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WO1996017279A1 - Systeme de guidage de vehicule - Google Patents

Systeme de guidage de vehicule Download PDF

Info

Publication number
WO1996017279A1
WO1996017279A1 PCT/AU1995/000797 AU9500797W WO9617279A1 WO 1996017279 A1 WO1996017279 A1 WO 1996017279A1 AU 9500797 W AU9500797 W AU 9500797W WO 9617279 A1 WO9617279 A1 WO 9617279A1
Authority
WO
WIPO (PCT)
Prior art keywords
row
steering
image
objects
vehicle
Prior art date
Application number
PCT/AU1995/000797
Other languages
English (en)
Inventor
John Billingsley
Murray Kenneth Schoenfisch
Original Assignee
The University Of Southern Queensland
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by The University Of Southern Queensland filed Critical The University Of Southern Queensland
Priority to AU39747/95A priority Critical patent/AU691051B2/en
Publication of WO1996017279A1 publication Critical patent/WO1996017279A1/fr

Links

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
    • H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
    • A01B69/008—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow automatic
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means

Definitions

  • TITLE VEHICLE GUIDANCE SYSTEM FIELD OF THE INVENTION
  • the system uses frame-sequential analysis methods to yield the necessary steering data
  • Vision systems can acquire data at a very large rate A full-colour high-resolution image can require 1 4 megabytes of memory to hold it, and twenty-five such images are received from a conventional camera each second. Many vision projects have become congested by such data rates, requiring massive computing power to extract the simplest of features
  • the invention resides in a method of guiding a vehicle including the steps of acquiring and storing a digitised image of a scene containing at least one row of objects selecting a portion of the image analysing the portion of the image to identify said objects, performing a regression calculation on the objects to locate a position of the row in terms of a lateral displacement value compared to a previously identified row converting the lateral displacement to a steering correction signal, and applying the steering correction signal to steering means of the vehicle to effect vehicle guidance
  • the image is acquired by means which preferably employs a video camera to generate a vision signal and an interface card which stores an image of that signal in the memory of the processor means, which is preferably a computer
  • the signals acquired represent an image of the scene ahead of the vehicle and may with advantage be of relatively low resolution thereby reducing the volume of data to be processed
  • Samples are selected for numerical processing from a small portion of the image Such a portion is bounded by a parallelogram of which two sides are horizontal The other sides are located such that the last estimate of the position of a row is centred between them and they are inclined to be parallel to the image of that row
  • a measure o quality of fit is also obtained Provided the fit is good, the coordinates of the parallelogram are changed before the next image is acquired
  • the deviation of the coordinates of the parallelogram from a central datum is used to initiate a steering action This may be performed by an hydraulic actuator
  • a feedback signal is preferably taken from a transducer mounted on the steering mechanism
  • the method is preferably extended to include several parallelograms each centred on an image of a different row of objects, so that interruption of a single row does not disrupt the steering control effected by the method
  • the invention resides in a vehicle guidance system comprising image acquisition means for acquiring an image of a scene containing at least one row of objects processor means for processing said image to estimate at least one row position and determine steering correction signals, input means in signal connection with said processor means for inputting parameters affecting processing in said processor means, and steering control means responsive to the steering correction signals from said processor means to control the direction of steering of the vehicle, wherein the processor means determines the steering correction signals by calculating the deviation of the at least one estimated row position from a previously estimated row position
  • the processor means is programmed with an algorithm to perform the steps of selecting a portion of the image analysing the portion of the image to identify objects, performing a regression calculation on the objects to locate a position of the row in terms of a lateral displacement value compared to a previously identified row converting the lateral displacement value to steering correction signals
  • the scene contains more than one row and the processor means is programmed with an algorithm wherein the step of selecting a portion of the image includes selecting a number of portions, each portion containing only one row and the step of performing a regression calculation includes performing a regression calculation on the objects in each portion and wherein the step of converting the lateral displacement to a steering direction correction includes determining a lateral displacement value of a vanishing point of the regression lines of the more than one rows
  • FIG 1 is a schematic block diagram of a vehicle guidance system
  • FIG 2 illustrates aspects of the image analysis algorithm
  • FIG 3 is a schematic block diagram of a variation on the system of
  • FIG 1 illustrates a display of the system of FIG 1 or FIG 2, and
  • FIG 5 shows a practical result of the implementation of the invention
  • FIG 1 there is shown a block diagram of the components of one embodiment of a vision guidance system for a vehicle
  • the invention will be described in terms of application to automatic steering of an agricultural vehicle following crop rows It will be appreciated that the description applies equally to other equivalent situations
  • the system comprises a video camera 1 that records an image of the crop rows ahead of the vehicle
  • a video interface card 2 captures single frames in the form of signals from the camera 1 and supplies them to a processor 3
  • the processor 3 stores the image signals for further processing
  • CCD charge coupled device
  • An input device such as a keypad 4 allows a user to input ⁇ parameters that effect the operation of the processor.
  • the operation of the system is indicated on display means 5.
  • a full colour image is captured in the on-board memory of video interface card 2 and can be merged "live" as a window forming part of a VGA display on display means 5
  • the image can be scaled horizontally and vertically with no use of processing time in processor 3. Lines and other graphics can be superimposed on the screen image (discussed later), so that the performance of the analysis system becomes very clear to see
  • An advantage of the interface is the provision of colour.
  • a field with a newly shooting crop may be littered with light-coloured detritus which makes discerning the crop rows difficult if brightness alone is used.
  • the spatial resolution of chrominance is not as sharp as that of luminance but resolution is not of the greatest importance.
  • the chrominance signal can be measured on a red/green axis or on a blue yellow axis Coupled with the light/dark luminance axis a three dimensional analysis space is defined.
