VISION SYSTEM FOR VEHICLE

• US 20140362221A1
• Filed: 08/25/2014
• Published: 12/11/2014
• 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.
• Granted Patent: US 9,008,369 B2
• Time in Patent Office: Days
• US Class Current: 348/148
• 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 2370/143 Touch sensitive input devices
• CPC Class Codes: B60K 2370/148 Input by voice
• CPC Class Codes: B60K 2370/152 Displays
• CPC Class Codes: B60K 2370/21 using cameras
• CPC Class Codes: B60K 2370/27 using semi-transparent optical elements
• CPC Class Codes: B60K 2370/331 Electroluminescent elements
• CPC Class Codes: B60K 2370/334 Projection means
• CPC Class Codes: B60K 2370/34 Backlit symbols
• CPC Class Codes: B60K 2370/52 Control of displays
• CPC Class Codes: B60K 2370/589 Wireless
• CPC Class Codes: B60K 2370/777 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 vision system includes a forward facing camera at a windshield of a vehicle with a forward field of view through the vehicle windshield. The camera is operable to capture image data for a plurality of driver assistance systems of the vehicle. Responsive to processing by an image processor of captured image data, a lane of a road along which the vehicle is traveling is determined and an oncoming vehicle approaching the vehicle is detected, and the vision system determines whether a detected oncoming vehicle is in a lane to the right of the determined lane along which the vehicle is traveling or is in a lane to the left of the determined lane along which the vehicle is traveling. The at least three driver assistance systems of the vehicle includes a lane departure warning system of the vehicle and at least another driver assistance system.

Claims

1. A vision system for a vehicle, said vision system comprising:

a forward facing camera disposed at a windshield of a vehicle equipped with said vision system, said forward facing camera having a forward field of view through the windshield of the equipped vehicle;

said forward facing camera comprising a CMOS imaging array sensor and a lens;

wherein said forward facing camera is operable to capture image data for at least three driver assistance systems of the equipped vehicle;

an image processor operable to process captured image data;

wherein, responsive to processing by said image processor of captured image data, a lane of a road along which the equipped vehicle is traveling is determined;

wherein, responsive to processing by said image processor of captured image data, an oncoming vehicle approaching the equipped vehicle is detected;

wherein, responsive to processing by said image processor of captured image data, said vision system determines whether a detected oncoming vehicle is in a lane to the right of the determined lane along which the equipped vehicle is traveling or is in a lane to the left of the determined lane along which the equipped vehicle is traveling;

wherein said at least three driver assistance systems of the equipped vehicle comprises a lane departure warning system of the equipped vehicle; and

wherein said at least three driver assistance systems comprises two other driver assistance systems selected from the group consisting of (i) an intelligent headlamp control system of the equipped vehicle, (ii) a traffic sign recognition system of the equipped vehicle, (iii) an adaptive cruise control system of the equipped vehicle and (iv) an adaptive front lighting system of the equipped vehicle.

2. The vision system of claim 1, wherein, responsive to processing by said image processor of captured image data, a light beam emanating from a headlamp of the equipped vehicle is adjusted.

3. The vision system of claim 2, wherein said light beam is adjusted in a manner that limits directing beam light towards the eyes of a driver of the detected oncoming vehicle.

4. The vision system of claim 3, wherein, responsive to processing by said image processor of captured image data, lane markers of the road lane along which the equipped vehicle is traveling are detected and road curvature in front of the equipped vehicle is detected.

5. The vision system of claim 4, wherein one of said two other driver assistance systems comprises an adaptive front lighting system of the equipped vehicle and wherein, responsive to processing by said image processor of captured image data, a light beam from a headlamp of the equipped vehicle is directed so as to follow the road curvature of the road along which the equipped vehicle is travelling.

6. The vision system of claim 1, wherein captured image data is dynamically processed by said image processor.

7. The vision system of claim 6, wherein at least one of said two other driver assistance systems is selected from the group consisting of an intelligent headlamp control system of the equipped vehicle and an adaptive front lighting system of the equipped vehicle, and wherein image data captured during daytime is processed more for lane departure warning than for lighting control.

