Patent Application
20230086818
Aspects of the disclosure relate generally to camera systems for automotive vehicles.
Modern vehicles are equipped with several cameras that collect and assess the information about the environment surrounding the vehicles such as: identify drivable spaces, obstacles and road conditions, and detect other vehicles and other information to support the various levels of autonomous driving.
In many instances, these tasks create considerable processing burdens for the ADAS (Advanced Driver Assistance System) on a vehicle, since the vehicle's ADAS needs to get an update on the changes in the environment at an extremely high rate that can range from 15 to 120 frames per second. This problem is exacerbated when the ADAS needs to process the inputs from several cameras simultaneously.
Furthermore, the increasing resolution of these cameras increases the burden on the ADAS. Considering the relatively high driving speed on a highway, a camera system needs to identify small objects (such as road cones) at a far distance (such as 250-350 meters or even more). In order to reliably identify objects on the road, we need to have at least certain number of pixels in an image from a camera. Thus, ADAS needs to use cameras with very high pixel counts to identify small objects at a far distance.
These high-resolution cameras (such as 8 Megapixels cameras) are creating prohibitively high computational load for the ADAS since the ADAS needs to process all of the camera pixels at a desired fps rate. Thus, the load on the ADAS limits the range at which cameras can reliably detect objects. It is important to detect objects at a far distance on a highway since the driver may need to suddenly stop or take evasive actions to avoid the objects on the highway.
The following presents a simplified summary relating to one or more aspects disclosed herein. Thus, the following summary should not be considered an extensive overview relating to all contemplated aspects, nor should the following summary be considered to identify key or critical elements relating to all contemplated aspects or to delineate the scope associated with any particular aspect. Accordingly, the following summary has the sole purpose to present certain concepts relating to one or more aspects relating to the mechanisms disclosed herein in a simplified form to precede the detailed description presented below.
In an aspect, a method of processing a camera frame in a mobile device includes capturing the camera frame using a camera mounted on a vehicle traveling on a road; receiving the camera frame from the camera; determining a drivable path of the vehicle; projecting the drivable path onto the camera frame; partitioning a part of the camera frame containing the drivable path into at least one section based on a distance from the vehicle to each of the at least one section; and determining a required resolution of each of the at least one section based on the distance from the vehicle to each of the at least one section.
In an aspect, a mobile device comprising: a memory; and a processor communicatively coupled to the memory, the processor configured to: receive a camera frame from a camera mounted on a vehicle traveling on a road; determine a drivable path of the vehicle; project the drivable path onto the camera frame; partition a part of the camera frame containing the drivable path into at least one section based on a distance from the vehicle to each of the at least one section; and determine a required resolution of each of the at least one section based on the distance from the vehicle to each of the at least one section.
In an aspect, a mobile device comprising: means for capturing a camera frame using a camera mounted on a vehicle traveling on a road; means for receiving the camera frame from the camera; means for determining a drivable path of the vehicle; means for projecting the drivable path onto the camera frame; means for partitioning a part of the camera frame containing the drivable path into at least one section based on a distance from the vehicle to each of the at least one section; and means for determining a required resolution of each of the at least one section based on the distance from the vehicle to each of the at least one section.
In an aspect, a non-transitory computer-readable storage medium comprising code, which, when executed by a processor, causes the processor to process a camera frame in a mobile device, the non-transitory computer-readable storage medium comprising code for: capturing the camera frame using a camera mounted on a vehicle traveling on a road; receiving the camera frame from the camera; determining a drivable path of the vehicle; projecting the drivable path onto the camera frame; partitioning a part of the camera frame containing the drivable path into at least one section based on a distance from the vehicle to each of the at least one section; and determining a required resolution of each of the at least one section based on the distance from the vehicle to each of the at least one section.
Other objects and advantages associated with the aspects disclosed herein will be apparent to those skilled in the art based on the accompanying drawings and detailed description.
The accompanying drawings are presented to aid in the description of various aspects of the disclosure and are provided solely for illustration of the aspects and not limitation thereof.
Aspects of the disclosure are provided in the following description and related drawings directed to various examples provided for illustration purposes. Alternate aspects may be devised without departing from the scope of the disclosure. Additionally, well-known elements of the disclosure will not be described in detail or will be omitted so as not to obscure the relevant details of the disclosure.
The words “exemplary” and/or “example” are used herein to mean “serving as an example, instance, or illustration.” Any aspect described herein as “exemplary” and/or “example” is not necessarily to be construed as preferred or advantageous over other aspects. Likewise, the term “aspects of the disclosure” does not require that all aspects of the disclosure include the discussed feature, advantage or mode of operation.
Those of skill in the art will appreciate that the information and signals described below may be represented using any of a variety of different technologies and techniques. For example, data, instructions, commands, information, signals, bits, symbols, and chips that may be referenced throughout the description below may be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, optical fields or particles, or any combination thereof, depending in part on the particular application, in part on the desired design, in part on the corresponding technology, etc.
Further, many aspects are described in terms of sequences of actions to be performed by, for example, elements of a computing device. It will be recognized that various actions described herein can be performed by specific circuits (e.g., application specific integrated circuits (ASICs)), by program instructions being executed by one or more processors, or by a combination of both. Additionally, the sequence(s) of actions described herein can be considered to be embodied entirely within any form of non-transitory computer-readable storage medium having stored therein a corresponding set of computer instructions that, upon execution, would cause or instruct an associated processor of a device to perform the functionality described herein. Thus, the various aspects of the disclosure may be embodied in a number of different forms, all of which have been contemplated to be within the scope of the claimed subject matter. In addition, for each of the aspects described herein, the corresponding form of any such aspects may be described herein as, for example, “logic configured to” perform the described action.