  • the red/green, blue/yellow and light/dark parameters can be set by the user with keypad 4.
  • the image may be captured as an array in main memory of processor 3, where the software is able to access it for processing
  • part of the image can be intermittently copied to a display memory so that it can be seen on the display means 5 and the effectiveness of the algorithm assessed.
  • the processor 3 can conveniently be a commercially available personal computer such as a 386 or 486.
  • the processing algorithm may be implemented in the C programming language.
  • the main output of the processor 3 are signals to control solenoid valves 6 to control hydraulic pressure from the reservoir 7 to steering means 8
  • a sensor 9 provides feedback on the position of the steering means to the processor 3
  • the steering means 8 comprises a double ended hydraulic ram that adjusts the steering direction of the wheels of the vehicle
  • the steering means 8 acts independently of the steering wheel of the vehicle and without affecting its operation. Movement of the wheels due to the operation of the steering means 8 does not move the vehicle's steering wheel. The system is over-ridden by manual operation of the steering wheel
  • the processor 3 calculates steering corrections based on an analysis of the image captured by the video interface card 2 from the camera 1
  • the task is to identify a row of crops and locate its displacement from a datum position
  • the crop takes the form of a spotty row of variously-sized blobs At its best, it is a linearly-connected domain with a highly irregular outline If a window can be established within which members of only a single crop row will be present, however, an averaging technique can be used.
  • the analysis method makes heavy use of information learned from previous frames.
  • a window can be set for the next frame where movement of the vehicle should not have carried it as far as an adjoining row
  • the new frame will yield a new window for searching the following frame and so on.
  • the task therefore becomes one of making the best estimate of a line through a row of objects within the frame.
  • the threshold is according lowered by one count for the following frame
  • the target value is held in the computer as an adjustable parameter It is increased or decreased by the farmer during start-of-field set-up using the keypad 4
  • the display means 5 shows the actual scene overlaid by the image quantised by the threshold The user can adjust the threshold until the width of the white pixels matches the thickness of the crop
  • a routine within the program accepts initial values of xfit and sfit which define the window for summation This window is both laterally displaced and sheared to be centred on the last perceived line fit.
  • the routine computes values fitmean and fitsiope which are the corrections to be made to xfit ana sfit to achieve a minimum. It also computes a variable quality from which a decision can be made about the validity of the result.
  • y are given by the function picbit (x, y) which accesses the vision data
  • the computation is arranged to yield totals and moments in an efficient manner, where m is the total, mx is the total horizontal moment about the (sheared) window centre-line, mxx is the second moment and my, mxy and myy have similar appropriate meanings
  • the moment of inertia about the fitted line can be computed. If the fit is good, the result should be small. If the crop is scattered, however, the moment of inertia will be larger As a test, this moment of inertia is compared against myy, the moment of inertia about a horizontal axis. The ratio gives a measure of the quality of fit and the information is only acted upon if the quality is sufficiently high - typically greater than 4.0. Often a row may fade out half way down the field. For this reason, the computation is performed not just for one row but for two or three.
  • two variables represent the state of the vehicle s location These are the lateral movement of the rows, measured either at the vanishing point or at the centre of the view, and the change in the aggregate slope of the rows These variables are used to steer the vehicle.
  • Figure 2a depicts rows of newly sprouted plants as viewed from a camera mounted on an agricultural vehicle.
  • the newly sprouted plants appear in relatively neat rows
  • steering information can be derived from straight lines fitted to the rows of plants.
  • Figure 2e depicts that the moment about the regression line gives a measure to guard against errors
  • Figure 2f depicts that the moment about the regression line gives a measure to guard against errors
  • Movement in the vanishing point of the three lines indicates a change in the heading of the agricultural vehicle (figure 2g) and movement of the pattern indicates lateral displacement of the vehicle
  • the steering control elements are controlled from a separate processor 10
  • the processor 10 receives input from the keypad 4, steering sensor 9 and main processing computer 1 1
  • the main processing computer is conveniently a standard personal computer based on the 486 chip set
  • the processor 10 controls the solenoid valves 6 to effect automatic steering of steering means 8
  • the steering control processor 10 can be turned on or off - allowing manual control to be unimpeded - and set point values can be sent from keypad 4 to set the steering target angle
  • the steering sensor 9 may be a hall effect sensor that measures rotation of the wheels of the vehicle
  • the solenoid valves 6 can be switched in a four-millisecond cycle to give smooth and precise control
  • a schematic representation of the display means 5 is shown in Fig
  • the display means is a conventional visual display unit associated with the computer 1 1 or processor 3
  • the screen 12 is divided into four segments
  • a central segment 13 provides an image of the crop rows as viewed by the camera 1
  • the image is overlaid with regression lines 14 and windows 1 5 calculated by the algorithm
  • a further portion 16 of the screen displays parameters describing the fit of the regression lines 14 to the image
  • a visual indication of the steering correction is provided below the central segment 13
  • a line 17 indicates the position of the vehicle wheels relative to a straight ahead mark 18
  • the data for the line 17 is drawn from the sensor 9
  • a second line 19 indicates the correction from straight ahead applied by the system
  • the lines 17 and 19 are constantly changing in the display
  • Set-up data 20 is provided at the bottom of the screen 12
  • the set-up data 20 can be adjusted at any time by entering a set-up mode and using the keypad 4
  • the display is central to the user-friendly nature of the system
  • a driver of a vehicle implementing the system has immediate indication of the operations of the system
  • the particular benefit of this method is a relatively small number of numerical calculations which may typically only involve one hundred picture elements (pixels) per image analysed
  • the method also allows very rapid tracking of an image change, so that control is not lost if a severe disturbance occurs
  • FIG 5 A practical implementation of the invention is shown in Fig 5
  • the graph shows the actual performance of a test vehicle on a 35 second test run at a speed of one metre per second Deflection from ideal direction is measured in centimetres
  • the graph shows that after an initial 'acquisition' period the vehicle maintained direction to within 2 centimeters either side of the ideal direction

