US 12,277,775 B2
Vision system and method for a motor vehicle
David Forslund, Linköping (SE); and Jon Bjärkefur, Linköping (SE)
Assigned to QUALCOMM Incorporated, San Diego, CA (US)
Appl. No. 16/322,349
Filed by ARRIVER SOFTWARE AB, Linkoping (SE)
PCT Filed Jul. 27, 2017, PCT No. PCT/EP2017/068965
§ 371(c)(1), (2) Date Jan. 31, 2019,
PCT Pub. No. WO2018/024590, PCT Pub. Date Feb. 8, 2018.
Claims priority of application No. 16182309 (EP), filed on Aug. 2, 2016.
Prior Publication US 2019/0180462 A1, Jun. 13, 2019
Int. Cl. G06T 7/593 (2017.01); G06F 18/22 (2023.01); G06T 7/80 (2017.01); G06V 20/58 (2022.01); B60Q 9/00 (2006.01)
CPC G06V 20/58 (2022.01) [G06F 18/22 (2023.01); G06T 7/593 (2017.01); G06T 7/80 (2017.01); B60Q 9/008 (2013.01); G06T 2207/10012 (2013.01); G06T 2207/10028 (2013.01); G06T 2207/20021 (2013.01); G06T 2207/30252 (2013.01); G06V 2201/07 (2022.01)] 21 Claims
OG exemplary drawing
 
1. A vision system for a motor vehicle, comprising:
at least one processor configured to:
execute an object detection code having a first functional safety level and configured to: detect a plurality of objects in a surrounding of the motor vehicle by processing images; and calculate for a detected object its longitudinal distance relative to the vehicle;
execute a verification code having a higher functional safety level than the object detection code, wherein the verification code is configured to obtain a verified depth or disparity image by re-calculating original depth or disparity data from a depth or disparity image calculator for a subset of a depth or disparity image, compare the re-calculated depth or disparity data with an original of the depth or disparity data, and verify the depth or disparity image based on the comparison; and
execute a gatekeeper code module having a second functional safety level, the gatekeeper code module configured to:
divide an area associated with the detected object into a grid comprising a plurality of columns and a plurality of rows, wherein intersection of each column of the plurality of columns and each row of the plurality of rows comprises a respective box; and
compare a longitudinal distance calculated by the object detection code for a portion of the detected object within a box of the grid to one or more depth values in an area of the verified depth or disparity image corresponding to the portion of the detected object within the box to evaluate if the depth or disparity image, in at least a part of the area of the verified depth or disparity image, matches within given tolerances the longitudinal distance of the detected object given by the object detection code,
wherein the first functional safety level and the second functional safety level each correspond to ratings for at least one of reliability and risk reduction, and
wherein the second functional safety level has a higher rating than the first functional safety level for the at least one of reliability and risk reduction.