Driver assistance system with path clearance determination

• US 10,147,323 B2
• Filed: 02/22/2016
• Issued: 12/04/2018
• Est. Priority Date: 02/24/2012
• Status: Active Grant

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Inventors: Gieseke, Achim
• Primary Examiner(s): Dang, Hung Q
• Application Number:
  US15/049,571
• Publication Number:
  US 20160171892A1
• Time in Patent Office: 1,016 Days
• Field of Search: None
• CPC Class Codes: B60K 28/08 responsive to conditions relating to the cargo, e.g. overload
• CPC Class Codes: B60R 2300/8093 for obstacle warning
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G08G 1/04 using optical or ultrasonic detectors
• CPC Class Codes: G08G 1/096708 where the received information might be used to generate an automatic action on the vehicle control
• CPC Class Codes: G08G 1/096766 where the system is characterised by the origin of the information transmission
• CPC Class Codes: G08G 1/165 for passive traffic, e.g. including static obstacles, trees

Abstract

A driver assistance system for a vehicle includes at least one camera disposed at the vehicle and having an exterior field of view at least in a direction of forward travel of the vehicle. A control includes an image processor operable to process image data captured by the camera. At least in part responsive to image processing of captured image data, the control determines a projected driving path of the vehicle and the width thereof. At least in part responsive to image processing of captured image data, the control detects an object that is ahead of the vehicle and determines the detected object'"'"'s location in the camera'"'"'s exterior field of view. Responsive to the determined width of the projected driving path and to the determined location of the detected object, the control is operable to determine if there is sufficient clearance for the vehicle to pass the detected object.

Claims

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

at least one camera disposed at a vehicle and having an exterior field of view at least in a direction of forward travel of the vehicle, wherein said at least one camera is operable to capture image data;

a control comprising an image processor operable to process image data captured by said at least one camera;

wherein, at least in part responsive to image processing by said image processor of image data captured by said at least one camera, said control determines a virtual driving tunnel of the vehicle;

wherein the determined virtual driving tunnel comprises a plurality of virtual area segments along a path of forward travel of the vehicle, and wherein each determined virtual area segment comprises a width dimension and a height dimension, and wherein the plurality of virtual area segments along the path of forward travel of the vehicle represent depth of the determined virtual driving tunnel;

wherein, at least in part responsive to image processing by said image processor of image data captured by said at least one camera, said control detects structure of a tunnel or bridge that is ahead of the vehicle and determines the detected structure'"'"'s location in the exterior field of view of said at least one camera;

wherein said control receives a communication via an x2car communication from a remote communication device associated with the detected structure, and wherein the received communication includes information pertaining to a dimension of the detected structure of the tunnel or bridge ahead of the vehicle;

wherein the width or height of at least one determined virtual area segment ahead of the vehicle at which the detected structure is located is based at least in part on the information pertaining to the dimension of the detected structure;

wherein, responsive to the determined virtual area segment of the virtual driving tunnel at which the detected structure is located and to the determined location of the detected structure of the tunnel or bridge ahead of the vehicle and in the exterior field of view of said at least one camera, and responsive at least in part to the communication via the x2car communication from the remote communication device associated with the detected structure, said control is operable to determine if there is sufficient clearance for the vehicle to pass under the detected structure of the tunnel or bridge ahead of the vehicle; and

wherein, responsive to determination that there is not sufficient clearance for the vehicle to pass under the detected structure of the tunnel or bridge ahead of the vehicle, said driver assistance system at least one of (i) generates an alert to a driver of the vehicle and (ii) controls a system of the vehicle.

2. The driver assistance system of claim 1, wherein said at least one camera comprises a forward facing camera having a field of view in a forward direction of travel of the vehicle through a windshield of the vehicle.

3. The driver assistance system of claim 2, wherein, responsive to image processing by said image processor of captured image data, said driver assistance system provides at least one of (i) control of the headlamps of the vehicle responsive to detection of headlamps of other vehicles in the field of view of said camera, (ii) lane tracking and (iii) traffic sign detection.

4. The driver assistance system of claim 1, wherein said at least one camera is part of a forward facing imaging system of the vehicle that, responsive to image processing by said image processor of captured image data, provides multiple functions.

5. The driver assistance system of claim 4, wherein the multiple functions at least include (i) control of the headlamps of the vehicle responsive to detection of headlamps of other vehicles in the field of view of said camera and (ii) lane tracking.

6. The driver assistance system of claim 1, wherein, at least in part responsive to image processing by said image processor of image data captured by said at least one camera, said control detects two objects that are ahead of the vehicle and at or near opposite sides of the virtual driving tunnel.

7. The driver assistance system of claim 6, wherein, at least in part responsive to image processing by said image processor of image data captured by said at least one camera, said control (i) determines a lateral dimension between the detected objects and (ii) determines if there is sufficient clearance for the vehicle to pass between the detected objects by subtracting a width of the virtual area segment of the virtual driving tunnel from the determined lateral dimension between the detected objects.

8. The driver assistance system of claim 1, wherein the virtual driving tunnel is projected at least in part responsive to a current steering angle of the vehicle.

9. The driver assistance system of claim 1, wherein the virtual driving tunnel is projected at least in part responsive to a current direction of travel of the vehicle.

10. The driver assistance system of claim 1, wherein the virtual driving tunnel is projected at least in part responsive to a navigation system of the vehicle.

11. The driver assistance system of claim 1, wherein the virtual driving tunnel is projected at least in part responsive to a path provided by a remote provider.

12. The driver assistance system of claim 1, wherein, responsive to determination that there is not sufficient clearance for the vehicle to pass under the detected structure of the tunnel or bridge ahead of the vehicle, said driver assistance system controls at least one of (i) a steering system of the vehicle and (ii) a braking system of the vehicle.

13. The driver assistance system of claim 1, wherein, responsive to determination that there is not sufficient clearance for the vehicle to pass under the detected structure of the tunnel or bridge ahead of the vehicle, said driver assistance system determines a clearance path for the vehicle to pass the detected structure.

14. The driver assistance system of claim 13, wherein said control is operable to steer the vehicle along the determined clearance path.

15. The driver assistance system of claim 13, wherein, responsive to determination that there is not sufficient clearance for the vehicle to pass under the detected structure of the tunnel or bridge ahead of the vehicle, said control controls braking of the vehicle.

16. The driver assistance system of claim 1, wherein said control is operable to control the steering of the vehicle for the vehicle to pass under the detected structure.

17. The driver assistance system of claim 1, wherein, responsive to determination that there is not sufficient clearance for the vehicle to pass under the detected structure of the tunnel or bridge ahead of the vehicle, said driver assistance system generates a graphic overlay that overlays a displayed image displayed at a display screen viewable by the driver of the vehicle to visually alert the driver of the vehicle of insufficient clearance.

18. The driver assistance system of claim 1, wherein, responsive to determination that there is not sufficient clearance for the vehicle to pass under the detected structure of the tunnel or bridge ahead of the vehicle, said driver assistance system generates an alert to the driver of the vehicle.

19. The driver assistance system of claim 18, wherein said alert comprises at least one of (i) an audible warning, (ii) a haptic warning and (iii) a visual warning.

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

at least one camera disposed at a vehicle and having an exterior field of view at least in a direction of forward travel of the vehicle, wherein said at least one camera is operable to capture image data;

a control comprising an image processor operable to process image data captured by said at least one camera;

wherein, at least in part responsive to image processing by said image processor of image data captured by said at least one camera, said control determines a virtual driving tunnel of the vehicle;

wherein the determined virtual driving tunnel comprises a plurality of virtual area segments along a path of forward travel of the vehicle, and wherein each determined virtual area segment comprises a width dimension and a height dimension, and wherein the plurality of virtual area segments along the path of forward travel of the vehicle represent depth of the determined virtual driving tunnel;

wherein, at least in part responsive to image processing by said image processor of image data captured by said at least one camera, said control detects structure of a tunnel or bridge ahead that is ahead of the vehicle and determines the structure'"'"'s location in the exterior field of view of said at least one camera;

wherein said control receives a communication via an x2car communication from a remote communication device associated with the detected structure, and wherein the received communication includes information pertaining to a dimension of the detected structure of the tunnel or bridge ahead of the vehicle;

wherein the width or height of at least one determined virtual area segment ahead of the vehicle at which the detected structure is located is based at least in part on the information pertaining to the dimension of the detected structure;

wherein, responsive to the determined virtual area segment of the virtual driving tunnel at which the detected structure is located and the determined location of the detected structure of the tunnel or bridge ahead of the vehicle and in the exterior field of view of said at least one camera, and responsive at least in part to the communication via the x2car communication from the remote communication device associated with the detected structure, said control is operable to determine if there is sufficient clearance for the vehicle to pass under the detected structure of the tunnel or bridge ahead of the vehicle;

wherein, responsive to determination that there is not sufficient clearance for the vehicle to pass under the detected structure of the tunnel or bridge ahead of the vehicle, said driver assistance system controls at least one of (i) a steering system of the vehicle and (ii) a braking system of the vehicle; and

wherein said image processor of said control processes image data captured by said at least one camera for multiple functions.

