Driver assistance system for a vehicle

• US 8,993,951 B2
• Filed: 07/16/2013
• Issued: 03/31/2015
• Est. Priority Date: 03/25/1996
• Status: Expired due to Fees

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Inventors: Schofield, Kenneth, Larson, Mark L., Vadas, Keith J.
• Primary Examiner(s): Sohn, Seung C
• Application Number:
  US13/942,757
• Publication Number:
  US 20130300871A1
• Time in Patent Office: 623 Days
• Field of Search: 250/208.1, 382/104, 701 23- 28, 701/200, 701/224, 702/92, 340/901, 348/118
• US Class Current: 250/208.1
• CPC Class Codes: B60Q 1/14 having dimming means
• CPC Class Codes: B60Q 1/143 combined with another condition, e.g. using vehicle recognition from camera images or activation of wipers
• CPC Class Codes: B60Q 2300/052 Switching delay, i.e. the beam is not switched or changed instantaneously upon occurrence of a condition change
• CPC Class Codes: B60Q 2300/312 Adverse weather
• CPC Class Codes: B60Q 2300/314 Ambient light
• CPC Class Codes: B60Q 2300/3321 Detection of streetlights
• CPC Class Codes: B60Q 2300/41 preceding vehicle
• CPC Class Codes: B60Q 2300/42 oncoming vehicle
• CPC Class Codes: B60Q 2400/30 Daytime running lights [DRL], e.g. circuits or arrangements therefor
• CPC Class Codes: G05D 1/0244 using reflecting strips
• CPC Class Codes: G06V 10/143 Sensing or illuminating at different wavelengths
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle
• CPC Class Codes: G06V 20/582 of traffic signs
• CPC Class Codes: G06V 20/584 of vehicle lights or traffic lights
• CPC Class Codes: H04N 7/18 Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

Abstract

A driver assistance system for a vehicle includes an imager disposed in a housing and a control. The imager includes a CMOS photosensor array of photosensor elements and a lens. With the housing disposed in a vehicle, the imager views forwardly to the exterior of the vehicle through the vehicle windshield at a region of the windshield that is swept by a windshield wiper of the vehicle. The CMOS photosensor array is operable to capture image data. The control includes an image processor disposed in the housing. The driver assistance system identifies objects viewed by the imager via processing by the image processor of captured image data. At least in part responsive to processing of captured image data by the image processor, streetlights present exterior of the vehicle and viewed by imager are discriminated from other objects present exterior the vehicle and viewed by imager.

Claims

1. A driver assistance system for a vehicle, said driver assistance system comprising:

an imager disposed in a housing;

said imager comprising (i) a CMOS photosensor array of photosensor elements and (ii) a lens;

wherein, with said housing mounted at a windshield in a vehicle equipped with said driver assistance system, said imager views forwardly to the exterior of the equipped vehicle through the windshield of the equipped vehicle at a region of the windshield that is swept by a windshield wiper of the equipped vehicle;

wherein said CMOS photosensor array is operable to capture image data;

a control comprising an image processor;

wherein said image processor is disposed in said housing;

wherein said driver assistance system identifies objects viewed by said imager via processing by said image processor of captured image data; and

wherein, at least in part responsive to processing of captured image data by said image processor, streetlights present exterior of the equipped vehicle and viewed by said imager are discriminated from other objects present exterior the equipped vehicle and viewed by said imager.

2. The driver assistance system of claim 1, wherein at least one of (i) streetlights are discriminated from headlights of approaching vehicles and (ii) streetlights are discriminated from taillights of leading vehicles.

3. The driver assistance system of claim 1, wherein discrimination of street lights from other objects present exterior the equipped vehicle and viewed by said imager is based, at least in part, on object motion in the forward field of view of said imager.

4. The driver assistance system of claim 1, wherein discrimination of street lights from other objects present exterior the equipped vehicle and viewed by said imager is based, at least in part, on at least one of (a) spatial location of objects present in the forward field of view of said imager, (b) determination of an activity level external the equipped vehicle and (c) determination of an environment in which the equipped vehicle is being driven.

5. The driver assistance system of claim 1, wherein discrimination of street lights from other objects present exterior the equipped vehicle and viewed by said imager is based, at least in part, on processing of multiple frames of captured image data in order to detect motion relative to the equipped vehicle of streetlights.

