Vehicular imaging system and method for determining roadway width

• US 8,543,254 B1
• Filed: 03/28/2012
• Issued: 09/24/2013
• Est. Priority Date: 03/28/2012
• Status: Active Grant

• Current Assignee: HL Klemove Corporation
• Original Assignee: Gentex Corporation
• Inventors: Falb, David M., Schut, Jeremy A.
• Primary Examiner(s): Shafi, Muhammad
• Application Number:
  US13/432,250
• Publication Number:
  US 20130261838A1
• Time in Patent Office: 545 Days
• Field of Search: 701/1, 701/96, 701/117, 701/300, 701/301, 701/302, 340/425.5, 340/435, 340/436, 340/438, 340/437, 348/135, 348/142, 348/137, 348/138, 348/140, 348/148, 382/103, 382/104, 382/106, 382/107, 356/139.01
• US Class Current: 701/1
• CPC Class Codes: B60T 2201/089 using optical detection
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: G06V 20/584 of vehicle lights or traffic lights
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road

Abstract

A vehicular imaging system for determining roadway width includes an image sensor for capturing images and an image processor for receiving the captured images. The image processor determines roadway width by identifying roadway marker signs and oncoming traffic in processed images captured by the image sensor and determining the number of lanes, vehicle location on the roadway based on the roadway size and/or width and location of oncoming traffic.

Claims

1. A vehicular imaging system for determining roadway width comprising:

an image sensor configured for capturing images;

an image processor configured for receiving captured images;

wherein the image sensor configured to view forward of a vehicle, such that a field of view of the image sensor includes the roadway and roadway marker signs on both the right side and left side of the roadway;

wherein the image processor is configured to determine roadway width by identifying roadway marker signs in processed images that are captured by the image sensor and determine a distance from the roadway marker signs;

wherein the processor is further configured to use the road width for controlling a driver assist function on the vehicle;

wherein the driver assist function is at least one of a headlamp control function, a traffic sign recognition (TSR) function, and a lane departure warning (LDW) function; and

wherein the image processor is one of an application specific integrated circuit (ASIC) and a field programmable gate array (FPGA).

2. A vehicular imaging system as in claim 1, wherein the image processor is further configured to identify peaks in the captured image that are associated with the roadway marker signs.

3. A vehicular imaging system as in claim 1, wherein the roadway width is determined by calculating a distance from at least one roadway marker sign to a known vehicle location.

4. A vehicular imaging system in claim 1, wherein the roadway width is determined using a position identified as at least one of a left roadway edge and a right roadway edge.

5. A vehicular imaging system as in claim 1, wherein the image processor is configured to create a road width model for identifying the number of lanes in the road way.

6. A vehicular imaging system as in claim 1, wherein the image processor is configured to use a road width model for identifying the position of the vehicle on the roadway.

7. A vehicular imaging system as in claim 1, wherein a roadway edge sign is tracked over a plurality of frames for triangulating its position in relation to a known location of the vehicle.

8. A vehicular imaging system as in claim 1, wherein the processor is further configured to track at least one oncoming vehicle to determine the position of oncoming roadway lanes.

9. An optical imagining system used for identifying the width of a vehicular roadway comprising:

at least one imager configured to capture images;

at least one imaging processor configured to receive images captured from the at least one imager for identifying roadway edge signs in the captured images;

wherein the at least one imager is configured to view forward of a vehicle, such that a field of view of the at least one imager includes the roadway and roadway marker signs on both the right side and left side of the roadway;

wherein the at least one processor is configured to determine a distance from a roadway edge sign for identifying the size and width of the roadway;

wherein the processor is further configured to use the road width for controlling a driver assist function on the vehicle;

wherein the driver assist function comprises a headlamp control function, a traffic sign recognition (TSR) function, and a lane departure warning (LDW) function; and

wherein the image processor is a field programmable gate array (FPGA).

10. An optical imaging system as in claim 9, wherein the at least one image processor is configured to determine the position of the vehicle on the roadway.

11. An optical imaging system in claim 9, wherein the roadway width is determined using a position identified as a left roadway edge.

12. An optical imaging system as in claim 9, wherein the image processor is configured to create a road width model for identifying the number of lanes in the road way.

13. An optical imaging system as in claim 9, wherein at least one oncoming vehicle light is tracked to determine the position of oncoming roadway lanes.