VEHICLE VISION SYSTEM WITH ADAPTIVE LANE MARKER DETECTION
First Claim
1. A vision system of a vehicle, said vision system comprising:
- a camera configured to be disposed at a vehicle so as to have a field of view exterior of the vehicle;
wherein said camera comprises a pixelated imaging array having a plurality of photosensing elements;
an image processor operable to process frames of image data captured by said camera;
wherein, with said camera disposed at the vehicle, said image processor is operable to determine lane markers on a road on which the vehicle is traveling;
wherein said image processor processes intensity gradient information of captured image data to determine lane markers, and wherein, responsive to processing of captured image data, said image processor is operable to detect straight or curved lane markers; and
wherein said image processor is operable to adapt the processing of lane marker image data in subsequent frames of captured image data responsive to image processing of lane marker image data in previous frames of captured image data.
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Accused Products
Abstract
A vision system of a vehicle includes a camera configured to be disposed at a vehicle so as to have a field of view exterior of the vehicle. An image processor is operable to process image data captured by the camera. The image processor is operable to determine lane markers on a road on which the vehicle is traveling. The image processor processes intensity gradient information of captured image data to determine lane markers, and, responsive to processing of captured image data, the image processor is operable to detect straight or curved lane markers. The image processor is operable to adapt the processing of lane marker image data in subsequent frames of captured image data responsive to image processing of lane marker image data in previous frames of captured image data.
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Citations
20 Claims
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1. A vision system of a vehicle, said vision system comprising:
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a camera configured to be disposed at a vehicle so as to have a field of view exterior of the vehicle; wherein said camera comprises a pixelated imaging array having a plurality of photosensing elements; an image processor operable to process frames of image data captured by said camera; wherein, with said camera disposed at the vehicle, said image processor is operable to determine lane markers on a road on which the vehicle is traveling; wherein said image processor processes intensity gradient information of captured image data to determine lane markers, and wherein, responsive to processing of captured image data, said image processor is operable to detect straight or curved lane markers; and wherein said image processor is operable to adapt the processing of lane marker image data in subsequent frames of captured image data responsive to image processing of lane marker image data in previous frames of captured image data. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A vision system of a vehicle, said vision system comprising:
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a camera configured to be disposed at a vehicle so as to have a field of view exterior of the vehicle; wherein said camera comprises a pixelated imaging array having a plurality of photosensing elements; wherein said camera comprises a wide angle lens and wherein said camera has a wide angle field of view exterior of the vehicle; an image processor operable to process frames of image data captured by said camera; wherein, with said camera disposed at the vehicle, said image processor is operable to determine lane markers on a road on which the vehicle is traveling; wherein said image processor processes intensity gradient information of captured image data to determine lane markers, and wherein, responsive to processing of captured image data, said image processor is operable to detect straight or curved lane markers; wherein said image processor is operable to adapt the processing of lane marker image data in subsequent frames of captured image data responsive to image processing of lane marker image data in previous frames of captured image data; wherein said image processor determines respective contrast values at both sides of a center region of a determined lane marker; wherein, using the determined contrast values over a plurality of angles, said image processor determines a maximum contrast value over a plurality of orientations; and wherein said system utilizes a database of contrast values for central, left and right regions for typical angles of a lane marker segment relative to the direction of travel of the vehicle, and compares the determined contrast values with database contrast values to determine the angle of a determined lane marker segment relative to the vehicle. - View Dependent Claims (14, 15, 16)
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17. A vision system of a vehicle, said vision system comprising:
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a camera configured to be disposed at a vehicle so as to have a field of view exterior of the vehicle; wherein said camera comprises a pixelated imaging array having a plurality of photosensing elements; wherein said camera comprises a wide angle lens and wherein said camera has a wide angle field of view exterior of the vehicle; an image processor operable to process frames of image data captured by said camera; wherein, with said camera disposed at the vehicle, said image processor is operable to determine lane markers on a road on which the vehicle is traveling; wherein said image processor processes intensity gradient information of captured image data to determine lane markers, and wherein, responsive to processing of captured image data, said image processor is operable to detect straight or curved lane markers; wherein said image processor is operable to adapt the processing of lane marker image data in subsequent frames of captured image data responsive to image processing of lane marker image data in previous frames of captured image data; wherein said image processor determines respective contrast values at both sides of a center region of a determined lane marker; wherein, responsive to processing of captured image data, lane marker segments are determined; and wherein a direction of lane markers on the road is derived by grouping determined lane marker segments to form lines. - View Dependent Claims (18, 19, 20)
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Specification