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Environmental Sciences (AREA)
  • Soil Sciences (AREA)
  • Signal Processing (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Mechanical Engineering (AREA)
  • Electromagnetism (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Image Processing (AREA)
  • Image Analysis (AREA)

Abstract

Procédé de guidage d'un véhicule faisant appel à l'image d'une scène représentant des rangées d'objets, laquelle image est acquise puis mémorisée. Une partie de l'image, à l'intérieur d'un parallélogramme appliqué, est analysée afin d'identifier les objets dont la luminosité dépasse un seuil adaptatif. On procède à un calcul de régression en s'aidant des objets, de manière à définir, sous forme d'une valeur de déplacement latéral, la position d'une rangée donnée par rapport à une autre rangée déjà identifiée. La valeur de déplacement latéral est convertie en un signal de correction de la direction, lequel sera transmis au système de direction du véhicule de manière à pouvoir guider ce dernier. Plusieurs parties peuvent être analysées simultanément pour identifier plusieurs rangées et améliorer ainsi la fiabilité de ce procédé. Cette invention concerne également un système de guidage de véhicule mettant en pratique ledit procédé.
PCT/AU1995/000797 1994-11-29 1995-11-29 Systeme de guidage de vehicule WO1996017279A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU39747/95A AU691051B2 (en) 1994-11-29 1995-11-29 Vehicle guidance system

