Vehicular control system

• US 10,462,426 B2
• Filed: 05/16/2019
• Issued: 10/29/2019
• Est. Priority Date: 04/15/2004
• Status: Active Grant

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Inventors: Schofield, Kenneth, Lynam, Niall R.
• Primary Examiner(s): Azarian, Seyed H
• Application Number:
  US16/413,688
• Publication Number:
  US 20190273896A1
• Time in Patent Office: 166 Days
• Field of Search: 382100, 382103-107, 382122, 382154, 382162, 382168, 382173, 382181, 382199, 382220, 382224, 382232, 382254, 382274, 382276, 382285-295, 382305, 382312, 3404255, 340435, 348148, 348149, 359601
• CPC Class Codes: B60K 2360/143 Touch sensitive instrument input devices
• CPC Class Codes: B60K 2360/148 Instrument input by voice
• CPC Class Codes: B60K 2360/21 using cameras
• CPC Class Codes: B60K 2360/27 using semi-transparent optical elements
• CPC Class Codes: B60K 2360/331 Electroluminescent elements
• CPC Class Codes: B60K 2360/334 Projection means
• CPC Class Codes: B60K 2360/34 Backlit symbols
• CPC Class Codes: B60K 2360/589 Wireless data transfers
• CPC Class Codes: B60K 2360/777 on or in sun visors
• CPC Class Codes: B60K 35/10 Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
• CPC Class Codes: B60K 35/22 Display screens
• CPC Class Codes: B60K 35/60 Instruments characterised by their location or relative disposition in or on vehicles arrangements of lighting devices on dashboards B60Q3/10
• CPC Class Codes: B60K 35/81 for controlling displays
• CPC Class Codes: B60K 35/85 Arrangements for transferring vehicle- or driver-related data
• CPC Class Codes: B60Q 1/08 automatically
• CPC Class Codes: B60Q 2300/42 oncoming vehicle
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: B60R 1/001 integrated in the windows, e.g. Fresnel lenses
• CPC Class Codes: B60R 1/04 mounted inside vehicle B60R1/025, B60R1/08 take precedence
• CPC Class Codes: B60R 1/12 Mirror assemblies combined with other articles, e.g. clocks
• CPC Class Codes: B60R 1/24 : in front of the vehicle
• CPC Class Codes: B60R 1/26 : to the rear of the vehicle
• CPC Class Codes: B60R 11/04 : Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
• CPC Class Codes: B60R 2001/1215 : with information displays
• CPC Class Codes: B60R 2001/1253 : with cameras, video cameras or video screens
• CPC Class Codes: B60R 2011/0026 : Windows, e.g. windscreen
• CPC Class Codes: B60R 2300/205 : using a head-up display
• CPC Class Codes: B60R 2300/207 : using multi-purpose displays, e.g. camera image and navigation or video on same display
• CPC Class Codes: B60R 2300/30 : characterised by the type of image processing
• CPC Class Codes: B60R 2300/301 : combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
• 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 2300/804 : for lane monitoring
• CPC Class Codes: B60R 2300/8093 : for obstacle warning
• CPC Class Codes: B60W 2050/143 : Alarm means
• CPC Class Codes: B60W 2050/146 : Display means
• CPC Class Codes: B60W 30/143 : Speed control B60W30/16 takes precedence
• CPC Class Codes: B60W 30/18 : Propelling the vehicle
• CPC Class Codes: B60W 50/14 : Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: B60W 50/16 : Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
• CPC Class Codes: G06T 7/20 : Analysis of motion motion estimation for coding, decoding, compressing or decompressing digital video signals H04N19/43, H04N19/51
• CPC Class Codes: G06V 10/147 : Details of sensors, e.g. sensor lenses fingerprint or palmprint sensors G06V40/13; vascular sensors G06V40/145; eye sensors G06V40/19
• 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: G06V 20/582 : of traffic signs
• CPC Class Codes: G06V 20/584 : of vehicle lights or traffic lights
• 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 1/166 : 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
• CPC Class Codes: H04N 23/54 : Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
• CPC Class Codes: H04N 7/18 : Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
• CPC Class Codes: H04N 7/183 : for receiving images from a single remote source

Abstract

A vehicular control system includes a forward viewing camera disposed at an in-cabin side of a windshield of a vehicle and viewing forward of the vehicle. Road curvature of a road along which the vehicle is traveling is determined responsive at least in part to processing by an image processor of image data captured by the camera. Responsive at least in part to processing of captured image data, a traffic lane of the road along which the vehicle is traveling is determined. Responsive at least in part to processing of captured image data, another vehicle present on the road and forward of the vehicle may be detected. Responsive at least in part to processing of captured image data, the system may determine that the detected other vehicle is travelling in a traffic lane to the left of the traffic lane along which the vehicle is traveling.

