US5296924A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Process for detection of obstacles present, in particular, in front of an automotive vehicle
Assignee: Automobiles Peugeot SA
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Filing: 1992-05-07
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Granted: 1994-03-22
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Expires: 2012-05-07
Abstract
Abstract The present invention concerns a process and an apparatus for the detection of obstacles. The apparatus includes a video camera (2) for the viewing of the scene, a range apparatus (3) to measure the distance d of obstacles, the range apparatus (3) being coupled to an assembly (6, 7) for the deflection of the pulsed radiation emitted by the telemetric apparatus (3), and signal conditioner (16) designed to produce, from the synchronization signals of the field (ST) and the line (SL) of a video signal of the camera (2), signals making it possible to cause, in the same uneven field, the emission of pulsed radiation and the horizontal scanning movement of a mirror. The conditioner (16) further makes possible the synchronous recording, on a standard video tape recorder, conventional video signals and digitally coded range signals.
Inventors
- 👤 Marie de Saint Blancard
- 👤 Joseph Alizon
- 👤 Jean Gallice
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-09 19:26
CPC Classifications
G; G01; G01S; G01S17/00; G01S17/88; G01S17/89; G01S17/86; G01S17/93; G01S17/931
Claims Analysis
Total Claims: 25
Claim 1
Independent Claim
90 words
A process for detecting the presence of obstacles, said process comprising the steps of: providing, by means of a video camera, a video signal representative of a video image of a scene; measuring the distances of the obstacles in the scene relative to the video camera by means of a ranging apparatus, pulsed waves of which scan the scene by successive horizontal range lines; and synchronizing the pulsed waves and the scan of the pulsed waves by synchronization signals of the field and the line extracted from the video signal.
Claim 2
Dependent Claim
90 words
A process for detecting the presence of obstacles, said process comprising the steps of: providing, by means of a video camera, a video signal representative of a video image of a scene; measuring the distances of the obstacles in the scene relative to the video camera by means of a ranging apparatus, pulsed waves of which scan the scene by successive horizontal range lines; and synchronizing the pulsed waves and the scan of the pulsed waves by synchronization signals of the field and the line extracted from the video signal.
Claim 3
Dependent Claim
38 words
The process according to claim 1, wherein the pulsed waves are effected during each uneven field of the video image and an inscription of the range data is carried out during the following even field of the image.
Claim 4
Dependent Claim
147 words
The process according to claim 1, wherein the pulsed waves are emitted at a determined first clock frequency obtained from the frequency of the line synchronization signal, and further comprising the steps of digitalizing at least the range data relative to measured distances of impact points during the uneven range of the pulsed waves at a sampling frequency equal to the first clock frequency; entering the range data digitalized during the uneven field into memory by a combination of the first clock frequency and a second clock frequency in order to avoid data conflicts; and causing an inscription of the digitalized data during the following even field onto a certain number of consecutive video lines of the even frame at a third clock frequency obtained from the frequency of the line synchronization signal, said third clock frequency being higher than the first and the second clock frequencies.
Claim 5
Dependent Claim
22 words
The process according to claim 1, wherein the range data and the data of the video image are processed in real time.
Claim 6
Dependent Claim
36 words
The process according to claim 1, wherein the points of impact of the pulsed waves are placed in a zigzag pattern at the temporary shift of one range line, at the onset of each horizontal scan.
Claim 7
Dependent Claim
20 words
The process according to claim 1, wherein the range data are digitalized as 11 bits with a supplementary starting bit.
Claim 8
Dependent Claim
23 words
The process according to claim 1, wherein the range data and the data of the video image are recorded on a recording device.
Claim 9
Dependent Claim
15 words
The process according to claim 7, wherein the recording device is a video tape recorder.
Claim 10
Dependent Claim
63 words
The process according to claim 1, wherein the pulsed waves horizontally scan a range line of the scene during an uneven field at a first clock frequency and a beam of the pulsed waves is deflected vertically and horizontally during the following even field to an initial scanning position of a following range line, said scanning being effected during the following uneven field.
Claim 11
Dependent Claim
57 words
The process according to claim 9, further comprising the steps of digitalizing and entering into memory, at the end of the even field, the values of the initial scanning position of each scan of a range line; and automatically reconstructing the position of the different impact points of the consecutive pulsed waves from a preestablished scanning curve.
Claim 12
Dependent Claim
15 words
The process according to claim 10, wherein the preestablished scanning curve is a ramp curve.
Claim 13
Dependent Claim
47 words
The process according to claim 1, further comprising the step of imparting onto the video image, in a synchronized manner, range data produced by the range apparatus, which are representative of the measured distance of the obstacles and coordinates of the points incident pulsed waves impact obstacles.