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AUPM9716A AUPM971694A0 (en) 1994-11-29 1994-11-29 Vision guidance for agricultural vehicles
AUPM9716 1994-11-29

Publications (1)

Publication Number Publication Date
WO1996017279A1 true WO1996017279A1 (fr) 1996-06-06

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PCT/AU1995/000797 WO1996017279A1 (fr) 1994-11-29 1995-11-29 Systeme de guidage de vehicule

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AU (1) AUPM971694A0 (fr)
WO (1) WO1996017279A1 (fr)

Cited By (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6278918B1 (en) 2000-02-28 2001-08-21 Case Corporation Region of interest selection for a vision guidance system
US6285930B1 (en) 2000-02-28 2001-09-04 Case Corporation Tracking improvement for a vision guidance system
US6385515B1 (en) 2000-06-15 2002-05-07 Case Corporation Trajectory path planner for a vision guidance system
US6445983B1 (en) 2000-07-07 2002-09-03 Case Corporation Sensor-fusion navigator for automated guidance of off-road vehicles
US6490539B1 (en) 2000-02-28 2002-12-03 Case Corporation Region of interest selection for varying distances between crop rows for a vision guidance system
US6686951B1 (en) 2000-02-28 2004-02-03 Case, Llc Crop row segmentation by K-means clustering for a vision guidance system
EP1529428A1 (fr) 2003-11-06 2005-05-11 Deere & Company Procédé et système pour la direction automatique d'une machine agricole
US7248968B2 (en) 2004-10-29 2007-07-24 Deere & Company Obstacle detection using stereo vision
US7570783B2 (en) 2005-07-01 2009-08-04 Deere & Company Method and system for vehicular guidance using a crop image
US7580549B2 (en) 2005-07-01 2009-08-25 Deere & Company Method and system for vehicular guidance using a crop image
US7684916B2 (en) 2005-07-01 2010-03-23 Deere & Company Method and system for vehicular guidance using a crop image
US7792622B2 (en) 2005-07-01 2010-09-07 Deere & Company Method and system for vehicular guidance using a crop image
US7904218B2 (en) 2006-05-18 2011-03-08 Applied Perception, Inc. Vision guidance system and method for identifying the position of crop rows in a field
US8019513B2 (en) 2006-05-18 2011-09-13 Applied Perception Inc. Vision guidance system and method for identifying the position of crop rows in a field
US8121345B2 (en) 2006-05-18 2012-02-21 Applied Perception, Inc. Vision guidance system and method for identifying the position of crop rows in a field
US8185275B2 (en) 2005-07-01 2012-05-22 Deere & Company System for vehicular guidance with respect to harvested crop
US8712144B2 (en) 2003-04-30 2014-04-29 Deere & Company System and method for detecting crop rows in an agricultural field
US8737720B2 (en) 2003-04-30 2014-05-27 Deere & Company System and method for detecting and analyzing features in an agricultural field
US8855405B2 (en) 2003-04-30 2014-10-07 Deere & Company System and method for detecting and analyzing features in an agricultural field for vehicle guidance
WO2021105006A1 (fr) * 2019-11-25 2021-06-03 Robert Bosch Gmbh Procédé d'estimation d'une trajectoire de rangées de plantes
US11400976B2 (en) 2020-07-22 2022-08-02 Ford Global Technologies, Llc Steering wheel angle calibration

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EP0048138A1 (fr) * 1980-09-12 1982-03-24 Deere & Company Dispositif de guidage pour tracteur
US4555725A (en) * 1983-08-24 1985-11-26 Deutz-Allis Corporation Agricultural implement steering guidance system and method
DE3507570A1 (de) * 1985-03-04 1986-09-04 Willi Eisen GmbH, 3060 Stadthagen Verfahren und vorrichtung zur automatischen lenkung eines fahrzeuges, insbesondere eines landwirtschaftlichen fahrzeuges, entlang eines in fahrtrichtung orientierten musters
AU6649286A (en) * 1985-12-20 1987-06-25 Yoshida Kogyo K.K. Apparatus and method for controlling automatically controlled wagon
US4769700A (en) * 1981-11-20 1988-09-06 Diffracto Ltd. Robot tractors
EP0446903A2 (fr) * 1990-03-15 1991-09-18 Honda Giken Kogyo Kabushiki Kaisha Appareil mobile automatique
EP0640903A1 (fr) * 1993-08-28 1995-03-01 Lucas Industries Public Limited Company Système d'assistance pour conducteur d'un véhicule

