US5249128A
Expired / Lapsed
US
⏱️ 0.0 years remaining
System and method for determining the distance to an energy emitting object
Assignee: Texas Instruments Inc
•
Filing: 1990-11-16
•
Granted: 1993-09-28
•
Expires: 2010-11-16
Abstract
Abstract A method and system for range detection using a passive infrared sensing device (10) is disclosed. The method includes determining a region (35,38) on a moving object, such as an automobile (13, 36, 37), the region (35, 38) having a size characteristic of the object and emitting energy (14) characteristic of the object. The next step is to characterize the region by a plurality of feature points (31, 32, 33, 34) and sense the energy emitting from the feature points. The next step is to calculate the distance between the sensing device (10) and the moving object as a function of the feature points. The method has application in adaptive cruise control for automobiles (13, 36, 37). The method includes the use of perspective projection formulae to determine the distance between the sensing device (10) and the moving object 13, 36, 37). To smooth measurements to each other, one embodiment of the method includes the use of an Euler predictor to integrate measurements across measurement firmness.
Inventors
- 👤 Vishal Markandey
- 👤 Bruce Flinchbaugh
- 👤 Floyd H. Hollister
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 17:34
CPC Classifications
G; G01; G01S; G01S11/00; G01S11/12; B; B60; B60K; B60K31/00; B60K31/0008; B60Q; B60Q9/00; B60Q9/008; B60W; B60W50/00; B60W2050/0001; B60W2050/0043; B60W2050/0052; B60W30/00; B60W30/14; B60W30/16
Claims Analysis
Total Claims: 37
Claim 1
Independent Claim
117 words
A method for measuring distance between a first moving object and a second moving object, said second moving object emits infrared energy, comprising the steps of: operating an infrared energy-sensing device to detect an image of the infrared energy emitted by said second object; determining a region in said image, said region having a size characteristic of said second object and said region corresponding to a region on said second object emitting infrared energy characteristic of the object; characterizing said region by a plurality of feature points; sensing said feature points in said image; and ascertaining the distance between the sensing device and the moving object as a function of said feature points using perspective projection geometry.
Claim 2
Independent Claim
117 words
A method for measuring distance between a first moving object and a second moving object, said second moving object emits infrared energy, comprising the steps of: operating an infrared energy-sensing device to detect an image of the infrared energy emitted by said second object; determining a region in said image, said region having a size characteristic of said second object and said region corresponding to a region on said second object emitting infrared energy characteristic of the object; characterizing said region by a plurality of feature points; sensing said feature points in said image; and ascertaining the distance between the sensing device and the moving object as a function of said feature points using perspective projection geometry.
Claim 3
Dependent Claim
16 words
The method of claim 1, wherein said energy sensing device is a passive infrared imaging sensor.
Claim 4
Dependent Claim
14 words
The method of claim 1, wherein said moving energy-emitting object is an automotive vehicle.
Claim 5
Dependent Claim
35 words
The method of claim 1, wherein said region determining step comprises identifying an extended hot spot on said object, said extended hot spot occurring proximate to the point that the moving object exhausts combustion gases.
Claim 6
Dependent Claim
46 words
The method of claim 1, wherein said moving object is an automotive vehicle and said region determining step comprises the step of determining an extended hot spot on said automotive vehicle, said extended hot spot occurring at the interface of the road and the automotive vehicle.
Claim 7
Dependent Claim
37 words
The method of claim 5, wherein said region characterizing step comprises the step of identifying a plurality of feature points on said extended hot spot, said feature points being relatively uniform across all classes of automotive vehicles.
Claim 8
Dependent Claim
36 words
The method of claim 1, wherein said distance ascertaining step includes the step of ascertaining the distance between the moving object and the sensing device as a function of said feature points using perspective projection formulae.
Claim 9
Dependent Claim
17 words
The method of claim 1, further comprising the step of integrating a plurality of sense range measurements.
Claim 10
Dependent Claim
15 words
The method of claim 8, wherein said integrating step is performed by an Euler predictor.
Claim 11
Dependent Claim
22 words
The method of claim 8, wherein said integrating step comprises the use of a Kalman filter for filtering said feature point measurements.
Claim 12
Dependent Claim
26 words
The method of claim 1, wherein said sensing device measures said feature points with a subtended solid angle of measurement of not more than 0.1 milliradians.
Claim 13
Independent Claim
118 words
A device for measuring distance between a first moving object and second moving object, said second moving object is an infrared energy emitting object, comprising: an infrared energy sensing device operable to obtain images of the infrared energy emitted from said second object; circuitry for determining a region in said image, said region having a size characteristic of said second object and corresponding to a region of said second object emitting infrared energy characteristic of the object; circuitry for characterizing said region by a plurality of feature points; circuitry for sensing said feature points within said images; and circuitry for ascertaining the distance between said first object and said second object as a function of said feature points.
Claim 14
Independent Claim
118 words
A device for measuring distance between a first moving object and second moving object, said second moving object is an infrared energy emitting object, comprising: an infrared energy sensing device operable to obtain images of the infrared energy emitted from said second object; circuitry for determining a region in said image, said region having a size characteristic of said second object and corresponding to a region of said second object emitting infrared energy characteristic of the object; circuitry for characterizing said region by a plurality of feature points; circuitry for sensing said feature points within said images; and circuitry for ascertaining the distance between said first object and said second object as a function of said feature points.
Claim 15
Dependent Claim
16 words
The apparatus of claim 12, wherein said energy sensing device is a passive infrared imaging sensor.
