DRIVER ASSISTANCE SYSTEM WITH PATH CLEARANCE DETERMINATION

• US 20160171892A1
• Filed: 02/22/2016
• Published: 06/16/2016
• Est. Priority Date: 02/24/2012
• Status: Active Grant

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Inventors: Gieseke, Achim
• Granted Patent: US 10,147,323 B2
• Time in Patent Office: Days
• CPC Class Codes: B60K 28/08 responsive to conditions relating to the cargo, e.g. overload
• CPC Class Codes: B60R 2300/8093 for obstacle warning
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• 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: G08G 1/04 using optical or ultrasonic detectors
• CPC Class Codes: G08G 1/096708 where the received information might be used to generate an automatic action on the vehicle control
• CPC Class Codes: G08G 1/096766 where the system is characterised by the origin of the information transmission
• CPC Class Codes: G08G 1/165 for passive traffic, e.g. including static obstacles, trees

Abstract

A driver assistance system for a vehicle includes at least one camera disposed at the vehicle and having an exterior field of view at least in a direction of forward travel of the vehicle. A control includes an image processor operable to process image data captured by the camera. At least in part responsive to image processing of captured image data, the control determines a projected driving path of the vehicle and the width thereof. At least in part responsive to image processing of captured image data, the control detects an object that is ahead of the vehicle and determines the detected object'"'"'s location in the camera'"'"'s exterior field of view. Responsive to the determined width of the projected driving path and to the determined location of the detected object, the control is operable to determine if there is sufficient clearance for the vehicle to pass the detected object.

Claims

1. A driver assistance system for a vehicle, said driver assistance system comprising:

at least one camera disposed at a vehicle and having an exterior field of view at least in a direction of forward travel of the vehicle, wherein said at least one camera is operable to capture image data;

a control comprising an image processor operable to process image data captured by said at least one camera;

wherein, at least in part responsive to image processing by said image processor of image data captured by said at least one camera, said control determines a projected driving path of the vehicle and the width thereof;

wherein, at least in part responsive to image processing by said image processor of image data captured by said at least one camera, said control detects an object that is ahead of the vehicle and determines the detected object'"'"'s location in the exterior field of view of said at least one camera;

wherein, responsive to the determined width of the projected driving path and to the determined location of the detected object in the exterior field of view of said at least one camera, said control is operable to determine if there is sufficient clearance for the vehicle to pass the detected object; and

wherein, responsive to determination that there is not sufficient clearance for the vehicle to pass the detected object, said driver assistance system at least one of (i) generates an alert to a driver of the vehicle and (ii) controls a system of the vehicle.

2. The driver assistance system of claim 1, wherein said at least one camera comprises a forward facing camera having a field of view in a forward direction of travel of the vehicle through a windshield of the vehicle.

3. The driver assistance system of claim 2, wherein, responsive to image processing by said image processor of captured image data, said driver assistance system provides at least one of (i) control of the headlamps of the vehicle responsive to detection of headlamps of other vehicles in the field of view of said camera, (ii) lane tracking and (iii) traffic sign detection.

4. The driver assistance system of claim 1, wherein said at least one camera is part of a forward facing imaging system of the vehicle that, responsive to image processing by said image processor of captured image data, provides multiple functions.

5. The driver assistance system of claim 4, wherein the multiple functions at least include (i) control of the headlamps of the vehicle responsive to detection of headlamps of other vehicles in the field of view of said camera and (ii) lane tracking.

6. The driver assistance system of claim 1, wherein, at least in part responsive to image processing by said image processor of image data captured by said at least one camera, said control detects two objects that are ahead of the vehicle and at or near opposite sides of the projected driving path.

7. The driver assistance system of claim 6, wherein, at least in part responsive to image processing by said image processor of image data captured by said at least one camera, said control (i) determines a lateral dimension between the detected objects and (ii) determines if there is sufficient clearance for the vehicle to pass between the detected objects by subtracting the width of the projected driving path from the determined lateral dimension between the detected objects.

8. The driver assistance system of claim 1, wherein the projected driving path is projected at least in part responsive to a current steering angle of the vehicle.

9. The driver assistance system of claim 1, wherein the projected driving path is projected at least in part responsive to a current direction of travel of the vehicle.

10. The driver assistance system of claim 1, wherein the projected driving path is projected at least in part responsive to a navigation system of the vehicle.

11. The driver assistance system of claim 1, wherein the projected driving path is projected at least in part responsive to a path provided by a remote provider.

12. The driver assistance system of claim 1, wherein, responsive to determination that there is not sufficient clearance for the vehicle to pass the detected object, said driver assistance system controls at least one of (i) a steering system of the vehicle and (ii) a braking system of the vehicle.

13. The driver assistance system of claim 1, wherein, responsive to determination that there is not sufficient clearance for the vehicle to pass the detected object, said driver assistance system determines a clearance path for the vehicle to pass the detected object.

14. The driver assistance system of claim 13, wherein said control is operable to steer the vehicle along the determined clearance path.

15. The driver assistance system of claim 13, wherein, responsive to determination that there is not sufficient clearance for the vehicle to pass the detected object, said control controls braking of the vehicle.

16. The driver assistance system of claim 1, wherein said control is operable to control the steering of the vehicle for the vehicle to pass the detected object.

