Vehicle vision system with object and lane fusion
First Claim
1. A vision system of a vehicle, said vision system comprising:
- at least one camera configured to be disposed at a vehicle equipped with said vision system so as to have a field of view exterior and forward of the vehicle;
at least one other sensor configured to be disposed at the equipped vehicle so as to have a sensing field exterior of the vehicle;
a processor operable to process image data captured by said camera and sensor data captured by said sensor;
wherein, responsive to processing by said processor of captured image data and captured sensor data, an object present in the sensing field of said sensor is determined;
wherein, responsive to processing of image data captured by said camera, said processor determines lane markings present in the field of view of said camera and forward of the equipped vehicle; and
wherein said processor receives object hypotheses, sensor properties and vehicle data as inputs and performs a data transformation to generate a fused object hypothesis.
1 Assignment
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Accused Products
Abstract
A vision system of a vehicle includes at least one camera configured to be disposed at a vehicle so as to have a field of view exterior and forward of the vehicle, and at least one other sensor configured to be disposed at a vehicle so as to have a sensing field exterior of the vehicle. A processor is operable to process data captured by the camera and the sensor. Responsive to processing of captured data, the processor determines an object present in the sensing field of the sensor. Responsive to processing of image data captured by the camera, the processor determines lane markings present in the field of view of the camera and forward of the vehicle. The processor receives object hypotheses, sensor properties and vehicle data as inputs and performs a data transformation to generate fused object hypotheses.
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Citations
20 Claims
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1. A vision system of a vehicle, said vision system comprising:
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at least one camera configured to be disposed at a vehicle equipped with said vision system so as to have a field of view exterior and forward of the vehicle; at least one other sensor configured to be disposed at the equipped vehicle so as to have a sensing field exterior of the vehicle; a processor operable to process image data captured by said camera and sensor data captured by said sensor; wherein, responsive to processing by said processor of captured image data and captured sensor data, an object present in the sensing field of said sensor is determined; wherein, responsive to processing of image data captured by said camera, said processor determines lane markings present in the field of view of said camera and forward of the equipped vehicle; and wherein said processor receives object hypotheses, sensor properties and vehicle data as inputs and performs a data transformation to generate a fused object hypothesis. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A vision system of a vehicle, said vision system comprising:
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at least one camera configured to be disposed at a vehicle equipped with said vision system so as to have a field of view exterior and forward of the vehicle; at least one other sensor configured to be disposed at the equipped vehicle so as to have a sensing field exterior of the vehicle; a processor operable to process image data captured by said camera and sensor data captured by said sensor; wherein, responsive to processing by said processor of captured image data and captured sensor data, an object present in the sensing field of said sensor is determined; wherein, responsive to processing of image data captured by said camera, said processor determines lane markings present in the field of view of said camera and forward of the equipped vehicle; wherein said processor receives object hypotheses, sensor properties and vehicle data as inputs and performs a data transformation to generate a fused object hypothesis; wherein said processor receives vehicle inputs via CAN bus communications; and wherein the data transformation includes core fusion that comprises synched frame-hypotheses fusion and temporal hypotheses propagation and temporal smoothing and prediction. - View Dependent Claims (12, 13, 14, 15)
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16. A vision system of a vehicle, said vision system comprising:
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at least one camera configured to be disposed at a vehicle equipped with said vision system so as to have a field of view exterior and forward of the vehicle; at least one other sensor configured to be disposed at the equipped vehicle so as to have a sensing field exterior of the vehicle; a processor operable to process image data captured by said camera and sensor data captured by said sensor; wherein, responsive to processing by said processor of captured image data and captured sensor data, an object present in the sensing field of said sensor is determined; wherein, responsive to processing of image data captured by said camera, said processor determines lane markings present in the field of view of said camera and forward of the equipped vehicle; wherein said processor receives object hypotheses, sensor properties and vehicle data as inputs and performs a data transformation to generate a fused object hypothesis; wherein said processor receives vehicle inputs via CAN bus communications; and wherein said vision system receives hypotheses definition and view properties and conducts view transformations to generate transformed localization. - View Dependent Claims (17, 18, 19, 20)
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Specification