Claim 14
Dependent Claim
38 words
The process according to claim 12, wherein the pulsed waves are effected during each uneven field of the video image and an inscription of the range data is carried out during the following even field of the image.
Claim 15
Dependent Claim
61 words
The process according to claim 13, further comprising the steps of producing, at the onset of each even frame, a selection signal signifying the selection of the number of video lines onto which are inscribed the range data and producing, shortly after the selection signal, a second signal to validate the inscription of the range data onto the selected video lines.
Claim 16
Dependent Claim
61 words
The process according to claim 14, wherein said video lines upon which the range data are inscribed, are located in the upper part of the video image after several blank lines and comprise, from top to bottom, a general startup line, a line for the identification number of the video image and the lines of the inscription of the range data.
Claim 17
Independent Claim
176 words
An apparatus for the detection of obstacles, said apparatus comprising: a video camera for viewing a scene; a range apparatus to measure the distance of obstacles in the scene relative to the video camera; an assembly for the deflection of a pulsed radiation emitted by the range apparatus, the assembly including at least one mobile deflecting mirror causing the pulsed radiation to effect a horizontal scanning movement of the successive range lines of the scene; and a signal conditioner designed to produce, from synchronization signals of an uneven field and a line of a video signal of the video camera, signals making it possible to cause, in the same uneven field, the emission of pulsed radiation and the horizontal scanning movement of the mirror, and signals capable of inscribing during the following even field, onto successive video lines of the video image, range data relative to the coordinates of impact points of the pulsed radiation on obstacles in the scene and relative to the measured distance of each point of impact relative to the video camera.
Claim 18
Independent Claim
176 words
An apparatus for the detection of obstacles, said apparatus comprising: a video camera for viewing a scene; a range apparatus to measure the distance of obstacles in the scene relative to the video camera; an assembly for the deflection of a pulsed radiation emitted by the range apparatus, the assembly including at least one mobile deflecting mirror causing the pulsed radiation to effect a horizontal scanning movement of the successive range lines of the scene; and a signal conditioner designed to produce, from synchronization signals of an uneven field and a line of a video signal of the video camera, signals making it possible to cause, in the same uneven field, the emission of pulsed radiation and the horizontal scanning movement of the mirror, and signals capable of inscribing during the following even field, onto successive video lines of the video image, range data relative to the coordinates of impact points of the pulsed radiation on obstacles in the scene and relative to the measured distance of each point of impact relative to the video camera.
Claim 19
Dependent Claim
141 words
The apparatus according to claim 16, wherein said signal conditioner further comprises a plurality of electronic circuits designed to produce a first signal appearing prior to the start of an uneven field, and ending within the uneven field to define a window authorizing the acquisition of data relative to the initial positions of the horizontal and vertical deflection mirrors prior to the scanning of a range line, the horizontal scan, the emission of pulsed radiation and the incrementation of the vertical scanning mirror to a following range line, a second signal emitted after the start of each even field and making possible the selection of the number of video lines onto which the range data are inscribed, and a third signal emitted after the appearance of the second signal to validate the inscription of the range data onto each line selected.
Claim 20
Dependent Claim
31 words
The apparatus according to claim 16, wherein said signal conditioner further comprises a clamping stage permitting the production of clamping pulses for the correct alignment of the video and range signals.
Claim 21
Dependent Claim
28 words
The apparatus according to claim 16, further comprising a decoupling means for separating the emission and reception of the pulsed radiation to said at least one deflection mirror.
Claim 22
Dependent Claim
13 words
The apparatus according to claim 16, wherein said range apparatus includes a laser.
Claim 23
Dependent Claim
26 words
The apparatus according to claim 16, further comprising a computer utilizing the range and video data and generating signals to actuate safety devices of a vehicle.
Claim 24
Dependent Claim
53 words
The apparatus according to claim 16, further comprising two mobile mirrors for the horizontal and vertical deflection of the pulsed radiation, said mirrors being controlled during each even frame following an uneven field of horizontal scanning, so as to be returned to an initial position for the onset of a new range line.
Claim 25
Dependent Claim
100 words
The apparatus according to claim 22, wherein said signal conditioner comprises circuits and combinatory logic for extracting from the video signal from the video camera, field and line synchronization signals, and for determining the start and end of a field in order to cause at the start of an even field of the video image the displacement of the horizontal and vertical deflection mirrors into the position of the onset of scanning and, at the start of the following uneven field of the video image, the displacement of the mirror to carry out the scanning of a new range line.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1997-03-21 | 1997-09-20 | 1998-03-22 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2001-03-21 | 2001-09-20 | 2002-03-22 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2005-03-21 | 2005-09-20 | 2006-03-22 | $7700.00 | Window Closed / Lapsed |