Lane keeping system and lane centering system
First Claim
1. A lane centering system for use in a vehicle driving in a lane on a road, the lane centering system comprising:
- a lane delimiter detection device;
the lane delimiter detection device comprising a camera disposed behind a windshield of the vehicle and having a field of view through the windshield and forward of the vehicle that encompasses the road ahead of the vehicle and being travelled on by the vehicle;
the camera capturing image data;
a controller;
the controller comprising a processor that algorithmically processes captured image data to detect lane delimiters on the road ahead of the vehicle;
wherein, based on processing of captured image data by the processor, the controller determines the position of a left lane delimiter on the road on a left side of the vehicle and the position of a right lane delimiter on the road on a right side of the vehicle;
the controller operable to control a steering system that is configured to steer the vehicle;
wherein the controller is operable to establish a target path for the vehicle based on processing of captured image data by the processor;
wherein the target path maintains the longitudinal centerline of the vehicle generally centered between the left lane delimiter and the right lane delimiter;
the controller receiving an input indicative of the speed of the vehicle;
wherein the controller is automatically activated to control steering the vehicle along the target path when the speed of the vehicle is at or above a first speed level;
wherein, when having activated control of steering, the controller automatically deactivates control of steering when the speed of the vehicle falls to at or below a second speed level; and
wherein the second speed level is smaller than the first speed level.
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Accused Products
Abstract
A lane centering system for use in a vehicle driving in a lane on a road includes a lane delimiter detection device having a camera with a field of view that encompasses the road ahead of the vehicle. Based on processing of captured image data, a controller determines the positions of left and right lane delimiters on the road. The controller is operable to establish a target path for the vehicle that maintains the longitudinal centerline of the vehicle generally centered between the left lane delimiter and the right lane delimiter. The controller is automatically activated to control steering the vehicle along the target path when the speed of the vehicle is at or above a first speed level. When having activated control of steering, the controller automatically deactivates control of steering when the speed of the vehicle falls to at or below a second speed level.
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Citations
27 Claims
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1. A lane centering system for use in a vehicle driving in a lane on a road, the lane centering system comprising:
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a lane delimiter detection device; the lane delimiter detection device comprising a camera disposed behind a windshield of the vehicle and having a field of view through the windshield and forward of the vehicle that encompasses the road ahead of the vehicle and being travelled on by the vehicle; the camera capturing image data; a controller; the controller comprising a processor that algorithmically processes captured image data to detect lane delimiters on the road ahead of the vehicle; wherein, based on processing of captured image data by the processor, the controller determines the position of a left lane delimiter on the road on a left side of the vehicle and the position of a right lane delimiter on the road on a right side of the vehicle; the controller operable to control a steering system that is configured to steer the vehicle; wherein the controller is operable to establish a target path for the vehicle based on processing of captured image data by the processor; wherein the target path maintains the longitudinal centerline of the vehicle generally centered between the left lane delimiter and the right lane delimiter; the controller receiving an input indicative of the speed of the vehicle; wherein the controller is automatically activated to control steering the vehicle along the target path when the speed of the vehicle is at or above a first speed level; wherein, when having activated control of steering, the controller automatically deactivates control of steering when the speed of the vehicle falls to at or below a second speed level; and wherein the second speed level is smaller than the first speed level. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A lane centering system for use in a vehicle driving in a lane on a road, the lane centering system comprising:
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a lane delimiter detection device; the lane delimiter detection device comprising a camera disposed behind a windshield of the vehicle and having a field of view through the windshield and forward of the vehicle that encompasses the road ahead of the vehicle and being travelled on by the vehicle; the camera capturing image data; a controller; the controller comprising a processor that algorithmically processes captured image data to detect lane delimiters on the road ahead of the vehicle; wherein, based on processing of captured image data by the processor, the controller determines the position of a left lane delimiter on the road on a left side of the vehicle and the position of a right lane delimiter on the road on a right side of the vehicle; the controller operable to control a steering system that is configured to steer the vehicle; wherein the controller is operable to establish a target path for the vehicle based on processing of captured image data by the processor; wherein the target path maintains the longitudinal centerline of the vehicle generally centered between the left lane delimiter and the right lane delimiter; wherein the controller, responsive to processing by the processor of captured image data, is operable to detect Bott'"'"'s dots on the road ahead of the vehicle; and wherein when one of the left lane delimiter and the right lane delimiter ends while the other of the left lane delimiter and the right lane delimiter does not end, the lane centering system remains operational for up to 3 seconds. - View Dependent Claims (17, 18, 19, 20)
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21. A lane centering system for use in a vehicle driving in a lane on a road, the lane centering system comprising:
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a lane delimiter detection device; the lane delimiter detection device comprising a camera disposed behind a windshield of the vehicle and having a field of view through the windshield and forward of the vehicle that encompasses the road ahead of the vehicle and being travelled on by the vehicle; the camera capturing image data; a controller; the controller comprising a processor that algorithmically processes captured image data to detect lane delimiters on the road ahead of the vehicle; wherein, based on processing of captured image data by the processor, the controller determines the position of a left lane delimiter on the road on a left side of the vehicle and the position of a right lane delimiter on the road on a right side of the vehicle; the controller operable to control a steering system that is configured to steer the vehicle; wherein the controller is operable to establish a target path for the vehicle based on processing of captured image data by the processor; wherein the target path maintains the longitudinal centerline of the vehicle generally centered between the left lane delimiter and the right lane delimiter; the controller receiving an input indicative of the speed of the vehicle; wherein the controller is automatically activated to control steering the vehicle along the target path when the speed of the vehicle is at or above a first speed level; and wherein the lane centering system is disabled when a driver assistance system of the vehicle that determines a collision may occur has been triggered in order to permit maneuvering of the vehicle to avoid a collision without interference from the lane centering system. - View Dependent Claims (22, 23, 24, 25, 26, 27)
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Specification