Claims

1. A vehicular control system, said vehicular control system comprising:

a forward viewing camera having a field of view forward of a vehicle equipped with said vehicular control system and in a direction of forward travel of the equipped vehicle, wherein said forward viewing camera is operable to capture image data;

wherein said forward viewing camera is disposed at an in-cabin side of a windshield of the equipped vehicle, said forward viewing camera viewing forward of the equipped vehicle through the windshield of the equipped vehicle;

an image processor operable to process image data captured by said forward viewing camera;

wherein road curvature of a road along which the equipped vehicle is traveling is determined responsive at least in part to processing by said image processor of image data captured by said forward viewing camera;

wherein, responsive at least in part to processing by said image processor of image data captured by said forward viewing camera, a traffic lane of the road along which the equipped vehicle is traveling is determined;

wherein, responsive at least in part to processing by said image processor of image data captured by said forward viewing camera, another vehicle present on the road along which the equipped vehicle is traveling and forward of the equipped vehicle is detected;

wherein, responsive at least in part to processing by said image processor of image data captured by said forward viewing camera, said vehicular control system determines that the detected other vehicle is travelling in a traffic lane to the left of the determined traffic lane along which the equipped vehicle is traveling;

wherein, during nighttime driving, a light beam emanating from a headlamp disposed at a left side front portion of the equipped vehicle is adjusted in a manner that limits directing beam light towards the detected other vehicle;

wherein adjustment of the light beam emanating from the headlamp disposed at the left side front portion of the equipped vehicle to limit directing beam light towards the detected other vehicle is independent of adjustment of a light beam emanating from a headlamp disposed at a right side front portion of the equipped vehicle; and

a display that displays information to a driver of the equipped vehicle responsive to processing of image data captured by said forward viewing camera.

2. The vehicular control system of claim 1, wherein said forward viewing camera comprises a CMOS imaging array sensor and a lens.

3. The vehicular control system of claim 2, wherein said forward viewing camera is housed in a windshield electronics module disposed at the windshield of the equipped vehicle.

4. The vehicular control system of claim 1, wherein, responsive at least in part to processing by said image processor of image data captured by said forward viewing camera, a spectral characteristic of an object present in the forward field of view of said forward viewing camera is determined.

5. The vehicular control system of claim 1, wherein, responsive at least in part to processing by said image processor of image data captured by said forward viewing camera, location of an object present in the forward field of view of said forward viewing camera is determined.

6. The vehicular control system of claim 1, wherein, responsive at least in part to processing by said image processor of image data captured by said forward viewing camera, a geometric shape of an object present in the forward field of view of said forward viewing camera is determined.

7. The vehicular control system of claim 1, wherein, responsive at least in part to processing by said image processor of image data captured by said forward viewing camera, a road shoulder of the road along which the equipped vehicle is traveling is detected.

8. The vehicular control system of claim 1, wherein, responsive at least in part to processing by said image processor of image data captured by said forward viewing camera, a curb of the road along which the equipped vehicle is traveling is detected.

9. The vehicular control system of claim 1, wherein, responsive at least in part to processing by said image processor of image data captured by said forward viewing camera, lane markers on the road along which the equipped vehicle is traveling are detected.

10. The vehicular control system of claim 1, wherein, responsive at least in part to processing by said image processor of image data captured by said forward viewing camera, speed of the equipped vehicle is controlled by a speed control system of the equipped vehicle for an adaptive cruise control system of the equipped vehicle.

11. The vehicular control system of claim 1, wherein, responsive at least in part to processing by said image processor of image data captured by said forward viewing camera, a traffic sign is detected ahead of the equipped vehicle on the road being travelled by the equipped vehicle.

12. The vehicular control system of claim 11, wherein the traffic sign comprises a speed control sign for a portion of the road being travelled by the equipped vehicle.

13. The vehicular control system of claim 12, wherein a speed control system of the equipped vehicle controls speed of the equipped vehicle to be at or below a speed level indicated on the speed control sign.

14. The vehicular control system of claim 11, wherein the traffic sign comprises a stop sign ahead of the equipped vehicle on the road the equipped vehicle is travelling along.

15. The vehicular control system of claim 1, wherein the light beam emanating from the headlamp disposed at the left side front portion of the equipped vehicle comprises a high beam.

