VEHICLE CONTROL SYSTEM WITH ADAPTIVE WHEEL ANGLE CORRECTION
First Claim
1. A control system for a vehicle, said control system comprising:
- a forward viewing camera disposed at an interior-cabin side of a windshield of a vehicle equipped with said control system and having a field of view through the windshield exterior and forward of the equipped vehicle;
said camera comprising at least 1 million photosensor elements arranged in a two-dimensional photosensor array having rows and columns;
a control comprising an image processor operable to process image data captured by said photosensor array of said camera to determine lane boundaries of a lane of travel of the equipped vehicle;
wherein said image processor is operable to process image data captured by said photosensor array of said camera to determine road curvature of a curved section of a road being traveled by the equipped vehicle;
wherein said control, responsive at least in part to processing by said image processor of captured image data, determines an end of the curved section where the road straightens; and
wherein said control, responsive to a determination that the equipped vehicle is at the end of the curved section where the road straightens, determines a wheel angle to adjust a wheel of the equipped vehicle to such that the equipped vehicle travels parallel to a tangent of the road after the equipped vehicle has traversed the curved section and is at a straight section of the road.
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Accused Products
Abstract
A control system for a vehicle includes a forward viewing camera having a field of view forward of the vehicle. A control includes an image processor operable to process image data captured by the camera to determine lane boundaries of a lane of travel of the vehicle and to determine road curvature of a curved section of a road being traveled by the vehicle. The control, responsive at least in part to processing of captured image data, determines an end of the curved section where the road straightens. The control, responsive to a determination that the vehicle is at the end of the curved section where the road straightens, determines a wheel angle to adjust a wheel of the vehicle to such that the vehicle travels parallel to a tangent of the road after the vehicle has traversed the curved section and is at a straight section of the road.
2 Citations
22 Claims
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1. A control system for a vehicle, said control system comprising:
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a forward viewing camera disposed at an interior-cabin side of a windshield of a vehicle equipped with said control system and having a field of view through the windshield exterior and forward of the equipped vehicle; said camera comprising at least 1 million photosensor elements arranged in a two-dimensional photosensor array having rows and columns; a control comprising an image processor operable to process image data captured by said photosensor array of said camera to determine lane boundaries of a lane of travel of the equipped vehicle; wherein said image processor is operable to process image data captured by said photosensor array of said camera to determine road curvature of a curved section of a road being traveled by the equipped vehicle; wherein said control, responsive at least in part to processing by said image processor of captured image data, determines an end of the curved section where the road straightens; and wherein said control, responsive to a determination that the equipped vehicle is at the end of the curved section where the road straightens, determines a wheel angle to adjust a wheel of the equipped vehicle to such that the equipped vehicle travels parallel to a tangent of the road after the equipped vehicle has traversed the curved section and is at a straight section of the road. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A control system for a vehicle, said control system comprising:
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a forward viewing camera disposed at an interior-cabin side of a windshield of a vehicle equipped with said control system and having a field of view through the windshield exterior and forward of the equipped vehicle; said camera comprising at least 1 million photosensor elements arranged in a two-dimensional photosensor array having rows and columns; a control comprising an image processor operable to process image data captured by said photosensor array of said camera to determine lane boundaries of a lane of travel of the equipped vehicle; wherein said image processor is operable to process image data captured by said photosensor array of said camera to determine road curvature of a curved section of a road being traveled by the equipped vehicle; wherein said control, responsive at least in part to processing by said image processor of captured image data, determines an end of the curved section where the road straightens; wherein said control, responsive to a determination that the equipped vehicle is at the end of the curved section where the road straightens, determines a wheel angle to adjust a wheel of the equipped vehicle to such that the equipped vehicle travels parallel to a tangent of the road after the equipped vehicle has traversed the curved section and is at a straight section of the road; and wherein, when the wheel is adjusted to be parallel to the tangent of the road after the equipped vehicle has traversed the curved section and is at the straight section of the road, the equipped vehicle has generally zero lateral acceleration and generally zero lateral velocity. - View Dependent Claims (16, 17, 18)
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19. A control system for a vehicle, said control system comprising:
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a forward viewing camera disposed at an interior-cabin side of a windshield of a vehicle equipped with said control system and having a field of view through the windshield exterior and forward of the equipped vehicle; said camera comprising at least 1 million photosensor elements arranged in a two-dimensional photosensor array having rows and columns; a control comprising an image processor operable to process image data captured by said photosensor array of said camera to determine lane boundaries of a lane of travel of the equipped vehicle; wherein said image processor is operable to process image data captured by said photosensor array of said camera to determine road curvature of a curved section of a road being traveled by the equipped vehicle; wherein said control steers the equipped vehicle along the curved section of the road; wherein said control, responsive at least in part to processing by said image processor of captured image data, determines an end of the curved section where the road straightens; wherein said control, responsive to a determination that the equipped vehicle is at the end of the curved section where the road straightens, determines a wheel angle to adjust a wheel of the equipped vehicle to such that the equipped vehicle travels parallel to a tangent of the road after the equipped vehicle has traversed the curved section and is at a straight section of the road; and wherein said image processor is operable to process captured image data for detecting at least one of (i) an object present in the field of view of said camera, (ii) a vehicle present in the field of view of said camera and (iii) a pedestrian present in the field of view of said camera. - View Dependent Claims (20, 21, 22)
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Specification