Lane keeping system and lane centering system
First Claim
1. A lane centering system for use in a vehicle driving in a lane on a road, the lane centering system comprising:
- a camera disposed behind a windshield of a vehicle and having a field of view through the windshield and forward of the vehicle that encompasses the road ahead of the vehicle and being travelled on by the vehicle;
wherein the camera captures image data;
a controller;
wherein the controller comprises a processor that processes image data captured by the camera to detect lane delimiters on the road ahead of the vehicle;
wherein, based on processing by the processor of image data captured by the camera, the controller determines the position of a left lane delimiter on the road on a left side of the vehicle and the position of a right lane delimiter on the road on a right side of the vehicle;
wherein the controller is operable to control a steering system of the vehicle that is configured to steer the vehicle;
wherein the controller is operable to determine a target path for the vehicle based on processing by the processor of image data captured by the camera;
wherein the determined target path maintains the longitudinal centerline of the vehicle centered between the left lane delimiter and the right lane delimiter;
wherein the lane centering system is enabled responsive to at least one of (i) a user input and (ii) speed of the vehicle exceeding a threshold level; and
wherein the lane centering system is disabled when a collision avoidance system of the vehicle that determines a collision may occur has been triggered in order to permit maneuvering of the vehicle to avoid a collision without interference from the lane centering system.
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Accused Products
Abstract
A lane centering system for use in a vehicle driving in a lane on a road includes a camera and a controller. Based on processing by a processor of image data captured by the camera, the controller determines the position of a left lane delimiter on the road on a left side of the vehicle and the position of a right lane delimiter on the road on a right side of the vehicle. The controller is operable to control a steering system of the vehicle that is configured to steer the vehicle. The controller is operable to determine a target path for the vehicle based on processing by the processor of image data captured by the camera. The determined target path maintains the longitudinal centerline of the vehicle centered between the left lane delimiter and the right lane delimiter.
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Citations
26 Claims
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1. A lane centering system for use in a vehicle driving in a lane on a road, the lane centering system comprising:
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a camera disposed behind a windshield of a vehicle and having a field of view through the windshield and forward of the vehicle that encompasses the road ahead of the vehicle and being travelled on by the vehicle; wherein the camera captures image data; a controller; wherein the controller comprises a processor that processes image data captured by the camera to detect lane delimiters on the road ahead of the vehicle; wherein, based on processing by the processor of image data captured by the camera, the controller determines the position of a left lane delimiter on the road on a left side of the vehicle and the position of a right lane delimiter on the road on a right side of the vehicle; wherein the controller is operable to control a steering system of the vehicle that is configured to steer the vehicle; wherein the controller is operable to determine a target path for the vehicle based on processing by the processor of image data captured by the camera; wherein the determined target path maintains the longitudinal centerline of the vehicle centered between the left lane delimiter and the right lane delimiter; wherein the lane centering system is enabled responsive to at least one of (i) a user input and (ii) speed of the vehicle exceeding a threshold level; and wherein the lane centering system is disabled when a collision avoidance system of the vehicle that determines a collision may occur has been triggered in order to permit maneuvering of the vehicle to avoid a collision without interference from the lane centering system. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. A lane centering system for use in a vehicle driving in a lane on a road, the lane centering system comprising:
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a camera disposed behind a windshield of a vehicle and having a field of view through the windshield and forward of the vehicle that encompasses the road ahead of the vehicle and being travelled on by the vehicle; wherein the camera captures image data; a controller; wherein the controller comprises a processor that processes image data captured by the camera to detect lane delimiters on the road ahead of the vehicle; wherein, based on processing by the processor of image data captured by the camera, the controller determines the position of a left lane delimiter on the road on a left side of the vehicle and the position of a right lane delimiter on the road on a right side of the vehicle; wherein the controller is operable to control a steering system of the vehicle that is configured to steer the vehicle; wherein the controller is operable to determine a target path for the vehicle based on processing by the processor of image data captured by the camera; wherein the determined target path maintains the longitudinal centerline of the vehicle centered between the left lane delimiter and the right lane delimiter; and wherein the lane centering system is disabled responsive to operation of an adaptive cruise control system of the vehicle. - View Dependent Claims (22, 23)
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24. A lane centering system for use in a vehicle driving in a lane on a road, the lane centering system comprising:
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a camera disposed behind a windshield of a vehicle and having a field of view through the windshield and forward of the vehicle that encompasses the road ahead of the vehicle and being travelled on by the vehicle; wherein the camera captures image data; a controller; wherein the controller comprises a processor that processes image data captured by the camera to detect lane delimiters on the road ahead of the vehicle; wherein, based on processing by the processor of image data captured by the camera, the controller determines the position of a left lane delimiter on the road on a left side of the vehicle and the position of a right lane delimiter on the road on a right side of the vehicle; wherein the controller is operable to control a steering system of the vehicle that is configured to steer the vehicle; wherein the controller is operable to determine a target path for the vehicle based on processing by the processor of image data captured by the camera; wherein the determined target path maintains the longitudinal centerline of the vehicle centered between the left lane delimiter and the right lane delimiter; wherein the lane centering system is enabled responsive to at least one of (i) a user input and (ii) speed of the vehicle exceeding a threshold level; and wherein, when one of the left lane delimiter and the right lane delimiter ends while the other of the left lane delimiter and the right lane delimiter does not end, the lane centering system remains enabled for up to 3 seconds. - View Dependent Claims (25, 26)
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Specification