16. The vehicular control system of claim 1, wherein, responsive at least in part to processing by said image processor of image data captured by said forward viewing camera, a character present in the forward field of view of said forward viewing camera is determined.

17. The vehicular control system of claim 16, wherein, responsive at least in part to processing by said image processor of image data captured by said forward viewing camera, a road shoulder of the road along which the equipped vehicle is traveling is detected.

18. The vehicular control system of claim 16, wherein, responsive at least in part to processing by said image processor of image data captured by said forward viewing camera, a curb of the road along which the equipped vehicle is traveling is detected.

19. The vehicular control system of claim 1, wherein said forward viewing camera comprises a CMOS imaging array sensor and a lens, and wherein, responsive at least in part to processing by said image processor of image data captured by said forward viewing camera, speed of the equipped vehicle is controlled by a speed control system of the equipped vehicle.

20. The vehicular control system of claim 19, wherein, responsive at least in part to processing by said image processor of image data captured by said forward viewing camera, lane markers on the road along which the equipped vehicle is traveling are detected and a curb of the road along which the equipped vehicle is traveling is detected and a road shoulder of the road along which the equipped vehicle is traveling is detected.

21. The vehicular control system of claim 19, wherein said forward viewing camera is housed in a windshield electronics module disposed at the windshield of the equipped vehicle, said windshield electronics module housing said image processor.

22. The vehicular control system of claim 21, wherein, responsive at least in part to processing by said image processor of image data captured by said forward viewing camera, lane markers on the road along which the equipped vehicle is traveling are detected.

23. The vehicular control system of claim 1, wherein the detected other vehicle travelling in a traffic lane to the left of the determined traffic lane along which the equipped vehicle is traveling is determined during nighttime to be an oncoming other vehicle at least in part via processing by said image processor of image data captured by said forward viewing camera detecting illuminated headlights of the other vehicle.

24. The vehicular control system of claim 1, wherein the detected other vehicle travelling in a traffic lane to the left of the determined traffic lane along which the equipped vehicle is traveling is determined during nighttime to not be an oncoming other vehicle at least in part via processing by said image processor of image data captured by said forward viewing camera detecting illuminated taillights of the other vehicle.

25. A vehicular control system, said vehicular control system comprising:

a forward viewing camera having a field of view forward of a vehicle equipped with said vehicular control system and in a direction of forward travel of the equipped vehicle, wherein said forward viewing camera is operable to capture image data;

wherein said forward viewing camera is disposed at an in-cabin side of a windshield of the equipped vehicle, said forward viewing camera viewing forward of the equipped vehicle through the windshield of the equipped vehicle;

wherein said forward viewing camera is housed in a windshield electronics module;

wherein said forward viewing camera comprises a CMOS imaging array sensor and a lens;

an image processor operable to process image data captured by said forward viewing camera;

wherein road curvature of a road along which the equipped vehicle is traveling is determined responsive at least in part to processing by said image processor of image data captured by said forward viewing camera;

wherein, responsive at least in part to processing by said image processor of image data captured by said forward viewing camera, a traffic lane of the road along which the equipped vehicle is traveling is determined;

wherein, responsive at least in part to processing by said image processor of image data captured by said forward viewing camera, another vehicle present on the road along which the equipped vehicle is traveling and forward of the equipped vehicle is detected;

wherein, responsive at least in part to processing by said image processor of image data captured by said forward viewing camera, said vehicular control system determines that the detected other vehicle is travelling in a traffic lane to the left of the determined traffic lane along which the equipped vehicle is traveling;

wherein, responsive at least in part to processing by said image processor of image data captured by said forward viewing camera, speed of the equipped vehicle is controlled by a speed control system of the equipped vehicle when the equipped vehicle is driving around a curve of the road along which the equipped vehicle is traveling; and

a display that displays information to a driver of the equipped vehicle responsive to processing of image data captured by said forward viewing camera.

26. The vehicular control system of claim 25, wherein, responsive at least in part to processing by said image processor of image data captured by said forward viewing camera, a road shoulder of the road along which the equipped vehicle is traveling is detected.

27. The vehicular control system of claim 25, wherein, responsive at least in part to processing by said image processor of image data captured by said forward viewing camera, a curb of the road along which the equipped vehicle is traveling is detected.

28. The vehicular control system of claim 25, wherein, responsive at least in part to processing by said image processor of image data captured by said forward viewing camera, lane markers on the road along which the equipped vehicle is traveling are detected.

29. The vehicular control system of claim 25, wherein, responsive at least in part to processing by said image processor of image data captured by said forward viewing camera, speed of the equipped vehicle is controlled by the speed control system of the equipped vehicle for an adaptive cruise control system of the equipped vehicle.