As used herein, the terms “user equipment” (UE), “vehicle UE” (V-UE), “pedestrian UE” (P-UE), and “base station” are not intended to be specific or otherwise limited to any particular radio access technology (RAT), unless otherwise noted. In general, a UE may be any wireless communication device (e.g., vehicle on-board computer, vehicle navigation device, mobile phone, router, tablet computer, laptop computer, asset locating device, wearable (e.g., smartwatch, glasses, augmented reality (AR)/virtual reality (VR) headset, etc.), vehicle (e.g., automobile, motorcycle, bicycle, etc.), Internet of Things (IoT) device, etc.) used by a user to communicate over a wireless communications network. A UE may be mobile or may (e.g., at certain times) be stationary, and may communicate with a radio access network (RAN). As used herein, the term “UE” may be referred to interchangeably as a “mobile device,” an “access terminal” or “AT,” a “client device,” a “wireless device,” a “subscriber device,” a “subscriber terminal,” a “subscriber station,” a “user terminal” or UT, a “mobile terminal,” a “mobile station,” or variations thereof.
A V-UE is a type of UE and may be any in-vehicle wireless communication device, such as a navigation system, a warning system, a heads-up display (HUD), an on-board computer, an in-vehicle infotainment system, an automated driving system (ADS), an advanced driver assistance system (ADAS), etc. Alternatively, a V-UE may be a portable wireless communication device (e.g., a cell phone, tablet computer, etc.) that is carried by the driver of the vehicle or a passenger in the vehicle. The term “V-UE” may refer to the in-vehicle wireless communication device or the vehicle itself, depending on the context. A P-UE is a type of UE and may be a portable wireless communication device that is carried by a pedestrian (i.e., a user that is not driving or riding in a vehicle). Generally, UEs can communicate with a core network via a RAN, and through the core network the UEs can be connected with external networks such as the Internet and with other UEs. Of course, other mechanisms of connecting to the core network and/or the Internet are also possible for the UEs, such as over wired access networks, wireless local area network (WLAN) networks (e.g., based on Institute of Electrical and Electronics Engineers (IEEE) 802.11, etc.) and so on.
A base station may operate according to one of several RATs in communication with UEs depending on the network in which it is deployed, and may be alternatively referred to as an access point (AP), a network node, a NodeB, an evolved NodeB (eNB), a next generation eNB (ng-eNB), a New Radio (NR) Node B (also referred to as a gNB or gNodeB), etc. A base station may be used primarily to support wireless access by UEs including supporting data, voice and/or signaling connections for the supported UEs. In some systems a base station may provide purely edge node signaling functions while in other systems it may provide additional control and/or network management functions. A communication link through which UEs can send signals to a base station is called an uplink (UL) channel (e.g., a reverse traffic channel, a reverse control channel, an access channel, etc.). A communication link through which the base station can send signals to UEs is called a downlink (DL) or forward link channel (e.g., a paging channel, a control channel, a broadcast channel, a forward traffic channel, etc.). As used herein the term traffic channel (TCH) can refer to either an UL/reverse or DL/forward traffic channel.
The term “base station” may refer to a single physical transmission-reception point (TRP) or to multiple physical TRPs that may or may not be co-located. For example, where the term “base station” refers to a single physical TRP, the physical TRP may be an antenna of the base station corresponding to a cell (or several cell sectors) of the base station. Where the term “base station” refers to multiple co-located physical TRPs, the physical TRPs may be an array of antennas (e.g., as in a multiple-input multiple-output (MIMO) system or where the base station employs beamforming) of the base station. Where the term “base station” refers to multiple non-co-located physical TRPs, the physical TRPs may be a distributed antenna system (DAS) (a network of spatially separated antennas connected to a common source via a transport medium) or a remote radio head (RRH) (a remote base station connected to a serving base station). Alternatively, the non-co-located physical TRPs may be the serving base station receiving the measurement report from the UE and a neighbor base station whose reference radio frequency (RF) signals the UE is measuring. Because a TRP is the point from which a base station transmits and receives wireless signals, as used herein, references to transmission from or reception at a base station are to be understood as referring to a particular TRP of the base station.
In some implementations that support positioning of UEs, a base station may not support wireless access by UEs (e.g., may not support data, voice, and/or signaling connections for UEs), but may instead transmit reference RF signals to UEs to be measured by the UEs and/or may receive and measure signals transmitted by the UEs. Such base stations may be referred to as positioning beacons (e.g., when transmitting RF signals to UEs) and/or as location measurement units (e.g., when receiving and measuring RF signals from UEs).
An “RF signal” comprises an electromagnetic wave of a given frequency that transports information through the space between a transmitter and a receiver. As used herein, a transmitter may transmit a single “RF signal” or multiple “RF signals” to a receiver. However, the receiver may receive multiple “RF signals” corresponding to each transmitted RF signal due to the propagation characteristics of RF signals through multipath channels. The same transmitted RF signal on different paths between the transmitter and receiver may be referred to as a “multipath” RF signal. As used herein, an RF signal may also be referred to as a “wireless signal” or simply a “signal” where it is clear from the context that the term “signal” refers to a wireless signal or an RF signal.
The base stations 102 may collectively form a RAN and interface with a core network 174 (e.g., an evolved packet core (EPC) or 5G core (5GC)) through backhaul links 122, and through the core network 174 to one or more location servers 172 (e.g., a location management function (LMF) or a secure user plane location (SUPL) location platform (SLP)). The location server(s) 172 may be part of core network 174 or may be external to core network 174. In addition to other functions, the base stations 102 may perform functions that relate to one or more of transferring user data, radio channel ciphering and deciphering, integrity protection, header compression, mobility control functions (e.g., handover, dual connectivity), inter-cell interference coordination, connection setup and release, load balancing, distribution for non-access stratum (NAS) messages, NAS node selection, synchronization, RAN sharing, multimedia broadcast multicast service (MBMS), subscriber and equipment trace, RAN information management (RIM), paging, positioning, and delivery of warning messages. The base stations 102 may communicate with each other directly or indirectly (e.g., through the EPC/5GC) over backhaul links 134, which may be wired or wireless.
