DRIVER ASSISTANCE SYSTEM FOR A VEHICLE

• US 20160129840A1
• Filed: 01/18/2016
• Published: 05/12/2016
• Est. Priority Date: 07/31/2001
• Status: Active Grant

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Inventors: Schofield, Kenneth
• Granted Patent: US 9,463,744 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B60Q 1/346 with automatic actuation
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: B60R 11/04 Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
• CPC Class Codes: B60R 2300/804 for lane monitoring
• CPC Class Codes: B60T 2201/08 Lane monitoring; Lane Keeping Systems
• CPC Class Codes: B60T 2201/089 using optical detection
• CPC Class Codes: B62D 15/029 Steering assistants using warnings or proposing actions to the driver without influencing the steering system
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/9315 Monitoring blind spots
• CPC Class Codes: G01S 2013/9316 combined with communication equipment with other vehicles or with base stations
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/9323 Alternative operation using light waves
• CPC Class Codes: G01S 2013/9324 Alternative operation using ultrasonic waves
• CPC Class Codes: G01S 2013/9325 for inter-vehicle distance regulation, e.g. navigating in platoons
• CPC Class Codes: G01S 2013/93274 on the side of the vehicles
• CPC Class Codes: G06F 18/24 Classification techniques
• 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 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
• CPC Class Codes: G08G 1/163 involving continuous checking
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection
• CPC Class Codes: H04N 23/90 : Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums

Abstract

A driver assistance system for a vehicle includes a forward facing camera and a control comprising an image processor that processes image data captured by the forward facing camera. The control receives vehicle data relating to the vehicle, including vehicle speed and vehicle steering angle, via a vehicle bus of the vehicle. Via processing by the image processor of image data captured by the forward facing camera, the control is operable to detect a road marking on the road being traveled by the vehicle and to the left of the vehicle. Responsive at least in part to processing of captured image data by the image processor, the control determines a driving condition of the vehicle, such as the type of lane markers present ahead of the vehicle, a traffic condition at or ahead of the vehicle, and/or a hazardous condition at or ahead of the vehicle.

Claims

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

a forward facing camera disposed at or in a vehicle equipped with said driver assistance system, said forward facing camera having a field of view that encompasses the road ahead of and to the left of the equipped vehicle;

wherein the equipped vehicle is a left-hand drive vehicle;

a control disposed at or in the equipped vehicle and comprising an image processor;

wherein image data captured by said forward facing camera is processed by said image processor;

wherein said image processor processes data at a processing speed of at least about 30 MIPS;

wherein said control receives vehicle data relating to the equipped vehicle via a vehicle bus of the equipped vehicle, said vehicle data including vehicle speed and vehicle steering angle;

wherein, via processing by said image processor of image data captured by said forward facing camera, said control is operable to detect a road marking on the road being traveled by the equipped vehicle and to the left of the equipped vehicle;

wherein said image processor utilizes a lane marker type recognition algorithm to classify a detected lane marker to be one of (i) a solid line, (ii) a dashed line and (iii) double lines;

wherein, responsive to classification by the lane marker type recognition algorithm of a detected road marking to be double lines, (a) said control determines ability to pass safely to the left of the equipped vehicle when the double lines are determined to be a solid line and an adjacent dashed line with the adjacent dashed line being closer to the equipped vehicle than the solid line, and (b) said control determines a non-encroachment/no-passing zone to exist to the left of the equipped vehicle when the double lines are determined to be two solid lines, and (c) said control determines a non-encroachment zone to exist to the left of the equipped vehicle when the double lines are determined to be a solid line and an adjacent dashed line with the adjacent dashed line being farther from the equipped vehicle than the solid line.

2. The driver assistance system of claim 1, wherein said forward facing camera views lane markers on the road being traveled by the equipped vehicle, and wherein said control, responsive to processing by said image processor of image data captured by said forward facing camera, determines a lane on the road being traveled by the equipped vehicle.

3. The driver assistance system of claim 1, wherein, via processing by said image processor of image data captured by said forward facing camera, said control determines road curbs.

4. The driver assistance system of claim 1, wherein said image processor processes image data from at least one other camera of the equipped vehicle, and wherein said other camera is located at an exterior sideview mirror assembly of the equipped vehicle.

5. The driver assistance system of claim 1, wherein said control receives input from a global positioning system.

6. The driver assistance system of claim 1, wherein, via processing by said image processor of image data captured by said forward facing camera, said control determines road seams.

7. The driver assistance system of claim 1, comprising a radar sensor mounted at the equipped vehicle, wherein radar data from said radar sensor is received by said control and wherein image data and radar data are fused at said control.

8. The driver assistance system of claim 1, wherein said vehicle bus comprises at least one of (a) a CAN bus of the equipped vehicle and (b) a LIN bus of the equipped vehicle.

9. The driver assistance system of claim 1, wherein, via processing by said image processor of image data captured by said forward facing camera, said control determines at least one of (i) a wet road condition and (ii) a snowy road condition.

10. The driver assistance system of claim 1, comprising a wireless communication system, wherein at least one of (i) information on road conditions is receivable at the equipped vehicle via said wireless communication system and (ii) said control is operable to transmit safety warnings via said wireless communication system.

11. The driver assistance system of claim 1, wherein, responsive at least in part to processing of image data by said image processor, said control determines that the equipped vehicle may be in hazard of a collision.