Claim 16
Dependent Claim
13 words
The apparatus of claim 12, wherein said second object is an automotive vehicle.
Claim 17
Dependent Claim
31 words
The apparatus of claim 12, comprising circuitry for identifying an extended hot spot on said object, said extended hot spot occurring at the point that the moving object exhausts combustion gases.
Claim 18
Dependent Claim
46 words
The apparatus of claim 12, wherein said second object is an automotive vehicle and said circuitry for determining a region includes circuitry for determining an extended hot spot on said vehicle, said extended hot spot occurring at the interface of the road and the automotive vehicle.
Claim 19
Dependent Claim
36 words
The apparatus of claim 16, wherein said region characterizing step comprises circuitry for identifying a plurality of feature points on said extended hot spot, said feature points being relatively uniform across all classes of automotive vehicles.
Claim 20
Dependent Claim
37 words
The apparatus of claim 12, wherein said circuitry for ascertaining the distance includes circuitry for ascertaining the distance between said first object and said second object as a function of said feature points using perspective projection formulae.
Claim 21
Dependent Claim
15 words
The apparatus of claim 12, further comprising circuitry for integrating a plurality of range measurements.
Claim 22
Dependent Claim
15 words
The apparatus of claim 19, wherein said integrating step is performed by an Euler predictor.
Claim 23
Dependent Claim
22 words
The apparatus of claim 19, wherein said integrating step comprises the use of a Kalman filter for filtering said feature point measurements.
Claim 24
Dependent Claim
26 words
The apparatus of claim 12, wherein said sensing device measures said feature points with a subtended solid angle of measurement of not more than 0.1 milliradians.
Claim 25
Dependent Claim
168 words
A vehicle speed control system for adaptively responding to distances between a first moving object and a second moving object, wherein said second moving object is an infrared energy emitting object, comprising: an infrared energy sensing device for obtaining images of the infrared energy emitted from said second moving object; an adaptive cruise control device; a range detecting device associated with said adaptive cruise control device, said range detecting device including: circuitry connected to said energy sensing device for determining a region in said images, said region having a size characteristic of the object and corresponding to a region of said second object emitting infrared energy characteristic of the object; circuitry for characterizing said region by a plurality of feature points; circuitry for sensing said feature points; circuitry for ascertaining the distance between the sensing device and the moving object as a function of said feature points; and circuitry for transmitting a signal representative of said distance from said range detecting device to said adaptive cruise control device.
Claim 26
Dependent Claim
168 words
A vehicle speed control system for adaptively responding to distances between a first moving object and a second moving object, wherein said second moving object is an infrared energy emitting object, comprising: an infrared energy sensing device for obtaining images of the infrared energy emitted from said second moving object; an adaptive cruise control device; a range detecting device associated with said adaptive cruise control device, said range detecting device including: circuitry connected to said energy sensing device for determining a region in said images, said region having a size characteristic of the object and corresponding to a region of said second object emitting infrared energy characteristic of the object; circuitry for characterizing said region by a plurality of feature points; circuitry for sensing said feature points; circuitry for ascertaining the distance between the sensing device and the moving object as a function of said feature points; and circuitry for transmitting a signal representative of said distance from said range detecting device to said adaptive cruise control device.
Claim 27
Dependent Claim
16 words
The system of claim 23, wherein said energy sensing device is a passive infrared imaging sensor.
Claim 28
Dependent Claim
15 words
The system of claim 23, wherein said moving energy emitting object is an automotive vehicle.
Claim 29
Dependent Claim
17 words
The system of claim 23, wherein said vehicle speed control apparatus is an adaptive cruise control device.
Claim 30
Dependent Claim
36 words
The system of claim 23, wherein said region determining step comprises circuitry for identifying an extended hot spot on said object, said extended hot spot occurring at the point that the moving object exhausts combustion gases.
Claim 31
Dependent Claim
44 words
The system of claim 23, wherein said moving object is an automotive vehicle and said region determining step comprises circuitry for determining an extended hot spot on said vehicle, said extended hot spot occurring at the interface of the road and the automotive vehicle.
Claim 32
Dependent Claim
36 words
The system of claim 28, wherein said region characterizing step comprises circuitry for identifying a plurality of feature points on said extended hot spot, said feature points being relatively uniform across all classes of automotive vehicles.
Claim 33
Dependent Claim
35 words
The system of claim 23, wherein said distance ascertaining step includes circuitry for ascertaining the distance between the moving object and the sensing device as a function of said feature points using perspective projection formulae.
Claim 34
Dependent Claim
15 words
The system of claim 23, further comprising circuitry for integrating a plurality of range measurements.
Claim 35
Dependent Claim
15 words
The system of claim 31, wherein said integrating step is performed by an Euler predictor.
Claim 36
Dependent Claim
22 words
The system of claim 31, wherein said integrating step comprises the use of a Kalman filter for filtering said feature point measurements.
Claim 37
Dependent Claim
26 words
The system of claim 23, wherein said sensing device measures said feature points with a subtended solid angle of measurement of not more than 0.1 milliradians.
References Cited (Backward Citations)
US3783271A
Cited
US4988189A
Cited
US4786164A
Cited
US5053979A
Cited
JPS63129212A
Cited
US4931937A
Cited
US4948246A
Cited
US5039217A
Cited
US5014200A
Cited
US5166681A
Cited
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1996-09-27 | 1997-03-29 | 1997-09-28 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2000-09-27 | 2001-03-29 | 2001-09-28 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2004-09-27 | 2005-03-29 | 2005-09-28 | $7700.00 | Window Closed / Lapsed |