VEHICLE CONTROL SYSTEM WITH ADAPTIVE WHEEL ANGLE CORRECTION
First Claim
1. A control system of a vehicle, said control system comprising:
- an image sensor disposed at a vehicle and having a field of view exterior and forward of the vehicle;
a control comprising an image processor operable to process image data captured by said image sensor to determine a curvature of a road being traveled by the vehicle;
wherein, responsive at least in part to processing by said image processor of captured image data, said control is operable to determine tangents at locations along the determined curvature; and
wherein, responsive to determination of the tangents, said control is operable generate an output to adjust a vehicle steering to guide the vehicle in a direction that generally corresponds to determined tangents at respective locations of the vehicle'"'"'s path of travel along the curvature of the road.
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Accused Products
Abstract
A control system of a vehicle includes an image sensor and a control having an image processor. The image sensor is disposed at the vehicle and has a field of view exterior and forward of the vehicle. The image processor is operable to process image data captured by the image sensor to determine a curvature of a road being traveled by the vehicle. Responsive at least in part to processing by the image processor of captured image data, the control is operable to determine tangents at locations along the determined curvature. Responsive to determination of the tangents, the control is operable generate an output to adjust the vehicle steering to guide the vehicle in a direction that generally corresponds to determined tangents at respective locations of the vehicle'"'"'s path of travel along the curvature of the road.
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Citations
20 Claims
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1. A control system of a vehicle, said control system comprising:
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an image sensor disposed at a vehicle and having a field of view exterior and forward of the vehicle; a control comprising an image processor operable to process image data captured by said image sensor to determine a curvature of a road being traveled by the vehicle; wherein, responsive at least in part to processing by said image processor of captured image data, said control is operable to determine tangents at locations along the determined curvature; and wherein, responsive to determination of the tangents, said control is operable generate an output to adjust a vehicle steering to guide the vehicle in a direction that generally corresponds to determined tangents at respective locations of the vehicle'"'"'s path of travel along the curvature of the road. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A control system of a vehicle, said control system comprising:
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an image sensor disposed at a vehicle and having a field of view exterior and forward of the vehicle; a control comprising an image processor operable to process image data captured by said image sensor to determine a curvature of a road being traveled by the vehicle; wherein, responsive at least in part to processing by said image processor of captured image data, said control is operable to determine tangents at locations along the determined curvature; wherein said control generates the output at least in part responsive to at least one of a vehicle yaw rate, a vehicle velocity and a vehicle lateral acceleration; wherein said control, responsive at least in part to processing by said image processor of captured image data, determines an end of the curvature of the road where the road straightens; wherein, responsive to determination of the tangents, said control is operable generate an output to adjust a vehicle steering to guide the vehicle in a direction that generally corresponds to determined tangents at respective locations of the vehicle'"'"'s path of travel along the curvature of the road; and wherein said control, responsive to a determination that the vehicle is at the end of the curvature of the road, adjusts a wheel angle of the vehicle such that the vehicle is parallel to a tangent of the road at the end of the curvature of the road. - View Dependent Claims (14, 15, 16, 17)
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18. A control system of a vehicle, said control system comprising:
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an image sensor disposed at a vehicle and having a field of view exterior and forward of the vehicle; a control comprising an image processor operable to process image data captured by said image sensor to determine a curvature of a road being traveled by the vehicle; wherein, responsive at least in part to processing by said image processor of captured image data, said control is operable to determine tangents at locations along the determined curvature; wherein said control, responsive at least in part to processing by said image processor of captured image data, determines an end of the curvature of the road where the road straightens; wherein, responsive to determination of the tangents, said control is operable generate an output to adjust a vehicle steering to guide the vehicle in a direction that generally corresponds to determined tangents at respective locations of the vehicle'"'"'s path of travel along the curvature of the road; wherein said control comprises an algorithm that adjusts a wheel angle of a front wheel the vehicle such that the vehicle front wheel is generally parallel to the tangent of the road curvature; and wherein said control, responsive to a determination that the vehicle is at the end of the curvature of the road, adjusts a wheel angle of the vehicle such that the vehicle is parallel to a tangent of the road at the end of the curvature of the road. - View Dependent Claims (19, 20)
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Specification