DRIVER ASSISTANCE SYSTEM FOR A VEHICLE
First Claim
1. A driver assistance system for a vehicle, said driver assistance system comprising:
- a forward facing camera disposed at or in a vehicle equipped with said driver assistance system, said forward facing camera having a field of view that encompasses the road ahead of and to the left of the equipped vehicle;
wherein the equipped vehicle is a left-hand drive vehicle;
a control disposed at or in the equipped vehicle and comprising an image processor;
wherein image data captured by said forward facing camera is processed by said image processor;
wherein said image processor processes data at a processing speed of at least about 30 MIPS;
wherein said control receives vehicle data relating to the equipped vehicle via a vehicle bus of the equipped vehicle, said vehicle data including vehicle speed and vehicle steering angle;
wherein, via processing by said image processor of image data captured by said forward facing camera, said control is operable to detect a road marking on the road being traveled by the equipped vehicle and to the left of the equipped vehicle;
wherein said image processor utilizes a lane marker type recognition algorithm to classify a detected lane marker to be one of (i) a solid line, (ii) a dashed line and (iii) double lines;
wherein, responsive to classification by the lane marker type recognition algorithm of a detected road marking to be double lines, (a) said control determines ability to pass safely to the left of the equipped vehicle when the double lines are determined to be a solid line and an adjacent dashed line with the adjacent dashed line being closer to the equipped vehicle than the solid line, and (b) said control determines a non-encroachment/no-passing zone to exist to the left of the equipped vehicle when the double lines are determined to be two solid lines, and (c) said control determines a non-encroachment zone to exist to the left of the equipped vehicle when the double lines are determined to be a solid line and an adjacent dashed line with the adjacent dashed line being farther from the equipped vehicle than the solid line.
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Accused Products
Abstract
A driver assistance system for a vehicle includes a forward facing camera and a control comprising an image processor that processes image data captured by the forward facing camera. The control receives vehicle data relating to the vehicle, including vehicle speed and vehicle steering angle, via a vehicle bus of the vehicle. Via processing by the image processor of image data captured by the forward facing camera, the control is operable to detect a road marking on the road being traveled by the vehicle and to the left of the vehicle. Responsive at least in part to processing of captured image data by the image processor, the control determines a driving condition of the vehicle, such as the type of lane markers present ahead of the vehicle, a traffic condition at or ahead of the vehicle, and/or a hazardous condition at or ahead of the vehicle.
4 Citations
27 Claims
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1. A driver assistance system for a vehicle, said driver assistance system comprising:
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a forward facing camera disposed at or in a vehicle equipped with said driver assistance system, said forward facing camera having a field of view that encompasses the road ahead of and to the left of the equipped vehicle; wherein the equipped vehicle is a left-hand drive vehicle; a control disposed at or in the equipped vehicle and comprising an image processor; wherein image data captured by said forward facing camera is processed by said image processor; wherein said image processor processes data at a processing speed of at least about 30 MIPS; wherein said control receives vehicle data relating to the equipped vehicle via a vehicle bus of the equipped vehicle, said vehicle data including vehicle speed and vehicle steering angle; wherein, via processing by said image processor of image data captured by said forward facing camera, said control is operable to detect a road marking on the road being traveled by the equipped vehicle and to the left of the equipped vehicle; wherein said image processor utilizes a lane marker type recognition algorithm to classify a detected lane marker to be one of (i) a solid line, (ii) a dashed line and (iii) double lines; wherein, responsive to classification by the lane marker type recognition algorithm of a detected road marking to be double lines, (a) said control determines ability to pass safely to the left of the equipped vehicle when the double lines are determined to be a solid line and an adjacent dashed line with the adjacent dashed line being closer to the equipped vehicle than the solid line, and (b) said control determines a non-encroachment/no-passing zone to exist to the left of the equipped vehicle when the double lines are determined to be two solid lines, and (c) said control determines a non-encroachment zone to exist to the left of the equipped vehicle when the double lines are determined to be a solid line and an adjacent dashed line with the adjacent dashed line being farther from the equipped vehicle than the solid line. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A driver assistance system for a vehicle, said driver assistance system comprising:
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a forward facing camera disposed at or in a vehicle equipped with said driver assistance system, said forward facing camera having a field of view that encompasses the road ahead of and to the left of the equipped vehicle; wherein the equipped vehicle is a left-hand drive vehicle; a control disposed at or in the equipped vehicle and comprising an image processor; wherein image data captured by said forward facing camera is processed by said image processor; wherein, via processing by said image processor of image data captured by said forward facing camera, said control is operable to detect a road marking on the road being traveled by the equipped vehicle and to the left of the equipped vehicle; wherein said image processor utilizes a lane marker type recognition algorithm to classify a detected lane marker to be one of (i) a solid line, (ii) a dashed line and (iii) double lines; wherein said image processor processes image data from at least one other camera of the equipped vehicle, and wherein said other camera is located at the left side of the equipped vehicle; wherein a radar sensor is mounted at the equipped vehicle; wherein radar data from said radar sensor is received by said control; wherein, responsive to classification by the lane marker type recognition algorithm of a detected road marking, said control determines ability to pass safely to the left of the equipped vehicle; and wherein, responsive at least in part to processing of image data by said image processor, said control determines the presence of traffic approaching in a lane to the left of the equipped vehicle. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19)
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20. A driver assistance system for a vehicle, said driver assistance system comprising:
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a forward facing camera disposed at or in a vehicle equipped with said driver assistance system, said forward facing camera having a field of view that encompasses the road ahead of and to the left of the equipped vehicle; wherein the equipped vehicle is a left-hand drive vehicle; a control disposed at or in the equipped vehicle and comprising an image processor; wherein image data captured by said forward facing camera is processed by said image processor; wherein said forward facing camera views lane markers on the road being traveled by the equipped vehicle, and wherein said control, responsive to processing by said image processor of image data captured by said forward facing camera, determines a lane on the road being traveled by the equipped vehicle; wherein said image processor processes image data from at least one other camera of the equipped vehicle and wherein said other camera is located at the left side of the equipped vehicle; wherein a radar sensor is mounted at the equipped vehicle; wherein radar data from said radar sensor is received by said control; wherein, responsive at least in part to processing of image data by said image processor, said control determines ability to pass safely to the left of the equipped vehicle; wherein, responsive at least in part to processing of image data by said image processor, said control determines the presence of traffic approaching in a lane to the left of the equipped vehicle; and wherein, responsive at least in part to processing of image data by said image processor, said control determines that the equipped vehicle may be in hazard of a collision. - View Dependent Claims (21, 22, 23, 24, 25, 26, 27)
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Specification