The base stations 102 may wirelessly communicate with the UEs 104. Each of the base stations 102 may provide communication coverage for a respective geographic coverage area 110. In an aspect, one or more cells may be supported by a base station 102 in each geographic coverage area 110. A “cell” is a logical communication entity used for communication with a base station (e.g., over some frequency resource, referred to as a carrier frequency, component carrier, carrier, band, or the like), and may be associated with an identifier (e.g., a physical cell identifier (PCI), an enhanced cell identifier (ECI), a virtual cell identifier (VCI), a cell global identifier (CGI), etc.) for distinguishing cells operating via the same or a different carrier frequency. In some cases, different cells may be configured according to different protocol types (e.g., machine-type communication (MTC), narrowband IoT (NB-IoT), enhanced mobile broadband (eMBB), or others) that may provide access for different types of UEs. Because a cell is supported by a specific base station, the term “cell” may refer to either or both the logical communication entity and the base station that supports it, depending on the context. In some cases, the term “cell” may also refer to a geographic coverage area of a base station (e.g., a sector), insofar as a carrier frequency can be detected and used for communication within some portion of geographic coverage areas 110.
While neighboring macro cell base station 102 geographic coverage areas 110 may partially overlap (e.g., in a handover region), some of the geographic coverage areas 110 may be substantially overlapped by a larger geographic coverage area 110. For example, a small cell base station 102′ (labelled “SC” for “small cell”) may have a geographic coverage area 110′ that substantially overlaps with the geographic coverage area 110 of one or more macro cell base stations 102. A network that includes both small cell and macro cell base stations may be known as a heterogeneous network. A heterogeneous network may also include home eNBs (HeNBs), which may provide service to a restricted group known as a closed subscriber group (CSG).
The communication links 120 between the base stations 102 and the UEs 104 may include uplink (also referred to as reverse link) transmissions from a UE 104 to a base station 102 and/or downlink (DL) (also referred to as forward link) transmissions from a base station 102 to a UE 104. The communication links 120 may use MIMO antenna technology, including spatial multiplexing, beamforming, and/or transmit diversity. The communication links 120 may be through one or more carrier frequencies. Allocation of carriers may be asymmetric with respect to downlink and uplink (e.g., more or less carriers may be allocated for downlink than for uplink).
The wireless communications system 100 may further include a wireless local area network (WLAN) access point (AP) 150 in communication with WLAN stations (STAs) 152 via communication links 154 in an unlicensed frequency spectrum (e.g., 5 GHz). When communicating in an unlicensed frequency spectrum, the WLAN STAs 152 and/or the WLAN AP 150 may perform a clear channel assessment (CCA) or listen before talk (LBT) procedure prior to communicating in order to determine whether the channel is available.
The small cell base station 102′ may operate in a licensed and/or an unlicensed frequency spectrum. When operating in an unlicensed frequency spectrum, the small cell base station 102′ may employ LTE or NR technology and use the same 5 GHz unlicensed frequency spectrum as used by the WLAN AP 150. The small cell base station 102′, employing LTE/5G in an unlicensed frequency spectrum, may boost coverage to and/or increase capacity of the access network. NR in unlicensed spectrum may be referred to as NR-U. LTE in an unlicensed spectrum may be referred to as LTE-U, licensed assisted access (LAA), or MulteFire.
The wireless communications system 100 may further include a mmW base station 180 that may operate in millimeter wave (mmW) frequencies and/or near mmW frequencies in communication with a UE 182. Extremely high frequency (EHF) is part of the RF in the electromagnetic spectrum. EHF has a range of 30 GHz to 300 GHz and a wavelength between 1 millimeter and 10 millimeters. Radio waves in this band may be referred to as a millimeter wave. Near mmW may extend down to a frequency of 3 GHz with a wavelength of 100 millimeters. The super high frequency (SHF) band extends between 3 GHz and 30 GHz, also referred to as centimeter wave. Communications using the mmW/near mmW radio frequency band have high path loss and a relatively short range. The mmW base station 180 and the UE 182 may utilize beamforming (transmit and/or receive) over a mmW communication link 184 to compensate for the extremely high path loss and short range. Further, it will be appreciated that in alternative configurations, one or more base stations 102 may also transmit using mmW or near mmW and beamforming. Accordingly, it will be appreciated that the foregoing illustrations are merely examples and should not be construed to limit the various aspects disclosed herein.
Transmit beamforming is a technique for focusing an RF signal in a specific direction. Traditionally, when a network node (e.g., a base station) broadcasts an RF signal, it broadcasts the signal in all directions (omni-directionally). With transmit beamforming, the network node determines where a given target device (e.g., a UE) is located (relative to the transmitting network node) and projects a stronger downlink RF signal in that specific direction, thereby providing a faster (in terms of data rate) and stronger RF signal for the receiving device(s). To change the directionality of the RF signal when transmitting, a network node can control the phase and relative amplitude of the RF signal at each of the one or more transmitters that are broadcasting the RF signal. For example, a network node may use an array of antennas (referred to as a “phased array” or an “antenna array”) that creates a beam of RF waves that can be “steered” to point in different directions, without actually moving the antennas. Specifically, the RF current from the transmitter is fed to the individual antennas with the correct phase relationship so that the radio waves from the separate antennas add together to increase the radiation in a desired direction, while cancelling to suppress radiation in undesired directions.
Transmit beams may be quasi-co-located, meaning that they appear to the receiver (e.g., a UE) as having the same parameters, regardless of whether or not the transmitting antennas of the network node themselves are physically co-located. In NR, there are four types of quasi-co-location (QCL) relations. Specifically, a QCL relation of a given type means that certain parameters about a second reference RF signal on a second beam can be derived from information about a source reference RF signal on a source beam. Thus, if the source reference RF signal is QCL Type A, the receiver can use the source reference RF signal to estimate the Doppler shift, Doppler spread, average delay, and delay spread of a second reference RF signal transmitted on the same channel. If the source reference RF signal is QCL Type B, the receiver can use the source reference RF signal to estimate the Doppler shift and Doppler spread of a second reference RF signal transmitted on the same channel. If the source reference RF signal is QCL Type C, the receiver can use the source reference RF signal to estimate the Doppler shift and average delay of a second reference RF signal transmitted on the same channel. If the source reference RF signal is QCL Type D, the receiver can use the source reference RF signal to estimate the spatial receive parameter of a second reference RF signal transmitted on the same channel.