8. The vision system of claim 1, wherein, responsive to processing by said image processor of captured image data, undulations in the road being travelled by the equipped vehicle are detected.

9. The vision system of claim 8, wherein, responsive to detection of undulations, at least one of (i) a headlamp beam angle of the equipped vehicle is adjusted and (ii) a headlamp beam direction of the equipped vehicle is adjusted.

10. The vision system of claim 1, wherein one of said two other driver assistance systems comprises a traffic sign recognition system of the equipped vehicle, and wherein sign recognition is adapted to a current geographical location of the equipped vehicle, and wherein the current geographical location of the equipped vehicle is determined by a global positioning system.

11. The vision system of claim 1, wherein one of said two other driver assistance systems comprises an adaptive cruise control system of the equipped vehicle, and wherein said adaptive cruise control system reduces the speed of the equipped vehicle responsive at least in part to a detection of a curve in the road ahead of the equipped vehicle via processing by said image processor of captured image data.

12. The vision system of claim 11, wherein said adaptive cruise control system reduces the speed of the equipped vehicle to a reduced speed for traveling around the curve in the road, and wherein said adaptive cruise control system increases the speed of the equipped vehicle to above the reduced speed when the equipped vehicle is traveling along a straighter section of road after the curve in the road.

13. The vision system of claim 1, wherein, responsive to processing by said image processor of captured image data, lane markers of the road lane along which the equipped vehicle is traveling are detected, and wherein a display system of the equipped vehicle generates a heads-up display of lane markers viewable by a driver of the equipped vehicle, and wherein at least one of (i) said generated heads-up display of lane markers substantially corresponds to the detected lane markers and (ii) responsive to processing by said image processor of captured image data, said generated heads-up display is adjusted to alert the driver to a lane drift or a lane departure by the equipped vehicle.

14. A vision system for a vehicle, said vision system comprising:

a forward facing camera disposed at a windshield of a vehicle equipped with said vision system, said forward facing camera having a forward field of view through the windshield of the equipped vehicle;

said forward facing camera comprising an imaging array sensor and a lens;

wherein said forward facing camera is operable to capture image data for a plurality of driver assistance systems of the equipped vehicle;

an image processor operable to process captured image data;

wherein, responsive to processing by said image processor of captured image data, a lane of a road along which the equipped vehicle is traveling is determined;

wherein, responsive to processing by said image processor of captured image data, an oncoming vehicle approaching the equipped vehicle is detected;

wherein, responsive to processing by said image processor of captured image data, said vision system determines whether a detected oncoming vehicle is in a lane to the right of the determined lane along which the equipped vehicle is traveling or is in a lane to the left of the determined lane along which the equipped vehicle is traveling;

wherein, responsive to processing by said image processor of captured image data, lane markers of the road lane along which the equipped vehicle is traveling are detected;

wherein a display system of the equipped vehicle generates a heads-up display of lane markers viewable by a driver of the equipped vehicle; and

wherein, responsive to processing by said image processor of captured image data, said generated heads-up display is adjusted to alert the driver to a lane drift or a lane departure by the equipped vehicle.

15. The vision system of claim 14, wherein adjustment of said generated heads-up display comprises at least one of (i) flashing of displayed lane markers, (ii) color change of displayed lane markers and (iii) increase in display intensity of displayed lane markers.

16. A vision system for a vehicle, said vision system comprising:

a forward facing camera disposed at a windshield of a vehicle equipped with said vision system, said forward facing camera having a forward field of view through the windshield of the equipped vehicle;

said forward facing camera comprising an imaging array sensor and a lens;

wherein said forward facing camera is operable to capture image data for a plurality of driver assistance systems of the equipped vehicle;

an image processor operable to process captured image data;

wherein, responsive to processing by said image processor of captured image data, a lane of a road along which the equipped vehicle is traveling is determined;

wherein, responsive to processing by said image processor of captured image data, an oncoming vehicle approaching the equipped vehicle is detected;

wherein, responsive to processing by said image processor of captured image data, said vision system determines whether a detected oncoming vehicle is in a lane to the right of the determined lane along which the equipped vehicle is traveling or is in a lane to the left of the determined lane along which the equipped vehicle is traveling;

wherein one of said plurality of driver assistance systems comprises a lane departure warning system of the equipped vehicle;

wherein another of said plurality of driver assistance systems comprises a driver assistance system selected from the group consisting of (i) an intelligent headlamp control system of the equipped vehicle, (ii) a traffic sign recognition system of the equipped vehicle, (iii) an adaptive cruise control system of the equipped vehicle and (iv) an adaptive front lighting system of the equipped vehicle; and

wherein, responsive to processing by said image processor of captured image data, undulations in the road being travelled by the equipped vehicle are detected.