30. The vehicular control system of claim 25, wherein, responsive at least in part to processing by said image processor of image data captured by said forward viewing camera, a traffic sign is detected ahead of the equipped vehicle on the road being travelled by the equipped vehicle.

31. The vehicular control system of claim 30, wherein the traffic sign comprises a speed control sign for a portion of the road being travelled by the equipped vehicle.

32. The vehicular control system of claim 31, wherein the speed control system of the equipped vehicle controls speed of the equipped vehicle to be at or below a speed level indicated on the speed control sign.

33. The vehicular control system of claim 30, wherein the traffic sign comprises a stop sign ahead of the equipped vehicle on the road the equipped vehicle is travelling along.

34. The vehicular control system of claim 25, wherein, responsive at least in part to processing by said image processor of image data captured by said forward viewing camera, a character present in the forward field of view of said forward viewing camera is determined.

35. The vehicular control system of claim 25, wherein said windshield electronics module houses said image processor.

36. The vehicular control system of claim 35, wherein, responsive at least in part to processing by said image processor of image data captured by said forward viewing camera, lane markers on the road along which the equipped vehicle is traveling are detected and a curb of the road along which the equipped vehicle is traveling is detected and a road shoulder of the road along which the equipped vehicle is traveling is detected.

37. The vehicular control system of claim 25, wherein, during nighttime driving, a light beam emanating from a headlamp disposed at a left side front portion of the equipped vehicle is adjusted in a manner that limits directing beam light towards the detected other vehicle.

38. The vehicular control system of claim 37, wherein the detected other vehicle travelling in a traffic lane to the left of the determined traffic lane along which the equipped vehicle is traveling is determined during nighttime to be an oncoming other vehicle at least in part via processing by said image processor of image data captured by said forward viewing camera detecting illuminated headlights of the other vehicle.

39. The vehicular control system of claim 38, wherein adjustment of the light beam emanating from the headlamp disposed at the left side front portion of the equipped vehicle to limit directing beam light towards the detected other vehicle is independent of adjustment of a light beam emanating from a headlamp disposed at a right side front portion of the equipped vehicle.

40. The vehicular control system of claim 38, wherein the light beam emanating from the headlamp disposed at the left side front portion of the equipped vehicle comprises a high beam.

41. The vehicular control system of claim 37, wherein the detected other vehicle travelling in a traffic lane to the left of the determined traffic lane along which the equipped vehicle is traveling is determined during nighttime to not be an oncoming other vehicle at least in part via processing by said image processor of image data captured by said forward viewing camera detecting illuminated taillights of the other vehicle.

42. The vehicular control system of claim 41, wherein adjustment of the light beam emanating from the headlamp disposed at the left side front portion of the equipped vehicle to limit directing beam light towards the detected other vehicle is independent of adjustment of a light beam emanating from a headlamp disposed at a right side front portion of the equipped vehicle.

43. The vehicular control system of claim 41, wherein the light beam emanating from the headlamp disposed at the left side front portion of the equipped vehicle comprises a high beam.

44. The vehicular control system of claim 25, wherein, responsive at least in part to processing by said image processor of image data captured by said forward viewing camera, a spectral characteristic of an object present in the forward field of view of said forward viewing camera is determined.

45. The vehicular control system of claim 25, wherein, responsive at least in part to processing by said image processor of image data captured by said forward viewing camera, location of an object present in the forward field of view of said forward viewing camera is determined.

46. The vehicular control system of claim 25, wherein, responsive at least in part to processing by said image processor of image data captured by said forward viewing camera, a geometric shape of an object present in the forward field of view of said forward viewing camera is determined.

47. A vehicular control system, said vehicular control system comprising:

a forward viewing camera having a field of view forward of a vehicle equipped with said vehicular control system and in a direction of forward travel of the equipped vehicle, wherein said forward viewing camera is operable to capture image data;

wherein said forward viewing camera is disposed at an in-cabin side of a windshield of the equipped vehicle, said forward viewing camera viewing forward of the equipped vehicle through the windshield of the equipped vehicle;

wherein said forward viewing camera is housed in a windshield electronics module;

wherein said forward viewing camera comprises a CMOS imaging array sensor and a lens;

an image processor operable to process image data captured by said forward viewing camera;

wherein said windshield electronics module houses said image processor;

wherein road curvature of a road along which the equipped vehicle is traveling is determined responsive at least in part to processing by said image processor of image data captured by said forward viewing camera;

wherein, responsive at least in part to processing by said image processor of image data captured by said forward viewing camera, a traffic lane of the road along which the equipped vehicle is traveling is determined; and

wherein, responsive at least in part to processing by said image processor of image data captured by said forward viewing camera, a traffic sign is detected ahead of the equipped vehicle on the road being travelled by the equipped vehicle;

wherein the traffic sign comprises a speed control sign for a portion of the road being travelled by the equipped vehicle; and

a display that displays information to a driver of the equipped vehicle responsive to processing of image data captured by said forward viewing camera.