In receive beamforming, the receiver uses a receive beam to amplify RF signals detected on a given channel. For example, the receiver can increase the gain setting and/or adjust the phase setting of an array of antennas in a particular direction to amplify (e.g., to increase the gain level of) the RF signals received from that direction. Thus, when a receiver is said to beamform in a certain direction, it means the beam gain in that direction is high relative to the beam gain along other directions, or the beam gain in that direction is the highest compared to the beam gain in that direction of all other receive beams available to the receiver. This results in a stronger received signal strength (e.g., reference signal received power (RSRP), reference signal received quality (RSRQ), signal-to-interference-plus-noise ratio (SINR), etc.) of the RF signals received from that direction.
Transmit and receive beams may be spatially related. A spatial relation means that parameters for a second beam (e.g., a transmit or receive beam) for a second reference signal can be derived from information about a first beam (e.g., a receive beam or a transmit beam) for a first reference signal. For example, a UE may use a particular receive beam to receive a reference downlink reference signal (e.g., synchronization signal block (SSB)) from a base station. The UE can then form a transmit beam for sending an uplink reference signal (e.g., sounding reference signal (SRS)) to that base station based on the parameters of the receive beam.
Note that a “downlink” beam may be either a transmit beam or a receive beam, depending on the entity forming it. For example, if a base station is forming the downlink beam to transmit a reference signal to a UE, the downlink beam is a transmit beam. If the UE is forming the downlink beam, however, it is a receive beam to receive the downlink reference signal. Similarly, an “uplink” beam may be either a transmit beam or a receive beam, depending on the entity forming it. For example, if a base station is forming the uplink beam, it is an uplink receive beam, and if a UE is forming the uplink beam, it is an uplink transmit beam.
In 5G, the frequency spectrum in which wireless nodes (e.g., base stations 102/180, UEs 104/182) operate is divided into multiple frequency ranges, FR1 (from 450 to 6000 MHz), FR2 (from 24250 to 52600 MHz), FR3 (above 52600 MHz), and FR4 (between FR1 and FR2). mmW frequency bands generally include the FR2, FR3, and FR4 frequency ranges. As such, the terms “mmW” and “FR2” or “FR3” or “FR4” may generally be used interchangeably.
In a multi-carrier system, such as 5G, one of the carrier frequencies is referred to as the “primary carrier” or “anchor carrier” or “primary serving cell” or “PCell,” and the remaining carrier frequencies are referred to as “secondary carriers” or “secondary serving cells” or “SCells.” In carrier aggregation, the anchor carrier is the carrier operating on the primary frequency (e.g., FR1) utilized by a UE 104/182 and the cell in which the UE 104/182 either performs the initial radio resource control (RRC) connection establishment procedure or initiates the RRC connection re-establishment procedure. The primary carrier carries all common and UE-specific control channels, and may be a carrier in a licensed frequency (however, this is not always the case). A secondary carrier is a carrier operating on a second frequency (e.g., FR2) that may be configured once the RRC connection is established between the UE 104 and the anchor carrier and that may be used to provide additional radio resources. In some cases, the secondary carrier may be a carrier in an unlicensed frequency. The secondary carrier may contain only necessary signaling information and signals, for example, those that are UE-specific may not be present in the secondary carrier, since both primary uplink and downlink carriers are typically UE-specific. This means that different UEs 104/182 in a cell may have different downlink primary carriers. The same is true for the uplink primary carriers. The network is able to change the primary carrier of any UE 104/182 at any time. This is done, for example, to balance the load on different carriers. Because a “serving cell” (whether a PCell or an SCell) corresponds to a carrier frequency/component carrier over which some base station is communicating, the term “cell,” “serving cell,” “component carrier,” “carrier frequency,” and the like can be used interchangeably.
For example, still referring to
In the example of
In a satellite positioning system, the use of signals 124 can be augmented by various satellite-based augmentation systems (SBAS) that may be associated with or otherwise enabled for use with one or more global and/or regional navigation satellite systems. For example an SBAS may include an augmentation system(s) that provides integrity information, differential corrections, etc., such as the Wide Area Augmentation System (WAAS), the European Geostationary Navigation Overlay Service (EGNOS), the Multi-functional Satellite Augmentation System (MSAS), the Global Positioning System (GPS) Aided Geo Augmented Navigation or GPS and Geo Augmented Navigation system (GAGAN), and/or the like. Thus, as used herein, a satellite positioning system may include any combination of one or more global and/or regional navigation satellites associated with such one or more satellite positioning systems.
In an aspect, SVs 112 may additionally or alternatively be part of one or more non-terrestrial networks (NTNs). In an NTN, an SV 112 is connected to an earth station (also referred to as a ground station, NTN gateway, or gateway), which in turn is connected to an element in a 5G network, such as a modified base station 102 (without a terrestrial antenna) or a network node in a 5GC. This element would in turn provide access to other elements in the 5G network and ultimately to entities external to the 5G network, such as Internet web servers and other user devices. In that way, a UE 104 may receive communication signals (e.g., signals 124) from an SV 112 instead of, or in addition to, communication signals from a terrestrial base station 102.