17. The vision system of claim 16, wherein captured image data is dynamically processed by said image processor.

18. The vision system of claim 17, wherein said another of said plurality of driver assistance systems is selected from the group consisting of an intelligent headlamp control system of the equipped vehicle and an adaptive front lighting system of the equipped vehicle, and wherein image data captured during daytime is processed more for lane departure warning than for lighting control.

19. A vision system for a vehicle, said vision system comprising:

a forward facing camera disposed at a windshield of a vehicle equipped with said vision system, said forward facing camera having a forward field of view through the windshield of the equipped vehicle;

said forward facing camera comprising an imaging array sensor and a lens;

wherein said forward facing camera is operable to capture image data for a plurality of driver assistance systems of the equipped vehicle;

an image processor operable to process captured image data;

wherein, responsive to processing by said image processor of captured image data, a lane of a road along which the equipped vehicle is traveling is determined;

wherein, responsive to processing by said image processor of captured image data, an oncoming vehicle approaching the equipped vehicle is detected;

wherein, responsive to processing by said image processor of captured image data, said vision system determines whether a detected oncoming vehicle is in a lane to the right of the determined lane along which the equipped vehicle is traveling or is in a lane to the left of the determined lane along which the equipped vehicle is traveling;

wherein, responsive to processing by said image processor of captured image data, a light beam emanating from a headlamp of the equipped vehicle is adjusted;

wherein, responsive to processing by said image processor of captured image data, lane markers of the road lane along which the equipped vehicle is traveling are detected and road curvature in front of the equipped vehicle is detected;

wherein one of said plurality of driver assistance systems comprises a lane departure warning system of the equipped vehicle; and

wherein another of said plurality of driver assistance systems comprises a driver assistance system selected from the group consisting of (i) a traffic sign recognition system of the equipped vehicle and (ii) an adaptive cruise control system of the equipped vehicle.

20. The vision system of claim 19, wherein said another of said plurality of driver assistance systems comprises a traffic sign recognition system of the equipped vehicle and wherein sign recognition is adapted to a current geographical location of the equipped vehicle and wherein the current geographical location of the equipped vehicle is determined by a global positioning system.

21. The vision system of claim 19, wherein said another of said plurality of driver assistance systems comprises an adaptive cruise control system of the equipped vehicle and wherein said adaptive cruise control system reduces the speed of the equipped vehicle responsive at least in part to a detection of a curve in the road ahead of the equipped vehicle via processing by said image processor of captured image data.

22. The vision system of claim 19, wherein, responsive to processing by said image processor of captured image data, lane markers of the road lane along which the equipped vehicle is traveling are detected, and wherein a display system of the equipped vehicle generates a heads-up display of lane markers viewable by a driver of the equipped vehicle, and wherein at least one of (i) said generated heads-up display of lane markers substantially corresponds to the detected lane markers and (ii) responsive to processing by said image processor of captured image data, said generated heads-up display is adjusted to alert the driver to a lane drift or a lane departure by the equipped vehicle.

23. The vision system of claim 19, wherein captured image data is dynamically processed by said image processor.

24. The vision system of claim 23, wherein said plurality of driver assistance systems comprises a driver assistance system selected from the group consisting of an intelligent headlamp control system of the equipped vehicle and an adaptive front lighting system of the equipped vehicle, and wherein image data captured during daytime is processed more for lane departure warning than for lighting control.

25. The vision system of claim 19, wherein, responsive to processing by said image processor of captured image data, undulations in the road being travelled by the equipped vehicle are detected.