Integrated vehicular system for low speed collision avoidance

摘要

A method of providing range measurements for use with a vehicle, the method comprising the steps of: a) visually sensing (2) the area adjacent the vehicle to produce visual sense data (22); b) range sensing (26) objects around the vehicle to produce range sense data; c) combining the visual sense data and the range sense data to produce, with respect to the vehicle, an estimate of ranges to the objects around the vehicle (28). The estimate of ranges to the objects around the vehicle may be displayed (29) to a driver.

主权项

1. A method for providing range measuring, comprising:
capturing an image associated with the range measurement; performing a series of radar range measurements; performing a series of calibrations of the image to determine a transformation matrix equation to find the relationship between the image points and the corresponding 3D world co-ordinates (X, Y, Z); segmenting the images by classifying a pixel as black or white using a threshold m in an intensity channel I, calculating a hue (H) for the pixel and segmenting the image using upper and lower thresholds.