6. The driver assistance system of claim 1, wherein said control at least one of (a) controls a headlight of the equipped vehicle at least in part as a function of a speed of the equipped vehicle and in response to processing by said image processor of captured image data, (b) controls a headlight of the equipped vehicle at least in part in response to processing by said image processor of captured image data, (c) controls a speed of the equipped vehicle at least in part in response to processing by said image processor of captured image data, (d) generates an alert to the driver of the equipped vehicle responsive at least in part to processing by said image processor of captured image data, (e) responsive at least in part to processing by said image processor of captured image data, warns the driver of the equipped vehicle, (f) responsive at least in part to processing by said image processor of captured image data, decelerates the equipped vehicle, and (g) responsive at least in part to processing by said image processor of captured image data, stops the equipped vehicle.

7. The driver assistance system of claim 1, wherein said control controls a headlight of the equipped vehicle responsive, at least in part, to identification of at least one of (i) a headlight of an approaching vehicle in the forward field of view of said imager and (ii) a taillight of a leading vehicle in the forward field of view of said imager, and wherein said control is operable to at least one of (a) adjust an aim of the headlight of the equipped vehicle, (b) adjust an intensity of the headlight of the equipped vehicle, (c) adjust a pattern of the headlight of the equipped vehicle, (d) switch between a daytime running light condition and another lighting condition, (e) adjust a beam condition of the headlight of the equipped vehicle and (f) adjust a beam of the headlight of the equipped vehicle.

8. The driver assistance system of claim 1, wherein discrimination of street lights from other objects present exterior the equipped vehicle and viewed by said imager is based, at least in part, on a spectral characteristic of objects present in the forward field of view of said imager.

9. The driver assistance system of claim 1, wherein a spectral filter is disposed between said lens and said CMOS photosensor array of photosensor elements, and wherein light emitted by sources external of the equipped vehicle and/or reflected by objects external of the equipped vehicle passes through, and is filtered by, said spectral filter to be incident on at least some of said photosensor elements of said CMOS photosensor array, and wherein said spectral filter comprises a red filter that passes visible light of wavelength generally in the red portion of the visible spectrum and that substantially attenuates light having wavelengths generally outside the red portion of the visible spectrum, and wherein at least one of (a) non-red filtered others of said photosensor elements are neighbors of said red filtered photosensor elements and (b) non-red filtered others of said photosensor elements are immediately adjacent to said red filtered photosensor elements.

10. The driver assistance system of claim 1, wherein said driver assistance system is operable to identify lane markers on a road being traveled by the equipped vehicle in order to at least one of (a) assist the driver in steering the equipped vehicle and (b) provide a warning to the driver of the equipped vehicle.

11. The driver assistance system of claim 10, wherein at least one of (a) identification of lane markers comprises identification of lane markers by a spectral characteristic and (b) said driver assistance system is operable to determine atmospheric conditions at the equipped vehicle, and wherein, responsive at least in part to determination of atmospheric conditions, said control is operable to at least one of (i) activate a fog light of the equipped vehicle, (ii) adjust a light beam emitted by a headlight of the equipped vehicle and (iii) inhibit operation of a headlight of the equipped vehicle in a high beam state.

12. The driver assistance system of claim 10, wherein said housing mounts via a bracket at the vehicle windshield.

13. A driver assistance system for a vehicle, said driver assistance system comprising:

an imager;

said imager comprising (i) a CMOS photosensor array of photosensor elements and (ii) a lens;

wherein, with said imager disposed in a vehicle equipped with said driver assistance system, said imager views forwardly to the exterior of the equipped vehicle through the windshield of the equipped vehicle at a region of the windshield that is swept by a windshield wiper of the equipped vehicle;

wherein said CMOS photosensor array is operable to capture image data;

a control comprising an image processor;

wherein said driver assistance system identifies objects viewed by said imager via processing by said image processor of captured image data;

wherein, at least in part responsive to processing of captured image data by said image processor, streetlights present exterior of the equipped vehicle and viewed by said imager are discriminated from other objects present exterior the equipped vehicle and viewed by said imager;

wherein said objects comprise at least one of (i) headlights of approaching vehicles and (ii) taillights of leading vehicles;

wherein a spectral filter is disposed between said lens and said CMOS photosensor array of photosensor elements;

wherein light emitted by sources external of the equipped vehicle and/or reflected by objects external of the equipped vehicle passes through, and is filtered by, said spectral filter to be incident on at least some of said photosensor elements of said CMOS photosensor array;

wherein said spectral filter comprises a red filter that passes visible light of wavelength generally in the red portion of the visible spectrum and that substantially attenuates light having wavelengths generally outside the red portion of the visible spectrum; and

wherein at least one of (a) non-red filtered others of said photosensor elements are neighbors of said red filtered photosensor elements and (b) non-red filtered others of said photosensor elements are immediately adjacent to said red filtered photosensor elements.

