Systems and methods for detecting low-height objects in a roadway

A computer-implemented method for detecting an object in a roadway, the method comprising:

• receiving a first image from among a plurality of images captured by at least one image sensor;
• receiving a second image from among the plurality of images captured by the at least one image sensor, the second image being captured after the first image;
• analyzing the first image and the second image to determine a reference plane corresponding to a road surface represented in the first image and in the second image;
• locating, based on the reference plane, a target object in the first image and in the second image;
• determining a dimension of the target object using a difference in a size of at least one dimension of the target object represented in the first image and in the second image;
• determining, based on the size of the at least one dimension of the target object represented in the second image being larger than in the first image, that the target object is stationary on the road surface or moving toward a vehicle;
• based on determining that the target object is stationary on the road surface or moving toward the vehicle, comparing the determined dimension of the target object to a threshold based on a clearance height of a vehicle to determine whether the vehicle can drive over the target object with the target object oriented between wheels of the vehicle;
• determining a position of the target object relative to a lane constraint;
• determining a minimum distance to maintain between the vehicle and the target object;
• and
• causing a change in at least a directional course of the vehicle based on the comparison of the determined dimension to the threshold and the position of the target object relative to the lane constraint, wherein the change in at least a directional course causes the vehicle to maintain the determined minimum distance to maintain between the vehicle and the target object.

A non-transitory computer-readable medium comprising instructions executable by at least one processor to perform a method, the method comprising:

• receiving a first image from among a plurality of images captured by at least one image sensor;
• receiving a second image from among the plurality of images captured by the at least one image sensor, the second image being captured after the first image;
• analyzing the first image and the second image to determine a reference plane corresponding to a road surface represented in the first image and in the second image;
• locating, based on the reference plane, a target object in the first image and in the second image;
• determining a dimension of the target object using a difference in a size of at least one dimension of the target object represented in the first image and in the second image;
• determining, based on the size of the at least one dimension of the target object represented in the second image being larger than in the first image, that the target object is stationary on the road surface or moving toward a vehicle;
• based on determining that the target object is stationary on the road surface or moving toward the vehicle, comparing the determined dimension of the target object to a threshold based on a clearance height of a vehicle to determine whether the vehicle can drive over the target object with the target object oriented between wheels of the vehicle;
• determining a position of the target object relative to a lane constraint;
• determining a minimum distance to maintain between the vehicle and the target object;
• and
• causing a change in at least a directional course of the vehicle based on the comparison of the determined dimension to the threshold and the position of the target object relative to the lane constraint, wherein the change in at least a directional course causes the vehicle to maintain the determined minimum distance to maintain between the vehicle and the target object.