Systems and methods for detecting low-height objects in a roadway

摘要

Systems and methods use cameras to provide autonomous navigation features. In one implementation, a driver-assist object detection system is provided for a vehicle. One or more processing devices associated with the system receive at least two images from a plurality of captured images via a data interface. The device(s) analyze the first image and at least a second image to determine a reference plane corresponding to the roadway the vehicle is traveling on. The processing device(s) locate a target object in the first two images, and determine a difference in a size of at least one dimension of the target object between the two images. The system may use the difference in size to determine a height of the object. Further, the system may cause a change in at least a directional course of the vehicle if the determined height exceeds a predetermined threshold.

主权项

1. A driver-assist object detection system for a vehicle, the system comprising:
at least one image capture device configured to capture a plurality of images representative of an area surrounding the vehicle; a data interface; and at least one processing device configured to:
receive, via the data interface, a first image from among the plurality of images and at least a second image from among the plurality of images;analyze the first image and at least the second image to determine a reference plane corresponding to a road plane;locate a target object in the first image and in the second image;determine a difference in a size of at least one dimension of the target object between the first image and the second image;use the determined difference in the size of the at least one dimension to determine at least a height of the target object relative to the road plane;cause a change in at least a directional course of the vehicle if the determined height of the target object exceeds a predetermined threshold; anddetermine a road clearance height of the vehicle;wherein if the determined height of the target object is less than the road clearance height of the vehicle, the at least one processing device is further configured to:
determine that the vehicle can change directional course to drive over the object with the object oriented between the wheels of the vehicle; andcause a steering system of the vehicle to change the directional course of the vehicle such that the vehicle drives over the object with the object oriented between the wheels of the vehicle.