14. The driver assistance system of claim 13, wherein said driver assistance system includes an exposure control which determines an accumulation period of time said CMOS photosensor array senses light when capturing a frame of image data, and wherein said exposure control defines a plurality of accumulation periods, and wherein at least one of (a) said plurality of accumulation periods comprises a first accumulation period for a first frame of captured image data and a second accumulation period for a second frame of captured image data and wherein said first accumulation period is a longer time period than said second accumulation period, (b) said plurality of accumulation periods comprises a first accumulation period for a first frame of captured image data and a second accumulation period for a second frame of captured image data and wherein said first accumulation period is a longer time period than said second accumulation period and wherein said first frame is used when detecting leading vehicle taillights and said second frame is used when detecting approaching vehicle headlights, (c) said exposure control is adaptive and wherein at least one of (i) an accumulation period for a frame of captured image data is set on a priority basis, and (ii) an accumulation period for a frame of captured image data is determined in response to what said driver assistance system is sensing to be present in the forward field of view of said imager, and (d) said exposure control maintains an accumulation period until an object of interest is at least tentatively detected and wherein said exposure control changes to a different accumulation period when an object of interest is at least tentatively detected.

15. The driver assistance system of claim 14, wherein said CMOS photosensor array is operable to capture frames of image data and wherein identification of objects is enhanced by comparing image data of objects over multiple frames of said captured image data and wherein identification of objects is based at least in part on at least one of (i) shape, (ii) luminance, (iii) geometry, (iv) spatial location, (v) motion and (vi) spectral characteristic.

16. The driver assistance system of claim 13, wherein discrimination of street lights from other objects present exterior the equipped vehicle and viewed by said imager is based, at least in part, on object motion in the forward field of view of said imager.

17. A driver assistance system for a vehicle, said driver assistance system comprising:

an imager comprising (i) a CMOS photosensor array of photosensor elements, (ii) a spectral filter and (iii) a lens;

wherein, with said imager disposed at a windshield in a vehicle equipped with said driver assistance system, said imager views forwardly to the exterior of the equipped vehicle through the windshield of the equipped vehicle at a region of the windshield that is swept by a windshield wiper of the equipped vehicle;

wherein said CMOS photosensor array is operable to capture image data;

a control comprising an image processor;

wherein said image processor is disposed in said housing;

wherein said driver assistance system identifies objects viewed by said imager via processing by said image processor of captured image data;

wherein, at least in part responsive to processing of captured image data by said image processor, streetlights present exterior of the equipped vehicle and viewed by said imager are discriminated from other objects present exterior the equipped vehicle and viewed by said imager;

wherein said driver assistance system is operable to identify lane markers on a road being traveled by the equipped vehicle in order to at least one of (a) assist the driver in steering the equipped vehicle and (b) provide a warning to the driver of the equipped vehicle;

wherein said CMOS photosensor array is operable to capture frames of image data and wherein identification of objects is enhanced by comparing image data of objects over multiple frames of said captured image data;

wherein said CMOS photosensor array is arranged in a matrix of columns of photosensor elements and rows of photosensor elements; and

wherein at least one of (i) the number of columns exceeds 512, (ii) the number of rows exceeds 512 and (iii) said CMOS photosensor array comprises at least 262,144 photosensor elements.

18. The driver assistance system of claim 17, wherein said spectral filter comprises a red filter that passes visible light of wavelength generally in the red portion of the visible spectrum and that substantially attenuates light having wavelengths generally outside the red portion of the visible spectrum, and wherein at least one of (a) non-red filtered others of said photosensor elements are neighbors of said red filtered photosensor elements and (b) non-red filtered others of said photosensor elements are immediately adjacent to said red filtered photosensor elements.

19. The driver assistance system of claim 18, wherein said imager is disposed in a housing, and wherein said housing mounts via a bracket at the vehicle windshield, and wherein said image processor is disposed in said housing.

20. The driver assistance system of claim 17, wherein discrimination of street lights from other objects present exterior the equipped vehicle and viewed by said imager is based, at least in part, on object motion in the forward field of view of said imager.