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

a forward facing camera disposed at or in a vehicle equipped with said driver assistance system, said forward facing camera having a field of view that encompasses the road ahead of and to the left of the equipped vehicle;

wherein the equipped vehicle is a left-hand drive vehicle;

a control disposed at or in the equipped vehicle and comprising an image processor;

wherein image data captured by said forward facing camera is processed by said image processor;

wherein, via processing by said image processor of image data captured by said forward facing camera, said control is operable to detect a road marking on the road being traveled by the equipped vehicle and to the left of the equipped vehicle;

wherein said image processor utilizes a lane marker type recognition algorithm to classify a detected lane marker to be one of (i) a solid line, (ii) a dashed line and (iii) double lines;

wherein said image processor processes image data from at least one other camera of the equipped vehicle, and wherein said other camera is located at the left side of the equipped vehicle;

wherein a radar sensor is mounted at the equipped vehicle;

wherein radar data from said radar sensor is received by said control;

wherein, responsive to classification by the lane marker type recognition algorithm of a detected road marking, said control determines ability to pass safely to the left of the equipped vehicle; and

wherein, responsive at least in part to processing of image data by said image processor, said control determines the presence of traffic approaching in a lane to the left of the equipped vehicle.

13. The driver assistance system of claim 12, wherein, responsive to classification by the lane marker type recognition algorithm of a detected road marking to be double lines, said control determines ability to pass safely to the left of the equipped vehicle when the double lines are determined to be a solid line and an adjacent dashed line with the adjacent dashed line being closer to the equipped vehicle than the solid line.

14. The driver assistance system of claim 13, wherein said control receives vehicle data relating to the equipped vehicle via a vehicle bus of the equipped vehicle, said vehicle data including vehicle speed and vehicle steering angle, and wherein said image processor processes data at a processing speed of at least about 30 MIPS, and wherein said other camera is located at an exterior sideview mirror assembly of the equipped vehicle.

15. The driver assistance system of claim 12, wherein said forward facing camera views lane markers on the road being traveled by the equipped vehicle, and wherein said control, responsive to processing by said image processor of image data captured by said forward facing camera, determines a lane on the road being traveled by the equipped vehicle.

16. The driver assistance system of claim 15, wherein, via processing by said image processor of image data captured by said forward facing camera, said control determines road curbs.

17. The driver assistance system of claim 12, wherein, via processing by said image processor of image data captured by said forward facing camera, said control determines at least one of (i) a wet road condition and (ii) a snowy road condition.

18. The driver assistance system of claim 17, wherein, responsive at least in part to processing of image data by said image processor, said control determines that the equipped vehicle may be in hazard of a collision.

19. The driver assistance system of claim 12, wherein, responsive at least in part to processing of image data by said image processor, said control determines the presence of traffic of rear-approaching traffic approaching the equipped vehicle in a lane to the left of the equipped vehicle.

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

a forward facing camera disposed at or in a vehicle equipped with said driver assistance system, said forward facing camera having a field of view that encompasses the road ahead of and to the left of the equipped vehicle;

wherein the equipped vehicle is a left-hand drive vehicle;

a control disposed at or in the equipped vehicle and comprising an image processor;

wherein image data captured by said forward facing camera is processed by said image processor;

wherein said forward facing camera views lane markers on the road being traveled by the equipped vehicle, and wherein said control, responsive to processing by said image processor of image data captured by said forward facing camera, determines a lane on the road being traveled by the equipped vehicle;

wherein said image processor processes image data from at least one other camera of the equipped vehicle and wherein said other camera is located at the left side of the equipped vehicle;

wherein a radar sensor is mounted at the equipped vehicle;

wherein radar data from said radar sensor is received by said control;

wherein, responsive at least in part to processing of image data by said image processor, said control determines ability to pass safely to the left of the equipped vehicle;

wherein, responsive at least in part to processing of image data by said image processor, said control determines the presence of traffic approaching in a lane to the left of the equipped vehicle; and

wherein, responsive at least in part to processing of image data by said image processor, said control determines that the equipped vehicle may be in hazard of a collision.

21. The driver assistance system of claim 20, wherein, via processing by said image processor of image data captured by said forward facing camera, said control determines road curbs.

22. The driver assistance system of claim 20, wherein, via processing by said image processor of image data captured by said forward facing camera, said control determines at least one of (i) a wet road condition and (ii) a snowy road condition.

23. The driver assistance system of claim 20, wherein image data and radar data are fused at said control.

24. The driver assistance system of claim 23, wherein said image processor processes data at a processing speed of at least about 30 MIPS, and wherein said control receives vehicle data relating to the equipped vehicle via a vehicle bus of the equipped vehicle, said vehicle data including vehicle speed and vehicle steering angle.

25. The driver assistance system of claim 20, wherein, via processing by said image processor of image data captured by said forward facing camera, said control is operable to detect a road marking on the road being traveled by the equipped vehicle and to the left of the equipped vehicle and wherein said image processor utilizes a lane marker type recognition algorithm to classify a detected lane marker to be one of (i) a solid line, (ii) a dashed line and (iii) double lines, and wherein, responsive to classification by the lane marker type recognition algorithm of a detected road marking, said control determines ability to pass safely to the left of the equipped vehicle.

26. The driver assistance system of claim 25, wherein said control receives vehicle data relating to the equipped vehicle via a vehicle bus of the equipped vehicle, said vehicle data including vehicle speed and vehicle steering angle, and wherein said image processor processes data at a processing speed of at least about 30 MIPS.

27. The driver assistance system of claim 26, wherein said other camera is located at an exterior sideview mirror assembly of the equipped vehicle.