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0048138A1 (fr) * 1980-09-12 1982-03-24 Deere & Company Dispositif de guidage pour tracteur
US4769700A (en) * 1981-11-20 1988-09-06 Diffracto Ltd. Robot tractors
US4555725A (en) * 1983-08-24 1985-11-26 Deutz-Allis Corporation Agricultural implement steering guidance system and method
DE3507570A1 (de) * 1985-03-04 1986-09-04 Willi Eisen GmbH, 3060 Stadthagen Verfahren und vorrichtung zur automatischen lenkung eines fahrzeuges, insbesondere eines landwirtschaftlichen fahrzeuges, entlang eines in fahrtrichtung orientierten musters
AU6649286A (en) * 1985-12-20 1987-06-25 Yoshida Kogyo K.K. Apparatus and method for controlling automatically controlled wagon
EP0446903A2 (fr) * 1990-03-15 1991-09-18 Honda Giken Kogyo Kabushiki Kaisha Appareil mobile automatique
EP0640903A1 (fr) * 1993-08-28 1995-03-01 Lucas Industries Public Limited Company Système d'assistance pour conducteur d'un véhicule

Cited By (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6285930B1 (en) 2000-02-28 2001-09-04 Case Corporation Tracking improvement for a vision guidance system
US6490539B1 (en) 2000-02-28 2002-12-03 Case Corporation Region of interest selection for varying distances between crop rows for a vision guidance system
US6686951B1 (en) 2000-02-28 2004-02-03 Case, Llc Crop row segmentation by K-means clustering for a vision guidance system
US6278918B1 (en) 2000-02-28 2001-08-21 Case Corporation Region of interest selection for a vision guidance system
US6385515B1 (en) 2000-06-15 2002-05-07 Case Corporation Trajectory path planner for a vision guidance system
US6445983B1 (en) 2000-07-07 2002-09-03 Case Corporation Sensor-fusion navigator for automated guidance of off-road vehicles
US8712144B2 (en) 2003-04-30 2014-04-29 Deere & Company System and method for detecting crop rows in an agricultural field
US8855405B2 (en) 2003-04-30 2014-10-07 Deere & Company System and method for detecting and analyzing features in an agricultural field for vehicle guidance
US8737720B2 (en) 2003-04-30 2014-05-27 Deere & Company System and method for detecting and analyzing features in an agricultural field
EP1529428A1 (fr) 2003-11-06 2005-05-11 Deere & Company Procédé et système pour la direction automatique d'une machine agricole
US7400957B2 (en) 2003-11-06 2008-07-15 Deere & Company Process and steering system for the automatic steering of an agricultural vehicle
US7248968B2 (en) 2004-10-29 2007-07-24 Deere & Company Obstacle detection using stereo vision
US7580549B2 (en) 2005-07-01 2009-08-25 Deere & Company Method and system for vehicular guidance using a crop image
US8185275B2 (en) 2005-07-01 2012-05-22 Deere & Company System for vehicular guidance with respect to harvested crop
US8433483B2 (en) 2005-07-01 2013-04-30 Deere & Company Method and system for vehicular guidance with respect to harvested crop
US7792622B2 (en) 2005-07-01 2010-09-07 Deere & Company Method and system for vehicular guidance using a crop image
US7684916B2 (en) 2005-07-01 2010-03-23 Deere & Company Method and system for vehicular guidance using a crop image
US7570783B2 (en) 2005-07-01 2009-08-04 Deere & Company Method and system for vehicular guidance using a crop image
US7904218B2 (en) 2006-05-18 2011-03-08 Applied Perception, Inc. Vision guidance system and method for identifying the position of crop rows in a field
US8019513B2 (en) 2006-05-18 2011-09-13 Applied Perception Inc. Vision guidance system and method for identifying the position of crop rows in a field
US8121345B2 (en) 2006-05-18 2012-02-21 Applied Perception, Inc. Vision guidance system and method for identifying the position of crop rows in a field
WO2021105006A1 (fr) * 2019-11-25 2021-06-03 Robert Bosch Gmbh Procédé d'estimation d'une trajectoire de rangées de plantes
US11400976B2 (en) 2020-07-22 2022-08-02 Ford Global Technologies, Llc Steering wheel angle calibration

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