Vehicle handling assistant apparatus

• US 8,660,737 B2
• Filed: 03/24/2010
• Issued: 02/25/2014
• Est. Priority Date: 03/30/2009
• Status: Active Grant

• Current Assignee: Aptiv Technologies AG (Aptiv PLC)
• Original Assignee: Delphi Technologies, Inc. (BorgWarner Incorporated)
• Inventors: Sun, Chong, Ma, Guanglin, Li, Ran
• Primary Examiner(s): CAMBY, RICHARD M
• Application Number:
  US13/202,817
• Publication Number:
  US 20110307176A1
• Time in Patent Office: 1,434 Days
• Field of Search: 701/28, 701/41, 701/300, 701/301, 348/148, 348/169
• US Class Current: 701/28
• CPC Class Codes: G06F 18/00 Pattern recognition
• 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 1/165 for passive traffic, e.g. including static obstacles, trees
• CPC Class Codes: G08G 1/168 Driving aids for parking, e.g. acoustic or visual feedback on parking space

Abstract

A vehicle handling assistant apparatus is discloses, the vehicle handling assistant apparatus utilizes an environment acquisition means to acquire an environment signal and utilizes an environment presentation means to present the environment signal. The vehicle handling assistant apparatus also utilizes an obstacle detection means to detect an obstacle from the environment signal acquired by the environment acquisition means and output an obstacle signal. The obstacle detection means may be implemented by an infrared sensor, a radar sensor, an ultrasonic sensor or a camera. An obstacle region generation means generates an obstacle region signal from the environment signal based on the obstacle signal generated by the obstacle detection means. The obstacle region signal includes information about a position of the foot point line and a width of the obstacle region. An environment signal adjustment means adjusts the environment signal presented by the environment presentation means based on the obstacle region signal.

Claims

1. A vehicle handling assistant apparatus, comprising an environment acquisition means for acquiring an environment signal and an environment presentation means for presenting the environment signal, wherein the apparatus further comprises:

an obstacle detection means for detecting an obstacle from the environment signal acquired by the environment acquisition means and outputting an obstacle signal;

an obstacle region generation means for generating an obstacle region signal and an obstacle region image from the environment signal based on the obstacle signal generated by the obstacle detection means, said obstacle region image limited to a vertical range extending between ground level and a maximum height of the rear structure of said vehicle; and

an environment signal adjustment means for adjusting the environment signal presented by the environment presentation means based on the obstacle region signal.

2. The apparatus of claim 1, wherein the obstacle detection means is one of the following:

an infrared sensor, a radar sensor, an ultrasonic sensor or a camera.

3. The apparatus of claim 2, wherein the obstacle detection means comprises a camera, and the obstacle detection means further comprises:

a motion detection means for detecting an obstacle based on large differences between corresponding areas of consecutive video frames;

a coloration means for coloring the video frames and a color detection means for detecting an obstacle based on the colored video frames.

4. The apparatus of claim 1, wherein the obstacle region generation means comprises:

a binary image generation means for generating a binary image based on the obstacle signal;

a filter for removing noises from the binary image;

a width detection means for detecting a width of the obstacle region within the binary image based on the obstacle signal;

a foot point line detection means for detecting a foot point line of the obstacle region within the binary image based on the obstacle signal.

5. The apparatus of claim 1, wherein the environment signal adjustment means comprises a track presentation means for presenting a predicted moving track of the vehicle upon the environment signal.

6. The apparatus of claim 5, wherein the track presentation means comprises:

a ground track presentation means for presenting a moving track on ground upon the environment signal;

a raised track presentation means for presenting a moving track at a height of the rear structure of the vehicle based on the environment signal.

7. The apparatus of claim 5, wherein raised track presentation means presents a moving track at a height of the rear lights of the vehicle.

8. The apparatus of claim 5, wherein the environment signal adjustment means further comprises:

an opaque presentation means for presenting the predicted moving track of the vehicle with opaque lines over the obstacle region.

9. The apparatus of claim 5, wherein the environment signal adjustment means further comprises:

a transparent presentation means for presenting the predicted moving track of the vehicle with transparent lines over the obstacle region.

10. The apparatus of claim 5, wherein the environment signal adjustment means further comprises:

a real presentation means for presenting the predicted moving track of the vehicle with real views over the obstacle region.

11. A vehicle handling assistant apparatus, comprising:

environment acquisition means including sensors having a fixed field of view external of said vehicle operative to generate an environment signal as a function of images received from said sensors;

an environment display device operative to present the environment signal to a vehicle operator;

obstacle detection means operative to process said environmental signal to detect an obstacle appearing within said field of view and outputting an obstacle signal in response thereto;

obstacle region generation means operative to process said obstacle signal and to generate an obstacle region image as a function of the environment signal based on the obstacle signal generated by the obstacle detection means, said obstacle region image limited to a vertical range extending between ground level and a maximum height of the rear structure of said vehicle; and

environment signal adjustment means operative to;

generate a signal depicting a moving track of said vehicle as a function of vehicle operating parameters anticipative of impending vehicle motion,

electronically superimposing an image of said moving track on said environmental display, and occluding any portion of the moving track image positionally registering with said obstacle region image.