Vehicle movement path system and method for vehicle

• US 9,393,999 B2
• Filed: 11/11/2015
• Issued: 07/19/2016
• Est. Priority Date: 11/21/2013
• Status: Active Grant

• Current Assignee: Hyundai Mobis Co., Ltd.
• Original Assignee: Hyundai Mobis Co., Ltd.
• Inventors: Lee, Seong Soo
• Primary Examiner(s): CHEUNG, CALVIN K
• Application Number:
  US14/938,759
• Publication Number:
  US 20160059890A1
• Time in Patent Office: 251 Days
• US Class Current: 1/1
• CPC Class Codes: B60R 1/00 Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
• CPC Class Codes: B60R 2300/607 from a bird's eye viewpoint
• CPC Class Codes: B60R 2300/806 for aiding parking
• CPC Class Codes: B62D 15/027 Parking aids, e.g. instruction means
• CPC Class Codes: B62D 15/028 Guided parking by providing commands to the driver, e.g. acoustically or optically
• CPC Class Codes: B62D 15/0285 Parking performed automatically
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G08G 1/14 indicating individual free spaces in parking areas
• CPC Class Codes: G08G 1/168 Driving aids for parking, e.g. acoustic or visual feedback on parking space

Abstract

Disclosed is a vehicle movement path system and method for a vehicle. The vehicle movement path system includes: a camera input configured to receive at least one photographic image from a camera installed in the vehicle; at least one module configured to analyze the photographic image to identify a line marked on a road, compute an angle between the line and an axis of the vehicle, compute a distance between the line and a point associated with the vehicle, and generate, using the computed angle and the computed distance, a movement path along which to move the vehicle; and a movement path output configured to output the movement path to the vehicle such that the vehicle automatically steers itself using the movement path or provides a driver with guidance to move the vehicle along the movement path.

Claims

1. A vehicle movement path system for a vehicle, the system comprising:

a camera input configured to receive at least one photographic image from a camera installed in the vehicle;

at least one module configured;

to analyze the at least one photographic image to identify a line marked on a road,

to compute an angle between the line and an axis of the vehicle,

to compute a distance between the line and a point associated with the vehicle, and

to generate, using the computed angle and the computed distance, a movement path along which to move the vehicle such that the vehicle proceeds toward a position at which the vehicle is spaced apart from the line by a predetermined target distance and further such that the vehicle turns toward an orientation at which the axis of the vehicle and the line form a predetermined target angle therebetween; and

a movement path output port configured to output the movement path to the vehicle such that the vehicle automatically steers itself using the movement path or provides a driver with guidance to move the vehicle along the movement path.

2. The system of claim 1,

wherein the axis is a longitudinal axis of the vehicle, and

wherein the predetermined target angle is zero.

3. The system of claim 2, wherein the at least one module is further configured

to recognize space from at least one surrounding obstacle and

to generate the movement path in view of the recognized space.

4. The system of claim 2, further comprising a sensor input configured to receive ultrasonic wave signals, wherein the at least one module is further configured to recognize space from at least one surrounding obstacle based on the ultrasonic wave signals.

5. The system of claim 1, wherein the point associated with the vehicle is on a side of the vehicle facing the line marked on the road.

6. The system of claim 1,

wherein the axis is a longitudinal axis of the vehicle, and

wherein the point associated with the vehicle is located generally in the middle along the axis.

7. The system of claim 1, wherein the vehicle movement path system is configured to identify the line by a method comprising:

synthesizing a view using the at least one photographic image;

processing the view to locate a plurality of candidate points on the view; and

conducting a line fitting process for at least part of the plurality of candidate points to identify the line.

8. A vehicle comprising:

at least one camera installed in the vehicle and configured to capture at least one photographic image of surroundings of the vehicle; and

the vehicle movement path system of installed in the vehicle, the vehicle movement path system comprising;

a camera input configured to receive the at least one photographic image from the at least one camera installed in the vehicle;

at least one module configured;

to analyze the at least one photographic image to identify a line marked on a road,

to compute an angle between the line and an axis of the vehicle,

to compute a distance between the line and a point associated with the vehicle, and

to generate, using the computed angle and the computed distance, the movement path along which to move the vehicle such that the vehicle proceeds toward a position at which the vehicle is spaced apart from the line by a predetermined target distance and further such that the vehicle turns toward an orientation at which the axis of the vehicle and the line form a predetermined target angle therebetween; and

a movement path output port configured to output the movement path to the vehicle such that the vehicle automatically steers itself using the movement path or provides a driver with guidance to move the vehicle along the movement path.

9. The vehicle of claim 8, wherein the vehicle is configured to automatically steer itself using the movement path.

10. The vehicle of claim 8, wherein the vehicle is configured to provide driving guidance to a driver in accordance with the movement path.

11. The vehicle of claim 8,

wherein the axis is a longitudinal axis of the vehicle, and

wherein the predetermined target angle is zero.

