Driver assistance systems using radar and video

• US 8,718,899 B2
• Filed: 06/21/2012
• Issued: 05/06/2014
• Est. Priority Date: 06/22/2011
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH, Robert Bosch LLC (Robert Bosch GmbH)
• Original Assignee: Robert Bosch GmbH
• Inventors: Schwindt, Oliver, Garcia Bordes, Maria Eugenia
• Primary Examiner(s): Cheung, Mary
• Assistant Examiner(s): WONG, YUEN H
• Application Number:
  US13/529,385
• Publication Number:
  US 20120330528A1
• Time in Patent Office: 684 Days
• Field of Search: 701/96, 180/170
• US Class Current: 701/96
• CPC Class Codes: G01S 13/52 Discriminating between fixed and moving objects or between objects moving at different speeds
• CPC Class Codes: G01S 13/58 Velocity or trajectory determination systems; Sense-of-movement determination systems
• CPC Class Codes: G01S 13/865 Combination of radar systems with lidar systems
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 2013/93185 Controlling the brakes
• CPC Class Codes: G01S 2013/9321 Velocity regulation, e.g. cruise control
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles
• CPC Class Codes: G01S 7/4004 of parts of a radar system

Abstract

A driver assistance system that includes a RADAR system, a video system, a brake control unit, and a controller, such as an engine control unit. The RADAR system is mounted on the front of the vehicle and is positioned to detect the location of various objects. The video system captures video images. The controller receives data from both the RADAR system and the video system and identifies objects and their locations based on both the RADAR and the video data. The controller then adjusts the operation of the engine and the vehicle brakes based on the identified objects and their locations. In some embodiments, the driver assistance system also includes a human-machine interface that notifies the driver when an object is identified and located.

Claims

1. A driver assistance system comprising:

a RADAR system;

a video system; and

a vehicle control system, the vehicle control system including a processor configured to;

identify a first object as a target vehicle when both the RADAR system and the video system detect the first object in a driving lane occupied by a host vehicle,

identify a second as a non-target-vehicle when the video system detects the second object in the driving lane and the RADAR system does not detect the second object in the driving lane,

track position and speed of the target vehicle,

operate the host vehicle based at least in part on position and speed of the target vehicle;

receive an indication from the RADAR system that a previously detected target vehicle in the driving lane occupied by the host vehicle is decelerating, and

release the previously detected target vehicle as a target vehicle and cease monitoring of the previously detected target vehicle when a velocity of the previously detected target vehicle is below a threshold and the previously detected target vehicle exits the driving lane occupied by the host vehicle, wherein the RADAR system is configured to determine the velocity of the previously detected target vehicle.

2. The driver assistance system of claim 1, wherein the processor of the vehicle control system is further configured to identify the first object as a target vehicle when

the RADAR system detects the first object in the driving lane, and

the video system identifies the driver lane and confirms that the driving lane is occupied.

3. The driver assistance system of claim 1, wherein the processor of the vehicle control system is further configured to track a plurality of target vehicles in the driving lane occupied by the host vehicle and one or more adjacent lanes.

4. The driver assistance system of claim 3, wherein the processor of the vehicle control system is further configured to:

receive a signal from the RADAR system indicating that a new object is detected in the driving lane occupied by the host vehicle,

determine if another vehicle has previously been identified as a target vehicle in one or more of the adjacent lanes, and

identify the new object detected by the RADAR system as a target vehicle when there is no other vehicle currently being tracked in the one or more adjacent lanes.

5. The driver assistance system of claim 4, wherein the processor of the vehicle control system is further configured to:

compare a velocity of the new object detected by the RADAR system to a threshold; and

identify the new object detected by the RADAR system as a target vehicle when another vehicle is currently being tracked in the one or more adjacent lanes and the velocity of the new object is greater than the threshold.

6. The driver assistance system of claim 1, wherein the processor of the vehicle control system is further configured to maintain the previously detected target vehicle as a target vehicle and continue monitoring of the previously detected target vehicle when the velocity of the previously detected target vehicle is below the threshold and the video system confirms that the previously detected target vehicle has not exited the driving lane occupied by the host vehicle.

7. The driver assistance system of claim 1, wherein the processor of the vehicle control system is further configured to monitor the speed and position of the target vehicle, and operate a cruise control system of the host vehicle based at least in part on the speed and position of the target vehicle.

8. The driver assistance system of claim 7, wherein the processor of the vehicle control system is further configured to transmit a signal instructing an operator of the host vehicle to disengage the cruise control system and resume normal operation of the host vehicle based on the speed and position of the target vehicle.

9. The driver assistance system of claim 7, wherein the processor of the vehicle control system is further configured to activate a predictive emergency braking system of the host vehicle when a collision between the target vehicle and the host vehicle is predicted.

10. The driver assistance system of claim 7, wherein the processor of the vehicle control system is further configured to transmit a signal warning the operator of the host vehicle of a predicted forward collision between the host vehicle and the target vehicle.

11. A driver assistance system comprising:

a RADAR system;

a video system; and

a vehicle control system, the vehicle control system including a processor configured to;

receive an indication from the RADAR system of a new object detected in a driving lane occupied by a host vehicle,

determine if another vehicle has previously been identified as a target vehicle and is currently being monitored by the vehicle control system in an adjacent driving lane,

identify the new object as a target vehicle when there is no other vehicle currently being monitored by the vehicle control system in the adjacent lane,

determine, by the RADAR system, a relative velocity of the new object,

identify the new object as a target vehicle when the relative velocity of the new object is greater than a threshold,

identify the new object as a non-target-vehicle when another vehicle is currently being monitored by the vehicle control system in an adjacent lane, the relative velocity of the new object is below the threshold, and the video system detects a free lane ahead of the host vehicle,

receive an indication from the RADAR system that a previously detected target vehicle in the driving lane occupied by the host vehicle is decelerating, and

release the previously detected target vehicle as a target vehicle and cease monitoring of the previously detected target vehicle when a velocity of the previously detected target vehicle is below a threshold and the previously detected target vehicle exits the driving lane occupied by the host vehicle,

wherein the RADAR system is configured to determine the velocity of the previously detected target vehicle.

12. The driver assistance system of claim 11, wherein the processor of the vehicle control system is further configured to identify the new object as a target vehicle when another vehicle is currently being monitored by the vehicle control system in an adjacent lane, the relative velocity of the new object is below the threshold, and the video system is unable to determine whether there is a free lane ahead of the host vehicle.