DRIVER ASSISTANCE SYSTEM FOR A VEHICLE
First Claim
1. A driver assistance system for a vehicle, said driver assistance system comprising:
- a vision system comprising a camera disposed at a vehicle equipped with said driver assistance system, said camera having a field of view that encompasses a road being traveled along by the equipped vehicle;
a control disposed at or in the equipped vehicle and comprising an image processor;
wherein image data captured by said camera is provided to said control and is processed by said image processor;
wherein said image processor processes data at a processing speed of at least 30 MIPS;
wherein, responsive to image processing by said image processor of image data captured by said camera, lane markers on the road being traveled along by the equipped vehicle are detected;
wherein, responsive to image processing by said image processor of image data captured by said camera, said control determines a lane being traveled by the equipped vehicle;
a sensing system operable to detect other vehicles present exterior the equipped vehicle;
wherein said sensing system comprises a radar sensor disposed at the equipped vehicle and having a field of sensing exterior of the equipped vehicle as the equipped vehicle travels along the road;
wherein radar data generated by said radar sensor is provided to said control;
wherein radar data generated by said radar sensor and image data captured by said camera are fused at said control;
wherein said control receives vehicle data relating to the equipped vehicle via a vehicle bus of the equipped vehicle; and
wherein, responsive at least in part to processing of radar data generated by said radar sensor and of image data captured by said camera, said control detects another vehicle present on the road being traveled along by the equipped vehicle and determines that the other vehicle is travelling in a next but one lane to the lane the equipped vehicle is travelling along.
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Abstract
A driver assistance system for a vehicle includes a vision system, a sensing system and a control. The vision system includes a camera and the sensing system includes a radar sensor. Image data captured by the camera is provided to the control and is processed by an image processor of the control. Responsive to image processing of captured image data, lane markers on the road being traveled along by the equipped vehicle are detected and the control determines a lane being traveled by the equipped vehicle. Radar data generated by the radar sensor is provided to the control, which receives vehicle data relating to the equipped vehicle via a vehicle bus of the equipped vehicle. Responsive at least in part to processing of generated radar data and captured image data, the control detects another vehicle present on the road being traveled along by the equipped vehicle.
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Citations
42 Claims
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1. A driver assistance system for a vehicle, said driver assistance system comprising:
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a vision system comprising a camera disposed at a vehicle equipped with said driver assistance system, said camera having a field of view that encompasses a road being traveled along by the equipped vehicle; a control disposed at or in the equipped vehicle and comprising an image processor; wherein image data captured by said camera is provided to said control and is processed by said image processor; wherein said image processor processes data at a processing speed of at least 30 MIPS; wherein, responsive to image processing by said image processor of image data captured by said camera, lane markers on the road being traveled along by the equipped vehicle are detected; wherein, responsive to image processing by said image processor of image data captured by said camera, said control determines a lane being traveled by the equipped vehicle; a sensing system operable to detect other vehicles present exterior the equipped vehicle; wherein said sensing system comprises a radar sensor disposed at the equipped vehicle and having a field of sensing exterior of the equipped vehicle as the equipped vehicle travels along the road; wherein radar data generated by said radar sensor is provided to said control; wherein radar data generated by said radar sensor and image data captured by said camera are fused at said control; wherein said control receives vehicle data relating to the equipped vehicle via a vehicle bus of the equipped vehicle; and wherein, responsive at least in part to processing of radar data generated by said radar sensor and of image data captured by said camera, said control detects another vehicle present on the road being traveled along by the equipped vehicle and determines that the other vehicle is travelling in a next but one lane to the lane the equipped vehicle is travelling along. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
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23. A driver assistance system for a vehicle, said driver assistance system comprising:
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a vision system comprising a first camera disposed at a vehicle equipped with said driver assistance system, said first camera having a field of view that encompasses a road being traveled along by the equipped vehicle; wherein said first camera comprises a forward-viewing camera disposed in an interior cabin of the equipped vehicle at and behind a windshield of the equipped vehicle and viewing through the windshield to capture image data at least forward of the equipped vehicle; a control disposed at or in the equipped vehicle and comprising an image processor; wherein image data captured by said first camera is provided to said control and is processed by said image processor; wherein said image processor processes data at a processing speed of at least 30 MIPS; wherein, responsive to image processing by said image processor of image data captured by said first camera, lane markers on the road being traveled along by the equipped vehicle are detected; wherein, responsive to image processing by said image processor of image data captured by said first camera, said control determines a lane being traveled by the equipped vehicle; a sensing system operable to detect other vehicles present exterior the equipped vehicle; wherein said sensing system comprises a first radar sensor disposed at the equipped vehicle and having a field of sensing exterior of the equipped vehicle as the equipped vehicle travels along the road; wherein radar data generated by said first radar sensor is provided to said control; wherein said control receives vehicle data relating to the equipped vehicle via a vehicle bus of the equipped vehicle; wherein said vision system comprises a second camera disposed at the equipped vehicle and having a field of view exterior the equipped vehicle, and wherein said sensing system comprises a second radar sensor disposed at the equipped vehicle and having a field of sensing exterior the equipped vehicle, and wherein image data captured by said second camera is provided to and processed at said control, and wherein radar data generated by said second radar sensor is provided to and processed at said control; wherein, responsive at least in part to processing of radar data generated by at least one of said first and second radar sensors of said sensing system and of image data captured by at least one of said first and second cameras of said vision system, said control determines a hazard of collision of the equipped vehicle with another vehicle; and wherein, responsive at least in part to said control determining said hazard of collision with the other vehicle, said control controls a system of the equipped vehicle to mitigate potential collision with the other vehicle. - View Dependent Claims (24, 25, 26, 27, 28, 29, 30, 31)
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32. A driver assistance system for a vehicle, said driver assistance system comprising:
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a vision system comprising a first camera disposed at a vehicle equipped with said driver assistance system, said first camera having a field of view that encompasses a road being traveled along by the equipped vehicle; wherein said first camera comprises a forward-viewing camera disposed in an interior cabin of the equipped vehicle at and behind a windshield of the equipped vehicle and viewing through the windshield to capture image data at least forward of the equipped vehicle; a control disposed at or in the equipped vehicle and comprising an image processor; wherein image data captured by said first camera is provided to said control and is processed by said image processor; wherein said image processor processes data at a processing speed of at least 30 MIPS; wherein, responsive to image processing by said image processor of image data captured by said first camera, lane markers on the road being traveled along by the equipped vehicle are detected; wherein, responsive to image processing by said image processor of image data captured by said first camera, said control determines a lane being traveled by the equipped vehicle; a sensing system operable to detect other vehicles present exterior the equipped vehicle; wherein said sensing system comprises a first radar sensor disposed at the equipped vehicle and having a field of sensing exterior of the equipped vehicle as the equipped vehicle travels along the road; wherein radar data generated by said first radar sensor is provided to said control; wherein said control receives vehicle data relating to the equipped vehicle via a vehicle bus of the equipped vehicle; wherein said first radar sensor has a field of sensing to a side of and rearward of the equipped vehicle as the equipped vehicle travels along the road; wherein, responsive at least in part to processing of radar data generated by said first radar sensor, said control detects another vehicle present on the road being traveled along by the equipped vehicle that is approaching the equipped vehicle from rearward of the equipped vehicle; wherein said control is operable to detect a lane change maneuver of the equipped vehicle to a lane adjacent to the lane the equipped vehicle is travelling along; wherein detection of the lane change maneuver by said control is based at least in part on vehicle steering data received at said control via said bus; and wherein, responsive to said control detecting a lane change maneuver of the equipped vehicle, said control determines that the lane change can proceed without hazard of impact with the other vehicle approaching the equipped vehicle from rearward of the equipped vehicle. - View Dependent Claims (33, 34, 35, 36, 37, 38, 39, 40, 41, 42)
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Specification