Vehicle vision system with collision mitigation

• US 9,260,095 B2
• Filed: 06/13/2014
• Issued: 02/16/2016
• Est. Priority Date: 06/19/2013
• Status: Active Grant

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Inventors: Chundrlik, William J. Jr., Raudszus, Dominik
• Primary Examiner(s): Cheung, Calvin
• Assistant Examiner(s): SHUDY, ANGELINA M
• Application Number:
  US14/303,694
• Publication Number:
  US 20140379233A1
• Time in Patent Office: 613 Days
• Field of Search: 701/70, 701/300, 701/301
• US Class Current: 1/1
• CPC Class Codes: B60T 2201/024 Collision mitigation systems
• CPC Class Codes: B60T 2210/32 Vehicle surroundings
• 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: B60T 8/171 Detecting parameters used in the regulation; Measuring values used in the regulation
• 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: G06V 20/584 of vehicle lights or traffic lights
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A vision system of a vehicle includes a camera disposed at a vehicle and having a field of view forward of the vehicle. An image processing system is operable to process image data captured by the camera to determine the presence of a leading vehicle ahead of the equipped vehicle and to determine an illumination level of a taillight of the leading vehicle. Responsive to a determination of a relative speed of the leading vehicle relative to the equipped vehicle and a relative acceleration of the leading vehicle relative to the equipped vehicle, the vision system determines a braking level of the equipped vehicle to mitigate collision with the leading vehicle. Responsive to the determination of the illumination level of the taillight of the determined leading vehicle, the vision system is operable to apply a weighting factor to adjust the determined braking level for the determined traffic condition.

Claims

1. A vision system of a vehicle, said vision system comprising:

a camera disposed at a vehicle equipped with said vision system and having a field of view forward of the equipped vehicle;

an image processor operable to process image data captured by said camera;

wherein said image processor is operable, via image processing of captured image data, to determine the presence of a leading vehicle ahead of the equipped vehicle;

wherein said image processor is operable, via image processing of captured image data, to determine illumination of a brake light of the determined leading vehicle;

wherein, responsive to a determination of at least one of (a) a relative speed of the determined leading vehicle relative to the equipped vehicle and (b) a relative acceleration of the determined leading vehicle relative to the equipped vehicle, said vision system is operable to determine at least one of (i) a degree of warning to provide to the driver of the equipped vehicle and (ii) a braking level of the equipped vehicle to mitigate collision with the determined leading vehicle; and

wherein, responsive to the determination of illumination of the brake light of the determined leading vehicle, said vision system is operable to at least one of (i) adjust the determined degree of warning and (ii) adjust the determined braking level of the equipped vehicle; and

wherein said vision system is operable to at least one of (i) provide a warning in accordance with the determined degree of warning and (ii) apply the brakes of the equipped vehicle in accordance with the determined braking level.

2. The vision system of claim 1, wherein, responsive to a determination that the determined leading vehicle brake light is not illuminated, said vision system at least one of (i) delays providing a warning to the driver of the vehicle and (ii) decreases the determined braking level of the equipped vehicle.

3. The vision system of claim 1, wherein, responsive to a determination that the determined leading vehicle brake light is illuminated, said vision system at least one of (i) expedites providing a warning to the driver of the vehicle and (ii) increases the determined braking level of the equipped vehicle.

4. The vision system of claim 1, wherein, responsive to a determination of a relative speed of the determined leading vehicle relative to the equipped vehicle and a relative acceleration of the determined leading vehicle relative to the equipped vehicle, said vision system is operable to determine a braking level of the equipped vehicle to mitigate collision with the determined leading vehicle, and wherein, responsive to the determination of illumination of the brake light of the determined leading vehicle, said vision system is operable to adjust the determined braking level of the equipped vehicle.

5. The vision system of claim 4, wherein, responsive to the determination of illumination of the brake light of the determined leading vehicle, said vision system is operable to apply a weighting factor to adjust the braking level of the equipped vehicle.

6. The vision system of claim 5, wherein said vision system applies the weighting factor to the determined relative acceleration of the determined leading vehicle relative to the equipped vehicle.

7. The vision system of claim 6, wherein said vision system applies one of (i) a weighting factor that decreases the emphasis that said vision system has on the determined relative acceleration responsive to a determination that the determined leading vehicle brake light is not illuminated, and (ii) a weighting factor that increases the emphasis that said vision system has on the determined relative acceleration responsive to a determination that the determined leading vehicle brake light is illuminated.

8. The vision system of claim 1, wherein said vision system is operable, via image processing of captured image data, to determine a distance to the determined leading vehicle.