48. The vehicular control system of claim 47, wherein a speed control system of the equipped vehicle controls speed of the equipped vehicle to be at or below a speed level indicated on the speed control sign.

49. The vehicular control system of claim 47, wherein the traffic sign comprises a stop sign ahead of the equipped vehicle on the road the equipped vehicle is travelling along.

50. The vehicular control system of claim 47, wherein, responsive at least in part to processing by said image processor of image data captured by said forward viewing camera, another vehicle present on the road along which the equipped vehicle is traveling and forward of the equipped vehicle is detected.

51. The vehicular control system of claim 50, wherein, during nighttime driving, a light beam emanating from a headlamp disposed at a left side front portion of the equipped vehicle is adjusted in a manner that limits directing beam light towards the detected other vehicle.

52. The vehicular control system of claim 51, wherein, responsive at least in part to processing by said image processor of image data captured by said forward viewing camera, said vehicular control system determines that the detected other vehicle is travelling in a traffic lane to the left of the determined traffic lane along which the equipped vehicle is traveling.

53. The vehicular control system of claim 52, wherein the detected other vehicle travelling in the traffic lane to the left of the determined traffic lane along which the equipped vehicle is traveling is determined during nighttime to be an oncoming other vehicle at least in part via processing by said image processor of image data captured by said forward viewing camera detecting illuminated headlights of the other vehicle.

54. The vehicular control system of claim 53, wherein adjustment of the light beam emanating from the headlamp disposed at the left side front portion of the equipped vehicle to limit directing beam light towards the detected other vehicle is independent of adjustment of a light beam emanating from a headlamp disposed at a right side front portion of the equipped vehicle.

55. The vehicular control system of claim 53, wherein the light beam emanating from the headlamp disposed at the left side front portion of the equipped vehicle comprises a high beam.

56. The vehicular control system of claim 51, wherein the detected other vehicle travelling in the traffic lane to the left of the determined traffic lane along which the equipped vehicle is traveling is determined during nighttime to not be an oncoming other vehicle at least in part via processing by said image processor of image data captured by said forward viewing camera detecting illuminated taillights of the other vehicle.

57. The vehicular control system of claim 56, wherein adjustment of the light beam emanating from the headlamp disposed at the left side front portion of the equipped vehicle to limit directing beam light towards the detected other vehicle is independent of adjustment of a light beam emanating from a headlamp disposed at a right side front portion of the equipped vehicle.

58. The vehicular control system of claim 56, wherein the light beam emanating from the headlamp disposed at the left side front portion of the equipped vehicle comprises a high beam.

59. The vehicular control system of claim 47, wherein, responsive at least in part to processing by said image processor of image data captured by said forward viewing camera, a spectral characteristic of an object present in the forward field of view of said forward viewing camera is determined.

60. The vehicular control system of claim 47, wherein, responsive at least in part to processing by said image processor of image data captured by said forward viewing camera, location of an object present in the forward field of view of said forward viewing camera is determined.

61. The vehicular control system of claim 47, wherein, responsive at least in part to processing by said image processor of image data captured by said forward viewing camera, a road shoulder of the road along which the equipped vehicle is traveling is detected.

62. The vehicular control system of claim 47, wherein, responsive at least in part to processing by said image processor of image data captured by said forward viewing camera, a curb of the road along which the equipped vehicle is traveling is detected.

63. The vehicular control system of claim 47, wherein, responsive at least in part to processing by said image processor of image data captured by said forward viewing camera, lane markers on the road along which the equipped vehicle is traveling are detected.

64. The vehicular control system of claim 47, wherein, responsive at least in part to processing by said image processor of image data captured by said forward viewing camera, lane markers on the road along which the equipped vehicle is traveling are detected and a curb of the road along which the equipped vehicle is traveling is detected and a road shoulder of the road along which the equipped vehicle is traveling is detected.

65. The vehicular control system of claim 47, wherein, responsive at least in part to processing by said image processor of image data captured by said forward viewing camera, speed of the equipped vehicle is controlled by a speed control system of the equipped vehicle for an adaptive cruise control system of the equipped vehicle.