Vehicle vision system with enhanced lane tracking

• US 10,055,651 B2
• Filed: 03/01/2017
• Issued: 08/21/2018
• Est. Priority Date: 03/08/2016
• Status: Active Grant

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Inventors: Chundrlik, William J., Raudszus, Dominik, Van Dan Elzen, Christopher L.
• Primary Examiner(s): Rahmjoo, Manuchehr
• Application Number:
  US15/446,221
• Publication Number:
  US 20170262712A1
• Time in Patent Office: 538 Days
• Field of Search: 382104
• CPC Class Codes: B60R 2300/302 combining image information with GPS information or vehicle data, e.g. vehicle speed, gyro, steering angle data
• CPC Class Codes: B60R 2300/607 from a bird's eye viewpoint
• CPC Class Codes: B60R 2300/804 for lane monitoring
• CPC Class Codes: B60R 2300/8093 for obstacle warning
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
• CPC Class Codes: G08G 1/0962 having an indicator mounted inside the vehicle, e.g. giving voice messages
• CPC Class Codes: G08G 1/165 for passive traffic, e.g. including static obstacles, trees
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A driver assistance system for a vehicle includes a camera disposed at a vehicle and having a field of view forward of the vehicle. A control includes an image processor that is operable to process image data captured by the camera. Responsive to processing by the image processor of image data captured by the camera, the image processor is operable to determine lane markings demarcating the lane in which the vehicle is traveling. Responsive to processing by the image processor of captured image data and responsive to at least one of (i) a map input and (ii) a location input, the control estimates a path of travel for the vehicle to maintain the vehicle in the lane in which the vehicle is traveling in situations where the lane markings demarcating the lane in which the vehicle is traveling are not readily determinable.

Claims

1. A driver assistance system for a vehicle, said driver assistance system comprising:

a camera disposed at a vehicle and having a field of view forward of the vehicle;

a control comprising an image processor that is operable to process image data captured by said camera;

wherein, responsive to processing by said image processor of image data captured by said camera, said image processor is operable to determine lane markings demarcating the lane in which the vehicle is traveling;

wherein, responsive to processing by said image processor of image data captured by said camera and responsive to at least one of (i) a map input from a digital map to said control and (ii) a location input from a global positioning system to said control, said control estimates a path of travel for the vehicle to maintain the vehicle in the lane in which the vehicle is traveling in situations where the lane markings demarcating the lane in which the vehicle is traveling are not readily determinable;

wherein said control estimates the path of travel for the vehicle responsive to vehicle information, and wherein the vehicle information comprises at least one of (i) vehicle speed, (ii) vehicle differential wheel speeds and (iii) vehicle yaw rate;

wherein said driver assistance system maneuvers the vehicle along the estimated path of travel; and

wherein said driver assistance system updates the estimated path of travel ahead of the vehicle even when no lane markings are present on the road ahead of the vehicle.

2. The driver assistance system of claim 1, wherein, responsive to processing by said image processor of image data captured by said camera and responsive to at least one of (i) a map input from a digital map to said control and (ii) a location input from a global positioning system to said control, said control estimates the path of travel for the vehicle to maintain the vehicle in the lane in which the vehicle is traveling in situations where the lane markings demarcating the lane in which the vehicle is traveling are lost by said camera for a period of time.

3. The driver assistance system of claim 1, wherein, responsive to processing by said image processor of image data captured by said camera and responsive to at least one of (i) a map input from a digital map to said control and (ii) a location input from a global positioning system to said control, said control estimates the path of travel for the vehicle to maintain the vehicle in the lane in which the vehicle is traveling in situations where the lane markings demarcating the lane in which the vehicle is traveling are lost by said camera as the vehicle crosses an intersection.

4. The driver assistance system of claim 1, wherein, responsive to processing by said image processor of image data captured by said camera and responsive to at least one of (i) a map input from a digital map to said control and (ii) a location input from a global positioning system to said control, said control estimates the path of travel for the vehicle to maintain the vehicle in the lane in which the vehicle is traveling in situations where lane markings are erroneously determined by processing by said image processor of captured image data alone.

5. The driver assistance system of claim 1, wherein, responsive to processing by said image processor of image data captured by said camera and responsive to at least one of (i) a map input from a digital map to said control and (ii) a location input from a global positioning system to said control, said control estimates the path of travel for the vehicle to maintain the vehicle in the lane in which the vehicle is traveling in situations where processing by said image processor of image data alone determines lane markings that are not demarcating the lane in which the vehicle is traveling.

6. The driver assistance system of claim 1, wherein said control estimates the path of travel for the vehicle responsive to a location input from a global positioning system to said control that provides the vehicle'"'"'s current geographical location information from the global positioning system of the vehicle.

7. The driver assistance system of claim 1, wherein said control estimates the path of travel for the vehicle responsive to a map input from a digital map to said control that provides road information pertaining to the road along which the vehicle is traveling.

8. The driver assistance system of claim 1, wherein, responsive to processing by said image processor of image data captured by said camera and responsive to a map input from a digital map to said control, said control estimates the path of travel for the vehicle to maintain the vehicle in the lane in which the vehicle is traveling in situations where the lane markings demarcating the lane in which the vehicle is traveling are not readily determinable.

9. The driver assistance system of claim 1, wherein, responsive to processing by said image processor of image data captured by said camera and responsive to a location input from a global positioning system to said control, said control estimates the path of travel for the vehicle to maintain the vehicle in the lane in which the vehicle is traveling in situations where the lane markings demarcating the lane in which the vehicle is traveling are not readily determinable.