Leveraging the increased data rates and decreased latency of NR, among other things, vehicle-to-everything (V2X) communication technologies are being implemented to support intelligent transportation systems (ITS) applications, such as wireless communications between vehicles (vehicle-to-vehicle (V2V)), between vehicles and the roadside infrastructure (vehicle-to-infrastructure (V2I)), and between vehicles and pedestrians (vehicle-to-pedestrian (V2P)). The goal is for vehicles to be able to sense the environment around them and communicate that information to other vehicles, infrastructure, and personal mobile devices. Such vehicle communication will enable safety, mobility, and environmental advancements that current technologies are unable to provide. Once fully implemented, the technology is expected to reduce unimpaired vehicle crashes by 80%.
Still referring to
In an aspect, the sidelinks 162, 166, 168 may operate over a wireless communication medium of interest, which may be shared with other wireless communications between other vehicles and/or infrastructure access points, as well as other RATs. A “medium” may be composed of one or more time, frequency, and/or space communication resources (e.g., encompassing one or more channels across one or more carriers) associated with wireless communication between one or more transmitter/receiver pairs.
In an aspect, the sidelinks 162, 166, 168 may be cV2X links. A first generation of cV2X has been standardized in LTE, and the next generation is expected to be defined in NR. cV2X is a cellular technology that also enables device-to-device communications. In the U.S. and Europe, cV2X is expected to operate in the licensed ITS band in sub-6 GHz. Other bands may be allocated in other countries. Thus, as a particular example, the medium of interest utilized by sidelinks 162, 166, 168 may correspond to at least a portion of the licensed ITS frequency band of sub-6 GHz. However, the present disclosure is not limited to this frequency band or cellular technology.
In an aspect, the sidelinks 162, 166, 168 may be dedicated short-range communications (DSRC) links. DSRC is a one-way or two-way short-range to medium-range wireless communication protocol that uses the wireless access for vehicular environments (WAVE) protocol, also known as IEEE 802.11p, for V2V, V2I, and V2P communications. IEEE 802.11p is an approved amendment to the IEEE 802.11 standard and operates in the licensed ITS band of 5.9 GHz (5.85-5.925 GHz) in the U.S. In Europe, IEEE 802.11p operates in the ITS GSA band (5.875-5.905 MHz). Other bands may be allocated in other countries. The V2V communications briefly described above occur on the Safety Channel, which in the U.S. is typically a 10 MHz channel that is dedicated to the purpose of safety. The remainder of the DSRC band (the total bandwidth is 75 MHz) is intended for other services of interest to drivers, such as road rules, tolling, parking automation, etc. Thus, as a particular example, the mediums of interest utilized by sidelinks 162, 166, 168 may correspond to at least a portion of the licensed ITS frequency band of 5.9 GHz.
Alternatively, the medium of interest may correspond to at least a portion of an unlicensed frequency band shared among various RATs. Although different licensed frequency bands have been reserved for certain communication systems (e.g., by a government entity such as the Federal Communications Commission (FCC) in the United States), these systems, in particular those employing small cell access points, have recently extended operation into unlicensed frequency bands such as the Unlicensed National Information Infrastructure (U-NII) band used by wireless local area network (WLAN) technologies, most notably IEEE 802.11x WLAN technologies generally referred to as “Wi-Fi.” Example systems of this type include different variants of CDMA systems, TDMA systems, FDMA systems, orthogonal FDMA (OFDMA) systems, single-carrier FDMA (SC-FDMA) systems, and so on.
Communications between the V-UEs 160 are referred to as V2V communications, communications between the V-UEs 160 and the one or more roadside access points 164 are referred to as V2I communications, and communications between the V-UEs 160 and one or more UEs 104 (where the UEs 104 are P-UEs) are referred to as V2P communications. The V2V communications between V-UEs 160 may include, for example, information about the position, speed, acceleration, heading, and other vehicle data of the V-UEs 160. The V2I information received at a V-UE 160 from the one or more roadside access points 164 may include, for example, road rules, parking automation information, etc. The V2P communications between a V-UE 160 and a UE 104 may include information about, for example, the position, speed, acceleration, and heading of the V-UE 160 and the position, speed (e.g., where the UE 104 is carried by a user on a bicycle), and heading of the UE 104.
Note that although
The wireless communications system 100 may further include one or more UEs, such as UE 190, that connects indirectly to one or more communication networks via one or more device-to-device (D2D) peer-to-peer (P2P) links. In the example of
Referring now to
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Camera sensor module 265 may detect one or more (or none) objects relative to vehicle 260. In the example of
One or more camera sensor modules 265 are coupled to OBC 200 (only one is shown in
OBC 200 also includes, at least in some cases, wireless wide area network (WWAN) transceiver 230 configured to communicate via one or more wireless communication networks (not shown), such as an NR network, an LTE network, a GSM network, and/or the like. WWAN transceiver 230 may be connected to one or more antennas (not shown) for communicating with other network nodes, such as other vehicle UEs, pedestrian UEs, infrastructure access points, roadside units (RSUs), base stations (e.g., eNBs, gNBs), etc., via at least one designated RAT (e.g., NR, LTE, GSM, etc.) over a wireless communication medium of interest (e.g., some set of time/frequency resources in a particular frequency spectrum). WWAN transceiver 230 may be variously configured for transmitting and encoding signals (e.g., messages, indications, information, and so on), and, conversely, for receiving and decoding signals (e.g., messages, indications, information, pilots, and so on) in accordance with the designated RAT.
OBC 200 also includes, at least in some cases, wireless local area network (WLAN) transceiver 240. WLAN transceiver 240 may be connected to one or more antennas (not shown) for communicating with other network nodes, such as other vehicle UEs, pedestrian UEs, infrastructure access points, RSUs, etc., via at least one designated RAT (e.g., cellular vehicle-to-everything (C-V2X), IEEE 802.11p (also known as wireless access for vehicular environments (WAVE)), dedicated short-range communication (DSRC), etc.) over a wireless communication medium of interest. The WLAN transceiver 240 may be variously configured for transmitting and encoding signals (e.g., messages, indications, information, and so on), and, conversely, for receiving and decoding signals (e.g., messages, indications, information, pilots, and so on) in accordance with the designated RAT.
