ROBUST VEHICULAR LATERAL CONTROL WITH FRONT AND REAR CAMERAS
First Claim
1. A method for providing lateral control of a host vehicle, said method comprising:
- providing image data from a forward-view camera onboard the host vehicle;
providing image data from a rear-view camera onboard the host vehicle;
providing data about a roadway that the host vehicle is travelling on from a digital map system;
providing data about a leading vehicle from a leading vehicle position system onboard the host vehicle, where the leading vehicle is a vehicle ahead of the host vehicle on the roadway; and
computing a steering input needed to control the host vehicle to maintain a path on the roadway using the image data from the forward-view camera and the rear-view camera and the data from the digital map system and the leading vehicle position system, and providing the steering input to a steering actuator in the host vehicle.
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Accused Products
Abstract
A method and system for closed-loop vehicle lateral control, using image data from front and rear cameras and information about a leading vehicle'"'"'s position as input. A host vehicle includes cameras at the front and rear, which can be used to detect lane boundaries such as curbs and lane stripes, among other purposes. The host vehicle also includes a digital map system and a system for sensing the location of a vehicle travelling ahead of the host vehicle. A control strategy is developed which steers the host vehicle to minimize the deviation of the host vehicle'"'"'s path from a lane reference path, where the lane reference path is computed from the lane boundaries extracted from the front and rear camera images and from the other inputs. The control strategy employs feed-forward and feedback elements, and uses a Kalman filter to estimate the host vehicle'"'"'s state variables.
44 Citations
20 Claims
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1. A method for providing lateral control of a host vehicle, said method comprising:
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providing image data from a forward-view camera onboard the host vehicle; providing image data from a rear-view camera onboard the host vehicle; providing data about a roadway that the host vehicle is travelling on from a digital map system; providing data about a leading vehicle from a leading vehicle position system onboard the host vehicle, where the leading vehicle is a vehicle ahead of the host vehicle on the roadway; and computing a steering input needed to control the host vehicle to maintain a path on the roadway using the image data from the forward-view camera and the rear-view camera and the data from the digital map system and the leading vehicle position system, and providing the steering input to a steering actuator in the host vehicle. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A method for providing lateral control of a host vehicle, said method comprising:
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providing image data from a forward-view camera onboard the host vehicle; providing image data from a rear-view camera onboard the host vehicle; providing data from vehicle dynamics sensors onboard the host vehicle; providing data about a roadway that the host vehicle is travelling on from a digital map system; providing data about a leading vehicle from a leading vehicle position system onboard the host vehicle, where the leading vehicle is a vehicle ahead of the host vehicle on the roadway; computing a steering input needed to control the host vehicle to maintain a path on the roadway using the image data from the forward-view camera and the rear-view camera and the data from the vehicle dynamics sensors, the digital map system, and the leading vehicle position system; providing the steering input to a steering actuator in the host vehicle; and estimating a dynamic response of the host vehicle. - View Dependent Claims (8, 9, 10, 11, 12, 13, 14)
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15. A system for providing lateral control of a host vehicle, said system comprising:
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a first camera for capturing images of a forward view from the host vehicle; a second camera for capturing images of a rear view from the host vehicle; a plurality of vehicle dynamics sensors onboard the host vehicle for providing data about motion of the host vehicle; a digital map for providing information about a roadway on which the host vehicle is being driven; a leading vehicle position sub-system onboard the host vehicle, said leading vehicle position sub-system providing data about the position of a leading vehicle with respect to the host vehicle; and a processor configured to receive data from the cameras, the vehicle dynamics sensors, the digital map, and the leading vehicle position sub-system, said processor computing a steering input needed to control the host vehicle to maintain a path on the roadway. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification