Vehicle vision system with lateral control algorithm for lane keeping

• US 10,315,651 B2
• Filed: 10/12/2016
• Issued: 06/11/2019
• Est. Priority Date: 10/13/2015
• Status: Active Grant

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Inventors: Fiaschetti, John, Bhatkhande, Pranav, Mahameed, Tarig, Smid, G. Edzko
• Primary Examiner(s): Elchanti, Hussein
• Assistant Examiner(s): Berns, Michael A
• Application Number:
  US15/291,318
• Publication Number:
  US 20170101094A1
• Time in Patent Office: 972 Days
• CPC Class Codes: B60W 2050/143 Alarm means
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: B62D 15/025 Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation B62D1/28 takes precedence
• CPC Class Codes: B62D 15/029 Steering assistants using warnings or proposing actions to the driver without influencing the steering system
• 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

Abstract

A lane keeping assist system of a vehicle includes a camera and control having an image processor that processes image data captured by the camera to determine a lane boundary of a lane of a road traveled by the vehicle. The control establishes a virtual boundary line at an initial location relative to the determined lane boundary, with the initial location of the virtual boundary line at or inboard of the determined lane boundary. The control, responsive to a lateral speed of the vehicle relative to the determined lane boundary, laterally adjusts the virtual boundary line relative to the determined lane boundary. Responsive to a determination that the vehicle, when moving towards the determined lane boundary, would cross the virtual boundary line, the control at least one of (i) generates an alert to the driver of the vehicle and (ii) controls a steering system of the vehicle.

Claims

1. A vehicular lane keeping assist system, said lane keeping assist system comprising:

a camera configured to be disposed at a vehicle equipped with said lane keeping assist system so as to have a forward field of view exterior of the equipped vehicle;

a control comprising an image processor that processes image data captured by said camera when said camera is disposed at the vehicle to determine a lane boundary of a lane of a road traveled by the equipped vehicle;

wherein said control establishes a virtual boundary line at an initial location relative to the determined lane boundary, and wherein the initial location of the virtual boundary line is at or inboard of the determined lane boundary;

wherein said control, responsive to a lateral speed of the equipped vehicle relative to the determined lane boundary, laterally adjusts the virtual boundary line relative to the determined lane boundary; and

wherein, responsive to said control determining that the equipped vehicle, when moving towards the determined lane boundary, would cross the virtual boundary line, said control at least one of (i) generates an alert to a driver of the equipped vehicle and (ii) controls steering of the equipped vehicle.

2. The lane keeping assist system of claim 1, wherein said control adjusts the location of the virtual boundary line inboard by an amount dependent on the lateral speed of the equipped vehicle relative to the determined lane boundary.

3. The lane keeping assist system of claim 1, wherein said control adjusts the location of the virtual boundary line inboard at a rate dependent on the lateral speed of the equipped vehicle relative to the determined lane boundary.

4. The lane keeping assist system of claim 1, wherein, responsive to determination that the equipped vehicle, when moving towards the determined lane boundary, would cross the virtual boundary line, said control controls steering of the equipped vehicle.

5. The lane keeping assist system of claim 4, wherein said control adjusts control of steering of the equipped vehicle responsive to a determination, via image processing by said image processor of image data captured by said camera when said camera is disposed at the vehicle, that the equipped vehicle is traveling along a curved section of road.

6. The lane keeping assist system of claim 5, wherein said control controls steering to a lesser degree responsive to a determination that the equipped vehicle is traveling along a radially inboard region of the curved section of road and controls steering to a greater degree responsive to a determination that the equipped vehicle is traveling along a radially outboard region of the curved section of road.

7. The lane keeping assist system of claim 4, wherein, responsive to determination that the equipped vehicle, when moving towards the determined lane boundary, would cross the virtual boundary line, said control controls steering of the equipped vehicle to initially rapidly steer the equipped vehicle back towards the center of the lane, and wherein, after the initial rapid steering of the equipped vehicle, said control controls steering to adjust the position of the equipped vehicle in the lane at a slower rate as compared to the initial rapid steering.

8. The lane keeping assist system of claim 4, wherein said control controls steering of the equipped vehicle with a degree of steering dependent on the lateral speed of the equipped vehicle relative to the lane boundary.

9. The lane keeping assist system of claim 1, wherein said control includes a Kalman Filter and wherein, responsive to a speed of the equipped vehicle, said control selects an appropriate Kalman Filter out of a plurality of predetermined Kalman Filters.