12. The vehicle of claim 8, wherein the point associated with the vehicle is on a side of the vehicle facing the line marked on the road.

13. The vehicle of claim 8,

wherein the axis is a longitudinal axis of the vehicle, and

wherein the point associated with the vehicle is located generally in the middle along the axis.

14. The vehicle of claim 8, wherein the vehicle movement path system is configured to identify the line by a method comprising:

synthesizing a view using the at least one photographic image;

processing the view to locate a plurality of candidate points on the view; and

conducting a line fitting process for at least part of the plurality of candidate points to identify the line.

15. The vehicle of claim 14,

wherein processing the view comprises segmenting the view into a plurality of segments, and

wherein the line fitting process is to identify the line based on a brightness pattern.

16. The vehicle of claim 8, wherein the vehicle movement path system further comprises an ultrasonic wave sensor.

17. A method of moving a vehicle comprising:

providing a vehicle comprising;

at least one camera installed in the vehicle and configured to capture at least one photographic image of surroundings of the vehicle; and

a vehicle movement path system installed in the vehicle,

the vehicle movement path system comprising

a camera input,

at least one module, and

a movement path output port,

wherein the camera input is configured to receive the at least one photographic image from the at least one camera installed in the vehicle,

wherein the at least one module is configured

to analyze the at least one photographic image to identify a line marked on a road,

to compute an angle between the line and an axis of the vehicle,

to compute a distance between the line and a point associated with the vehicle, and

to generate, using the computed angle and the computed distance, the movement path along which to move the vehicle such that the vehicle proceeds toward a position at which the vehicle is spaced apart from the line by a predetermined target distance and further such that the vehicle turns toward an orientation at which the axis of the vehicle and the line form a predetermined target angle therebetween,

wherein the movement path output port is configured to output the movement path to the vehicle such that the vehicle automatically steers itself using the movement path or provides a driver with guidance to move the vehicle along the movement path;

running the vehicle movement path system, which performs;

analyzing the at least one photographic image to identify a first line marked on a first road,

computing a first angle between the first line and a first axis of the vehicle,

computing a first distance between the first line and a first point associated with the vehicle,

generating, using the computed first angle and the computed first distance, a first movement path along which to move the vehicle such that the vehicle proceeds toward a first position at which the vehicle is spaced apart from the first line by the predetermined target distance and further such that the vehicle turns toward a first orientation at which the first axis of the vehicle and the first line form the predetermined target angle therebetween, and

outputting the first movement path to the vehicle; and

moving the vehicle in accordance with the first movement path.

18. The method of claim 17, wherein the vehicle automatically steers itself using the first movement path.

19. The method of claim 17, wherein the vehicle provides a driver with guidance to move the vehicle along the first movement path.

20. The method of claim 17,

wherein the first axis is a longitudinal axis of the vehicle, wherein the predetermined target angle is zero,

wherein the first point associated with the vehicle is on a side of the vehicle facing the first line marked on the road, and

wherein the first point associated with the vehicle is located generally in the middle along the first axis.

21. A method of generating a vehicle movement path, the method comprising:

providing a vehicle movement path system installed in a vehicle,

the vehicle movement path system comprising

a camera input,

at least one module, and

a movement path output port,

wherein the camera input is configured to receive at least one photographic image from at least one camera installed in the vehicle,

wherein the at least one module is configured

to analyze the at least one photographic image to identify a line marked on a road,

to compute an angle between the line and an axis of the vehicle, to compute a distance between the line and a point associated with the vehicle, and

to generate, using the computed angle and the computed distance, the movement path along which to move the vehicle such that the vehicle proceeds toward a position at which the vehicle is spaced apart from the line by a predetermined target distance and further such that the vehicle turns toward an orientation at which the axis of the vehicle and the line form a predetermined target angle therebetween,

wherein the movement path output port is configured to output the movement path to the vehicle such that the vehicle automatically steers itself using the movement path or provides a driver with guidance to move the vehicle along the movement path;

analyzing the at least one photographic image to identify a first line marked on a road;

computing a first angle between the first line and a first axis of the vehicle;

computing a first distance between the first line and a first point associated with the vehicle;

generating, using the computed first angle and the computed first distance, a first movement path along which to move the vehicle such that the vehicle proceeds toward a first position at which the vehicle is spaced apart from the first line by the predetermined target distance and further such that the vehicle turns toward ma-a first orientation at which the first axis of the vehicle and the first line form the predetermined target angle therebetween; and

outputting the first movement path to the vehicle such that the vehicle automatically steers itself using the first movement path or provides a first driver with guidance to move the vehicle along the first movement path.

22. The method of claim 21,

wherein the first axis is a longitudinal axis of the vehicle, wherein the predetermined target angle is zero,

wherein the first point associated with the vehicle is on a side of the vehicle facing the first line marked on the road, and

wherein the first point associated with the vehicle is located generally in the middle along the first axis.