may be determined.
  • the changing attitude of the vehicle can be accommodated within the invention provided that the point or points of interest remain within the field of view of the camera.
  • Conventional techniques can be used for identification and discrimination of topographical features which change relative position due to change of vehicle attitude.
  • the rapid refresh rate of the system of the invention ameliorates this task.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Mechanical Engineering (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Signal Processing (AREA)
  • Power Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

Un système embarqué de caméra de prises de vue en vol capture de façon répétée une image de la scène devant le véhicule. Un point d'intérêt de la scène est identifié, puis la vitesse relative du véhicule est déterminée en fonction de la variation de la distance relative par rapport au point d'intérêt. Plusieurs points d'intérêt dans des secteurs proches et éloignés sont suivis simultanément, de sorte que la vitesse du véhicule est continuellement mise à jour.
PCT/EP2012/067235 2011-09-06 2012-09-04 Perfectionnements relatifs à la détermination de la vitesse d'un véhicule Ceased WO2013034560A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB1115398.8 2011-09-06
GB1115398.8A GB2494413A (en) 2011-09-06 2011-09-06 Vehicle speed determination

Publications (2)

Publication Number Publication Date
WO2013034560A1 true WO2013034560A1 (fr) 2013-03-14
WO2013034560A9 WO2013034560A9 (fr) 2013-06-13

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GB (2) GB2494413A (fr)
WO (1) WO2013034560A1 (fr)

Cited By (2)

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WO2018138414A1 (fr) * 2017-01-30 2018-08-02 Konecranes Global Corporation Appareil, agencement et procédé de levage mobile
CN112026469A (zh) * 2020-09-08 2020-12-04 中国第一汽车股份有限公司 一种车辆悬架控制系统、方法、装置及存储介质

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GB2504820B (en) 2012-06-07 2016-12-28 Jaguar Land Rover Ltd Improvements in vehicle steering
CN104718114B (zh) 2012-08-16 2017-06-13 捷豹路虎有限公司 车辆速度控制系统
GB2516933B (en) * 2013-08-07 2017-06-28 Jaguar Land Rover Ltd Vehicle speed control system and method
US10962647B2 (en) 2016-11-30 2021-03-30 Yujin Robot Co., Ltd. Lidar apparatus based on time of flight and moving object
EP4177639A1 (fr) * 2016-11-30 2023-05-10 Yujin Robot Co., Ltd. Aspirateur robotique avec détection d'obstacle par lidar multicanal et détection de glissement
US11874399B2 (en) 2018-05-16 2024-01-16 Yujin Robot Co., Ltd. 3D scanning LIDAR sensor
DE112021000146T5 (de) 2020-06-22 2022-07-21 Mobileye Vision Technologies Ltd. Systeme und verfahren zur erkennung von radschlupf bei fahrzeugen

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018138414A1 (fr) * 2017-01-30 2018-08-02 Konecranes Global Corporation Appareil, agencement et procédé de levage mobile
CN112026469A (zh) * 2020-09-08 2020-12-04 中国第一汽车股份有限公司 一种车辆悬架控制系统、方法、装置及存储介质
CN112026469B (zh) * 2020-09-08 2022-05-17 中国第一汽车股份有限公司 一种车辆悬架控制系统、方法、装置及存储介质

Also Published As

Publication number Publication date
GB2494413A (en) 2013-03-13
GB201115398D0 (en) 2011-10-19
GB201215776D0 (en) 2012-10-17
WO2013034560A9 (fr) 2013-06-13
GB2494526B (en) 2015-11-25
GB2494526A (en) 2013-03-13

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