As used herein, a “transceiver” may include a transmitter circuit, a receiver circuit, or a combination thereof, but need not provide both transmit and receive functionalities in all designs. For example, a low functionality receiver circuit may be employed in some designs to reduce costs when providing full communication is not necessary (e.g., a receiver chip or similar circuitry simply providing low-level sniffing).
OBC 200 also includes, at least in some cases, global positioning systems (GPS) receiver 250. GPS receiver 250 may be connected to one or more antennas (not shown) for receiving satellite signals. GPS receiver 250 may comprise any suitable hardware and/or software for receiving and processing GPS signals. GPS receiver 250 requests information and operations as appropriate from the other systems and performs the calculations necessary to determine the vehicle's 260 position using measurements obtained by any suitable GPS algorithm.
In an aspect, OBC 200 may utilize WWAN transceiver 230 and/or the WLAN transceiver 240 to download one or more maps 202 that can then be stored in memory 204 and used for vehicle navigation. Map(s) 202 may be one or more high definition (HD) maps, which may provide accuracy in the 7-10 cm absolute ranges, highly detailed inventories of all stationary physical assets related to roadways, such as road lanes, road edges, shoulders, dividers, traffic signals, signage, paint markings, poles, and other data useful for the safe navigation of roadways and intersections by vehicle 100. Map(s) 202 may also provide electronic horizon predictive awareness, which enables the vehicle 260 to know what lies ahead.
In an aspect, camera 212 may capture image frames (also referred to herein as camera frames) of the scene within the viewing area of camera 212 (as illustrated in
In another aspect, if a map of the current location of vehicle 260 is unavailable, processor 206 may determine the position and orientation of vehicle 260 by utilizing GPS receiver 250 and/or sensor 214. After determining the position and orientation of vehicle 260, processor 206 may receive additional information from sensor 214 such as the velocity of vehicle 260, the acceleration, the road condition or other necessary information in regards to vehicle 260. Processor 206 may use the position and orientation of vehicle 260 and other additional information from sensor 214 to determine the drivable path of vehicle 260.
In an aspect, after determining the drivable path of vehicle 260 including the three dimensional (3D) coordinates of the drivable path, processor 206 may convert the 3D coordinates into two dimensional (2D) coordinates that may fit onto camera frame 300. In other words, processor 206 may project the drivable path onto camera frame 300 by converting the 3D coordinates of the drivable path into 2D coordinates on the camera frame 300. In an aspect, processor 206 may use “pin hole camera model” to convert the 3D coordinates into the 2D coordinates as known in the art. Thus, processor 206 may project the drivable path onto camera frame 300 by determining the 2D coordinates of the drivable path on camera frame 300.
In the example shown in
In an aspect, if OBC 200 does not have an access to a map of road 350, processor 206 may use sensor 214 in camera sensor module 265 to determine the drivable path of vehicle 260. Sensor 214 may include one or more of a lidar sensor, a radar sensor, inertial measurement unit (IMU), velocity sensor and/or any other sensor that may aid in the operation of vehicle 260. After determining the drivable path of vehicle 260 by using sensor 214, processor 206 may project the drivable path onto camera frame 300. In the example shown in
After determining the drivable path of vehicle 260 and projecting the drivable path onto camera frame 300, processor 206 may determine which sections of camera frame 300 contain the drivable path of vehicle 260. For example, in
After discarding the sections that do not contain the drivable path, processor 206 may further partition the remaining section(s) that contain the drivable path of vehicle 260 based on the distance from vehicle 260 to each of the sections. In the example shown in
In an aspect, processor 206 may determine the distance from vehicle 260 to each of the sections based on the 3D and 2D coordinates of the drivable path. For example, the “z” coordinate of the drivable path may provide the distance from vehicle 260 to each of the sections. Furthermore, sensor 214 such as a radar sensor and lidar sensor may aid in the determination of the distance by detecting an object in a section and measuring the distance from vehicle 260 to the object in the section.
In some other aspects, processor 206 may further partition the remaining section(s) that contain the drivable path of vehicle 260 based on various other factors besides the distance. Other factors may include such factors as the road condition, traffic condition, user input, weather, orientation of the vehicle and etc.
In an aspect, processor 206 may partition out a section such as section 340 that contains a part of the drivable path that is far from vehicle 260 because the angular resolution of camera frame 300 requires section 340 to be processed at a higher resolution than other sections of camera frame 300, which are closer to vehicle 260. For example, processor 206 may process section 330 at a lower resolution than section 340 since section 330 contains a part of the drivable path of road 350 that is relatively closer to vehicle 260 than the drivable path in section 340. In other words, processor 206 may not need to process every pixel in section 330 but may only need to process every one out of three pixels in section 330, for example. By not processing every pixel in section 330, processor 206 may reduce the processing time and the usage of computing resources. Processor 206 may further reduce the usage of computing resources by not processing the pixels in sections 310 and 320. Thus, in an aspect, processor 206 may determine the required resolution for processing each of the sections in camera frame 300 based on the distance from vehicle 260 to each of the sections.
For example, every pixel in section 340 may be processed by processor 206 whereas processor 206 may only process every other pixel or every one out of three pixels in section 330. In contrast, processor 206 may not process any pixels in sections 310 and 320 since these sections do not contain the drivable path. Thus, section 340 has higher required resolution for processing than section 330 or 310. By not processing every pixels in camera frame 300, processor 206 may save valuable computing resources of OBC 200.