21. The driver assistance system of claim 20, wherein said camera is part of a forward facing imaging system of the vehicle that, responsive to image processing by said image processor of captured image data, provides at least one of (i) control of the headlamps of the vehicle responsive to detection of headlamps of other vehicles in the field of view of said camera, (ii) lane tracking and (iii) traffic sign detection.

22. The driver assistance system of claim 20, wherein, at least in part responsive to image processing by said image processor of image data captured by said at least one camera, said control (i) detects two objects that are ahead of the vehicle and at or near opposite sides of the virtual driving tunnel, (ii) determines a lateral dimension between the detected objects and (iii) determines if there is sufficient clearance for the vehicle to pass between the detected objects.

23. The driver assistance system of claim 20, wherein the virtual driving tunnel is projected at least in part responsive to at least one of (i) a current steering angle of the vehicle, (ii) a current direction of travel of the vehicle, (iii) a navigation system of the vehicle and (iv) a path provided by a remote provider.

24. The driver assistance system of claim 20, wherein, responsive to determination that there is not sufficient clearance for the vehicle to pass under the detected structure of the tunnel or bridge ahead of the vehicle, said driver assistance system determines a clearance path for the vehicle to pass the detected structure.

25. The driver assistance system of claim 24, wherein at least one of (i) said control is operable to steer the vehicle along the determined clearance path and (ii) said control controls braking of the vehicle responsive to determination that there is not sufficient clearance for the vehicle to pass under the detected structure of the tunnel or bridge ahead of the vehicle.

26. The driver assistance system of claim 20, wherein, responsive to determination that there is not sufficient clearance for the vehicle to pass under the detected structure of the tunnel or bridge ahead of the vehicle, said driver assistance system generates a graphic overlay that overlays a displayed image displayed at a display screen viewable by a driver of the vehicle to visually alert the driver of the vehicle of insufficient clearance.

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

at least one camera disposed at a vehicle and having an exterior field of view at least in a direction of forward travel of the vehicle, wherein said at least one camera is operable to capture image data;

a control comprising an image processor operable to process image data captured by said at least one camera;

wherein, at least in part responsive to image processing by said image processor of image data captured by said at least one camera, said control determines a virtual driving tunnel of the vehicle;

wherein the determined virtual driving tunnel comprises a plurality of virtual area segments along a path of forward travel of the vehicle, and wherein each determined virtual area segment comprises a width dimension and a height dimension, and wherein the plurality of virtual area segments along the path of forward travel of the vehicle represent depth of the determined virtual driving tunnel;

wherein, at least in part responsive to image processing by said image processor of image data captured by said at least one camera, said control (i) detects structure of a tunnel or bridge that is ahead of the vehicle, (ii) detects two objects that are ahead of the vehicle and at or near opposite sides of the virtual driving tunnel and (iii) determines the locations of the detected structure and objects in the exterior field of view of said at least one camera;

wherein said control receives a communication via an x2car communication from a remote communication device associated with the detected structure, and wherein the received communication includes information pertaining to a dimension of the detected structure of the tunnel or bridge ahead of the vehicle;

wherein the width or height of at least one determined virtual area segment ahead of the vehicle at which the detected structure is located is based at least in part on the information pertaining to the dimension of the detected structure;

wherein, at least in part responsive to image processing by said image processor of image data captured by said at least one camera, and responsive at least in part to the communication via the x2car communication from the remote communication device associated with the detected structure, and responsive to the determined virtual area segment of the virtual driving tunnel at which the detected structure is located, said control (i) determines a vertical dimension to the detected structure, (ii) determines a lateral dimension between the detected objects and (iii) determines if there is sufficient clearance for the vehicle to pass under the detected structure and between the detected objects; and

wherein, responsive to determination that there is not sufficient clearance for the vehicle to pass under the detected structure or between the detected objects, said driver assistance system at least one of (i) generates an alert to a driver of the vehicle and (ii) controls a system of the vehicle.

28. The driver assistance system of claim 27, wherein said at least one camera is part of a forward facing imaging system of the vehicle that, responsive to image processing by said image processor of captured image data, provides multiple functions, and wherein the multiple functions at least include (i) control of the headlamps of the vehicle responsive to detection of headlamps of other vehicles in the field of view of said camera and (ii) lane tracking.

29. The driver assistance system of claim 27, wherein the virtual driving tunnel is projected at least in part responsive to at least one of (i) a current steering angle of the vehicle, (ii) a current direction of travel of the vehicle, (iii) a navigation system of the vehicle and (iv) a path provided by a remote provider.

30. The driver assistance system of claim 29, wherein said control determines if there is sufficient clearance for the vehicle to pass between the detected objects by subtracting a width of the virtual area segment of the virtual driving tunnel from the determined lateral dimension between the detected objects.