10. The lane keeping assist system of claim 1, wherein, responsive to determination that the equipped vehicle, when moving towards the determined lane boundary, would cross the virtual boundary line, said control generates an alert to the driver of the equipped vehicle.

11. The lane keeping assist system of claim 1, wherein said control laterally adjusts the virtual boundary line inboard relative to the determined lane boundary responsive to a determination that the equipped vehicle is moving towards the determined lane boundary.

12. The lane keeping assist system of claim 11, wherein said control laterally adjusts the virtual boundary line inboard dependent on the lateral speed of the equipped vehicle towards the determined lane boundary.

13. A vehicular lane keeping assist system, said lane keeping assist system comprising:

a camera configured to be disposed at vehicle equipped with said lane keeping assist system so as to have a forward field of view exterior of the equipped vehicle;

a control comprising an image processor that processes image data captured by said camera when said camera is disposed at the vehicle to determine a lane boundary of a lane of a road traveled by a vehicle equipped with said lane keeping assist system;

wherein said control establishes a virtual boundary line at an initial location relative to the determined lane boundary, and wherein the initial location of the virtual boundary line is at or inboard of the determined lane boundary;

wherein said control, responsive to a lateral speed of the equipped vehicle relative to the determined lane boundary, laterally adjusts the virtual boundary line relative to the determined lane boundary;

wherein said control laterally adjusts the virtual boundary line inboard relative to the determined lane boundary responsive to a determination that the equipped vehicle is moving towards the determined lane boundary;

wherein said control laterally adjusts the virtual boundary line inboard at a rate dependent on the lateral speed of the equipped vehicle towards the determined lane boundary; and

wherein, responsive to said control determining that the equipped vehicle, when moving towards the determined lane boundary, would cross the virtual boundary line, said control controls steering of the equipped vehicle.

14. The lane keeping assist system of claim 13, wherein said control adjusts the location of the virtual boundary line inboard by an amount dependent on the lateral speed of the equipped vehicle relative to the determined lane boundary.

15. The lane keeping assist system of claim 13, wherein said control adjusts control of steering of the equipped vehicle responsive to a determination, via image processing by said image processor of image data captured by said camera when said camera is disposed at the vehicle, that the equipped vehicle is traveling along a curved section of road.

16. The lane keeping assist system of claim 15, wherein said control controls steering to a lesser degree responsive to a determination that the equipped vehicle is traveling along a radially inboard region of the curved section of road and controls steering to a greater degree responsive to a determination that the equipped vehicle is traveling along a radially outboard region of the curved section of road.

17. The lane keeping assist system of claim 13, wherein said control controls steering of the equipped vehicle with a degree of steering dependent on the lateral speed of the equipped vehicle relative to the lane boundary.

18. A vehicular lane keeping assist system, said lane keeping assist system comprising:

a camera configured to be disposed at a vehicle equipped with said lane keeping assist system so as to have a forward field of view exterior of the equipped vehicle;

a control comprising an image processor that processes image data captured by said camera when said camera is disposed at the vehicle to determine a lane boundary of a lane of a road traveled by the equipped vehicle;

wherein said control establishes a virtual boundary line at an initial location relative to the determined lane boundary, and wherein the initial location of the virtual boundary line is at or inboard of the determined lane boundary;

wherein said control, responsive to a lateral speed of the equipped vehicle relative to the determined lane boundary, laterally adjusts the virtual boundary line relative to the determined lane boundary;

wherein, responsive to said control determining that the equipped vehicle, when moving towards the determined lane boundary, would cross the virtual boundary line, said control controls steering of the equipped vehicle;

wherein said control adjusts control of steering of the equipped vehicle responsive to a determination, via image processing by said image processor of image data captured by said camera when said camera is disposed at the vehicle, that the equipped vehicle is traveling along a curved section of road; and

wherein said control controls steering to a lesser degree responsive to a determination that the equipped vehicle is traveling along a radially inboard region of the curved section of road and controls steering to a greater degree responsive to a determination that the equipped vehicle is traveling along a radially outboard region of the curved section of road.

19. The lane keeping assist system of claim 18, wherein at least one of (i) said control adjusts the location of the virtual boundary line inboard by an amount dependent on the lateral speed of the equipped vehicle relative to the determined lane boundary, and (ii) said control adjusts the location of the virtual boundary line inboard at a rate dependent on the lateral speed of the equipped vehicle relative to the determined lane boundary.

20. The lane keeping assist system of claim 18, wherein said control controls steering of the equipped vehicle with a degree of steering dependent on the lateral speed of the equipped vehicle relative to the lane boundary.