However, in other aspects, the distance may not be the only factor that processor 206 consider in determining the required processing resolution of different sections in camera frame 300. Other factors may include such factors as the road condition, traffic condition, user input, weather, orientation of the vehicle and etc. In addition, in various aspects, processor 206 may partition the part of camera frame that contain the drivable path into one or more sections based on the various factors discussed above. The example given in
In contrast to section 330, processor 206 may need to process every pixel or nearly every pixel in section 340 because of the angular resolution of camera frame 300. For example, in
In various aspects, processor 206 may determine the required resolution needed to process the information in each of the sections in camera frame 300 based on the distance from vehicle 260 to each of the sections. In an aspect, the required resolution may be the minimum resolution necessary to process the information in each of the sections. In other aspects, the required resolution may be determined differently by processor 206. In other aspects, processor 206 may determine the required resolution needed to process the information in each of the sections in camera frame 300 based on other factors in addition to or in lieu of the distance. Such additional factors may include the availability of the computing resource of OBC 200, the velocity of vehicle 260, resolution of camera 212, surrounding weather, visibility of camera 212, user input, road condition, traffic condition, orientation of vehicle 260, etc.
For example, processor 206 may process every other pixels in section 340 instead of every pixels in section 340 if the computing resources of OBC 200 is constrained.
After determining the required resolution, processor 206 may process the information in each of the sections based on the determined required resolution. Although the example in
The components of OBC 200 in
It will be appreciated that aspects include various methods for performing the processes, functions and/or algorithms disclosed herein. For example,
At block 410, the method captures a camera frame using a camera mounted on a vehicle. Processor 206 may direct camera 212 to capture a frontal view from vehicle 260 in a camera frame while vehicle 260 is traveling on a road. However, the view is not limited to the frontal view from vehicle 260 but may include side and rear views.
At block 420, the method receives the camera frame from the camera. Processor 206 may receive camera frame 300 from camera 212 that shows the view in front of vehicle 260.
At block 430, the method determines a position, an orientation or a velocity of the vehicle. Processor may use GPS receiver 250 and sensor 214 to determine the position, the orientation or the velocity of vehicle 260.
At block 440, the method determines the drivable path of the vehicle. Processor 206 may determine the drivable path of vehicle 260 by using maps 202 or sensor 214 on vehicle 260.
At block 450, the method projects the drivable path of the vehicle on the camera frame. Processor 206 may project the drivable path onto camera frame 300.
At block 460, the method determines a section of the camera frame that does not contain the drivable path of the vehicle. Processor 206 may determine and partition camera frame 300 into sections based on the presence or absence of the drivable path of vehicle 260 in each of the sections. Processor 206 may determine that sections 310 and 320 do not contain the drivable path of vehicle 260.
At block 470, the method discards the section that does not contain the drivable path of the vehicle. The sections that do not contain the drivable path of vehicle 260 may be considered irrelevant and discarded by processor 206.
At block 480, the method partitions and divides the part of the camera frame that contains the drivable path into at least one section based on the distance from the vehicle to the drivable path in each of the at least one section. Processor 206 may partition and divide the part of camera frame 300 that contains the drivable path into at least one section based on the distance from vehicle 260 to the drivable path in each of the sections.
At block 485, the method determines the required resolution needed to process the information in each of the at least one section based on the distance from the vehicle to the drivable path in each of the at least one section. Processor 206 may determine the required resolution of each of the sections based on the distance from vehicle 260 to the drivable path in each of the sections.
At block 490, the method processes the information in each of the at least one section using the required resolution of each of the at least section. Processor 206 may process the information in each of the sections using the required resolution of each of the sections.
In the detailed description above it can be seen that different features are grouped together in examples. This manner of disclosure should not be understood as an intention that the example clauses have more features than are explicitly mentioned in each clause. Rather, the various aspects of the disclosure may include fewer than all features of an individual example clause disclosed. Therefore, the following clauses should hereby be deemed to be incorporated in the description, wherein each clause by itself can stand as a separate example. Although each dependent clause can refer in the clauses to a specific combination with one of the other clauses, the aspect(s) of that dependent clause are not limited to the specific combination. It will be appreciated that other example clauses can also include a combination of the dependent clause aspect(s) with the subject matter of any other dependent clause or independent clause or a combination of any feature with other dependent and independent clauses. The various aspects disclosed herein expressly include these combinations, unless it is explicitly expressed or can be readily inferred that a specific combination is not intended (e.g., contradictory aspects, such as defining an element as both an insulator and a conductor). Furthermore, it is also intended that aspects of a clause can be included in any other independent clause, even if the clause is not directly dependent on the independent clause.
Implementation examples are described in the following numbered clauses:
Clause 1. A method of processing a camera frame in a mobile device, the method comprising: capturing the camera frame using a camera mounted on a vehicle traveling on a road; receiving the camera frame from the camera; determining a drivable path of the vehicle; projecting the drivable path onto the camera frame; partitioning a part of the camera frame containing the drivable path into at least one section based on a distance from the vehicle to each of the at least one section; and determining a required resolution of each of the at least one section based on the distance from the vehicle to each of the at least one section.
Clause 2. The method of clause 1, further comprising: determining the drivable path by using a map of the road.
Clause 3. The method of any of clauses 1 to 2, further comprising: determining the drivable path of the vehicle by using a sensor on the vehicle.
Clause 4. The method of any of clauses 1 to 3, further comprising: determining a section of the camera frame that does not contain the drivable path.
Clause 5. The method of clause 4, further comprising: discarding the section of the camera frame that does not contain the drivable path.
Clause 6. The method of any of clauses 1 to 5, further comprising: processing information in each of the at least one section using the required resolution.
Clause 7. The method of any of clauses 3 to 6, further comprising: determining a position of the vehicle, an orientation of the vehicle or a velocity of the vehicle by using the sensor.
Clause 8. The method of clause 7, wherein the drivable path of the vehicle is determined based on the position of the vehicle, the orientation of the vehicle or the velocity of the vehicle.
Clause 9. The method of any of clauses 3 to 8, wherein the part of the camera frame containing the drivable path is partitioned into the at least one section based on a condition of the road or a user input.