17. The driver assistance system of claim 1, wherein, responsive to determination that there is not sufficient clearance for the vehicle to pass the detected object, said driver assistance system generates a graphic overlay that overlays a displayed image displayed at a display screen viewable by the driver of the vehicle to visually alert the driver of the vehicle of insufficient clearance.

18. The driver assistance system of claim 1, wherein, responsive to determination that there is not sufficient clearance for the vehicle to pass the detected object, said driver assistance system generates an alert to the driver of the vehicle.

19. The driver assistance system of claim 18, wherein said alert comprises at least one of (i) an audible warning, (ii) a haptic warning and (iii) a visual warning.

20. A driver assistance system for a vehicle, said driver assistance system comprising:

at least one camera disposed at a vehicle and having an exterior field of view at least in a direction of forward travel of the vehicle, wherein said at least one camera is operable to capture image data;

a control comprising an image processor operable to process image data captured by said at least one camera;

wherein, at least in part responsive to image processing by said image processor of image data captured by said at least one camera, said control determines a projected driving path of the vehicle and the width thereof;

wherein, at least in part responsive to image processing by said image processor of image data captured by said at least one camera, said control detects an object that is ahead of the vehicle and determines the object'"'"'s location in the exterior field of view of said at least one camera;

wherein, responsive to the determined width of the projected driving path and the determined location of the detected object in the exterior field of view of said at least one camera, said control is operable to determine if there is sufficient clearance for the vehicle to pass the detected object;

wherein, responsive to determination that there is not sufficient clearance for the vehicle to pass the detected object, said driver assistance system controls at least one of (i) a steering system of the vehicle and (ii) a braking system of the vehicle; and

wherein said image processor of said control processes image data captured by said at least one camera for multiple functions.

21. The driver assistance system of claim 20, wherein said camera is part of a forward facing imaging system of the vehicle that, responsive to image processing by said image processor of captured image data, provides at least one of (i) control of the headlamps of the vehicle responsive to detection of headlamps of other vehicles in the field of view of said camera, (ii) lane tracking and (iii) traffic sign detection.

22. The driver assistance system of claim 20, wherein, at least in part responsive to image processing by said image processor of image data captured by said at least one camera, said control (i) detects two objects that are ahead of the vehicle and at or near opposite sides of the projected driving path, (ii) determines a lateral dimension between the detected objects and (iii) determines if there is sufficient clearance for the vehicle to pass between the detected objects.

23. The driver assistance system of claim 20, wherein the projected driving path is projected at least in part responsive to at least one of (i) a current steering angle of the vehicle, (ii) a current direction of travel of the vehicle, (iii) a navigation system of the vehicle and (iv) a path provided by a remote provider.

24. The driver assistance system of claim 20, wherein, responsive to determination that there is not sufficient clearance for the vehicle to pass the detected object, said driver assistance system determines a clearance path for the vehicle to pass the detected object.

25. The driver assistance system of claim 24, wherein at least one of (i) said control is operable to steer the vehicle along the determined clearance path and (ii) said control controls braking of the vehicle responsive to determination that there is not sufficient clearance for the vehicle to pass the detected object.

26. The driver assistance system of claim 20, wherein, responsive to determination that there is not sufficient clearance for the vehicle to pass the detected object, said driver assistance system generates a graphic overlay that overlays a displayed image displayed at a display screen viewable by a driver of the vehicle to visually alert the driver of the vehicle of insufficient clearance.

27. A driver assistance system for a vehicle, said driver assistance system comprising:

at least one camera disposed at a vehicle and having an exterior field of view at least in a direction of forward travel of the vehicle, wherein said at least one camera is operable to capture image data;

a control comprising an image processor operable to process image data captured by said at least one camera;

wherein, at least in part responsive to image processing by said image processor of image data captured by said at least one camera, said control determines a projected driving path of the vehicle and the width thereof;

wherein, at least in part responsive to image processing by said image processor of image data captured by said at least one camera, said control (i) detects two objects that are ahead of the vehicle and at or near opposite sides of the projected driving path and (ii) determines the locations of the detected objects in the exterior field of view of said at least one camera;

wherein, at least in part responsive to image processing by said image processor of image data captured by said at least one camera, said control (i) determines a lateral dimension between the detected objects and (ii) determines if there is sufficient clearance for the vehicle to pass between the detected objects; and

wherein, responsive to determination that there is not sufficient clearance for the vehicle to pass between the detected objects, said driver assistance system at least one of (i) generates an alert to a driver of the vehicle and (ii) controls a system of the vehicle.

28. The driver assistance system of claim 27, wherein said at least one camera is part of a forward facing imaging system of the vehicle that, responsive to image processing by said image processor of captured image data, provides multiple functions, and wherein the multiple functions at least include (i) control of the headlamps of the vehicle responsive to detection of headlamps of other vehicles in the field of view of said camera and (ii) lane tracking.

29. The driver assistance system of claim 27, wherein the projected driving path is projected at least in part responsive to at least one of (i) a current steering angle of the vehicle, (ii) a current direction of travel of the vehicle, (iii) a navigation system of the vehicle and (iv) a path provided by a remote provider.

30. The driver assistance system of claim 29, wherein said control determines if there is sufficient clearance for the vehicle to pass between the detected objects by subtracting the width of the projected driving path from the determined lateral dimension between the detected objects.