9. The vision system of claim 1, wherein said vision system is operable to determine the velocity and acceleration of the equipped vehicle via at least one sensor of the equipped vehicle.

10. The vision system of claim 1, wherein said vision system, based at least in part on a separation distance of the determined leading vehicle to the equipped vehicle, the relative velocity and the relative acceleration, determines a time to collision and a collision avoidance deceleration.

11. The vision system of claim 10, wherein, responsive to a determination that the determined leading vehicle brake light is not illuminated, said vision system decreases collision avoidance deceleration.

12. The vision system of claim 10, wherein, responsive to a determination that the determined leading vehicle brake light is illuminated, said vision system increases collision avoidance deceleration.

13. A vision system of a vehicle, said vision system comprising:

a camera disposed at a vehicle equipped with said vision system and having a field of view forward of the equipped vehicle;

an image processor operable to process image data captured by said camera;

wherein said image processor is operable, via image processing of captured image data, to determine the presence of a leading vehicle ahead of the equipped vehicle;

wherein said image processor is operable, via image processing of captured image data, to determine illumination of a brake light of the determined leading vehicle;

wherein, based at least in part on at least one of (i) a separation distance of the determined leading vehicle from the equipped vehicle, (ii) a relative speed of the determined leading vehicle relative to the equipped vehicle and (iii) a relative acceleration of the determined leading vehicle relative to the equipped vehicle, said vision system determines a collision avoidance deceleration to mitigate collision with the determined leading vehicle;

wherein said vision system one of (i) decreases the determined collision avoidance deceleration responsive to a determination that the determined leading vehicle brake light is not illuminated, and (ii) increases the determined collision avoidance deceleration responsive to a determination that the determined leading vehicle brake light is illuminated; and

wherein said vision system generates an output to apply the brakes of the equipped vehicle to decelerate the equipped vehicle in accordance with the determined collision avoidance deceleration.

14. The vision system of claim 13, wherein, responsive to the determination of illumination of the brake light of the determined leading vehicle, said vision system is operable to apply a weighting factor to adjust the collision avoidance deceleration.

15. The vision system of claim 14, wherein said vision system applies the weighting factor to the determined relative acceleration of the determined leading vehicle relative to the equipped vehicle.

16. The vision system of claim 15, wherein said vision system one of (i) applies a weighting factor that decreases the emphasis that said vision system has on the determined relative acceleration responsive to a determination that the determined leading vehicle brake light is not illuminated and (ii) applies a weighting factor that increases the emphasis that said vision system has on the determined relative acceleration responsive to a determination that the determined leading vehicle brake light is illuminated.

17. The vision system of claim 13, wherein said vision system is operable to adjust a degree of warning responsive to a determination of illumination of the determined leading vehicle brake light.

18. A vision system of a vehicle, said vision system comprising:

a camera disposed at a vehicle equipped with said vision system and having a field of view forward of the equipped vehicle;

an image processor operable to process image data captured by said camera;

wherein said image processor is operable, via image processing of captured image data, to determine the presence of a leading vehicle ahead of the equipped vehicle;

wherein said image processor is operable, via image processing of captured image data, to determine illumination of a brake light of the determined leading vehicle;

wherein, responsive to a determination of at least one of (a) a relative speed of the determined leading vehicle relative to the equipped vehicle and (b) a relative acceleration of the determined leading vehicle relative to the equipped vehicle, said vision system is operable to determine a braking level of the equipped vehicle to mitigate collision with the determined leading vehicle;

wherein, responsive to the determination of illumination of the brake light of the determined leading vehicle, said vision system is operable to apply a weighting factor to the determined relative acceleration of the determined leading vehicle relative to the equipped vehicle; and

wherein said vision system one of (i) applies a weighting factor that decreases the emphasis that said vision system has on the determined relative acceleration responsive to a determination that the determined leading vehicle brake light is not illuminated and (ii) applies a weighting factor that increases the emphasis that said vision system has on the determined relative acceleration responsive to a determination that the determined leading vehicle brake light is illuminated.

19. The vision system of claim 18, wherein, responsive to the determination of the relative speed of the determined leading vehicle relative to the equipped vehicle and the relative acceleration of the determined leading vehicle relative to the equipped vehicle, said vision system is operable to determine a timing of an alert, and wherein said vision system is operable to adjust the determined timing of the alert responsive to the determination of illumination of the determined leading vehicle brake light.

20. The vision system of claim 19, wherein said vision system one of (i) expedites the timing of the alert responsive to a determination that the determined leading vehicle brake light is illuminated and (ii) delays the alert responsive to a determination that the determined leading vehicle brake light is not illuminated.