Clause 10. A mobile device comprising: a memory; and a processor communicatively coupled to the memory, the processor configured to: receive a camera frame from a camera mounted on a vehicle traveling on a road; determine a drivable path of the vehicle; project the drivable path onto the camera frame; partition a part of the camera frame containing the drivable path into at least one section based on a distance from the vehicle to each of the at least one section; and determine a required resolution of each of the at least one section based on the distance from the vehicle to each of the at least one section.
Clause 11. The mobile device of clause 10, wherein the processor is configured to determine the drivable path by using a map of the road.
Clause 12. The mobile device of any of clauses 10 to 11, wherein the processor is configured to determine the drivable path of the vehicle by using a sensor on the vehicle.
Clause 13. The mobile device of any of clauses 10 to 12, wherein the processor is configured to determine a section of the camera frame that does not contain the drivable path.
Clause 14. The mobile device of clause 13, wherein the processor is configured to discard the section of the camera frame that does not contain the drivable path.
Clause 15. The mobile device of any of clauses 10 to 14, wherein the processor is configured to process information in each of the at least one section using the required resolution.
Clause 16. The mobile device of any of clauses 12 to 15, wherein the processor is further configured to determine a position of the vehicle, an orientation of the vehicle or a velocity of the vehicle by using the sensor.
Clause 17. The mobile device of clause 16, wherein the drivable path of the vehicle is determined based on the position of the vehicle, the orientation of the vehicle or the velocity of the vehicle.
Clause 18. The mobile device of any of clauses 12 to 17, wherein the processor is further configured to partition the part of the camera frame containing the drivable path into the at least one section based on a condition of the road or a user input.
Clause 19. A mobile device comprising: means for capturing a camera frame using a camera mounted on a vehicle traveling on a road; means for receiving the camera frame from the camera; means for determining a drivable path of the vehicle; means for projecting the drivable path onto the camera frame; means for partitioning a part of the camera frame containing the drivable path into at least one section based on a distance from the vehicle to each of the at least one section; and means for determining a required resolution of each of the at least one section based on the distance from the vehicle to each of the at least one section.
Clause 20. The mobile device of clause 19, further comprising: means for determining the drivable path by using a map of the road.
Clause 21. The mobile device of any of clauses 19 to 20, further comprising: means for determining the drivable path of the vehicle using a sensor on the vehicle.
Clause 22. The mobile device of any of clauses 19 to 21, further comprising: means for determining a section of the camera frame that does not contain the drivable path.
Clause 23. The mobile device of clause 22, further comprising: means for discarding the section of the camera frame that does not contain the drivable path.
Clause 24. The mobile device of any of clauses 19 to 23, further comprising: means for processing information in each of the at least one section using the required resolution.
Clause 25. A non-transitory computer-readable storage medium comprising code, which, when executed by a processor, causes the processor to process a camera frame in a mobile device, the non-transitory computer-readable storage medium comprising code for: capturing the camera frame using a camera mounted on a vehicle traveling on a road; receiving the camera frame from the camera; determining a drivable path of the vehicle; projecting the drivable path onto the camera frame; partitioning a part of the camera frame containing the drivable path into at least one section based on a distance from the vehicle to each of the at least one section; and determining a required resolution of each of the at least one section based on the distance from the vehicle to each of the at least one section.
Clause 26. The non-transitory computer-readable storage medium of clause 25, further comprising code for: determining the drivable path by using a map of the road.
Clause 27. The non-transitory computer-readable storage medium of any of clauses 25 to 26, further comprising code for: determining the drivable path of the vehicle using a sensor on the vehicle.
Clause 28. The non-transitory computer-readable storage medium of any of clauses 25 to 27, further comprising code for: determining a section of the camera frame that does not contain the drivable path.
Clause 29. The non-transitory computer-readable storage medium of clause 28, further comprising code for: discarding the section of the camera frame that does not contain the drivable path.
Clause 30. The non-transitory computer-readable storage medium of any of clauses 25 to 29, further comprising code for: processing information in each of the at least one section using the required resolution.
Clause 31. An apparatus comprising a memory, a transceiver, and a processor communicatively coupled to the memory and the transceiver, the memory, the transceiver, and the processor configured to perform a method according to any of clauses 1 to 30.
Clause 32. An apparatus comprising means for performing a method according to any of clauses 1 to 30.
Clause 33. A non-transitory computer-readable medium storing computer-executable instructions, the computer-executable comprising at least one instruction for causing a computer or processor to perform a method according to any of clauses 1 to 30.
Those of skill in the art will appreciate that information and signals may be represented using any of a variety of different technologies and techniques. For example, data, instructions, commands, information, signals, bits, symbols, and chips that may be referenced throughout the above description may be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, optical fields or particles, or any combination thereof.
Further, those of skill in the art will appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the aspects disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present disclosure.
The various illustrative logical blocks, modules, and circuits described in connection with the aspects disclosed herein may be implemented or performed with a general purpose processor, a digital signal processor (DSP), an ASIC, a field-programable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general-purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, for example, a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.
The methods, sequences and/or algorithms described in connection with the aspects disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in random access memory (RAM), flash memory, read-only memory (ROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An example storage medium is coupled to the processor such that the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal (e.g., UE). In the alternative, the processor and the storage medium may reside as discrete components in a user terminal.
In one or more example aspects, the functions described may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that can be accessed by a computer. By way of example, and not limitation, such computer-readable media can comprise RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. Also, any connection is properly termed a computer-readable medium. For example, if the software is transmitted from a website, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. Disk and disc, as used herein, includes compact disc (CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk and Blu-ray disc where disks usually reproduce data magnetically, while discs reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer-readable media.
While the foregoing disclosure shows illustrative aspects of the disclosure, it should be noted that various changes and modifications could be made herein without departing from the scope of the disclosure as defined by the appended claims. The functions, steps and/or actions of the method claims in accordance with the aspects of the disclosure described herein need not be performed in any particular order. Furthermore, although elements of the disclosure may be described or claimed in the singular, the plural is contemplated unless limitation to the singular is explicitly stated.
