VEHICLE VISION SYSTEM WITH COLLISION MITIGATION
First Claim
1. A method for determining potential collision with another vehicle by a vehicle equipped with a vision system, said method comprising:
- providing, at the equipped vehicle, a vision sensor comprising a camera having at least one million photosensing elements;
providing, at the equipped vehicle, at least one non-vision sensor comprising at least one radar sensor or at least one lidar sensor;
capturing, using said camera, image data of an exterior environment ahead of the equipped vehicle;
determining presence of a leading vehicle ahead of the equipped vehicle;
when the leading vehicle is determined to be present ahead of the equipped vehicle, determining, via processing by an image processor of image data captured by said camera, that a brake light of the leading vehicle is illuminated;
determining distance to the leading vehicle;
determining relative velocity between the equipped vehicle and the leading vehicle;
determining a time to collision to the leading vehicle based at least in part on the determined distance to the leading vehicle and the determined relative velocity between the equipped vehicle and the leading vehicle;
determining a braking level of the equipped vehicle to mitigate collision of the equipped vehicle with the leading vehicle;
employing a weighting factor when determining the braking level of the equipped vehicle to mitigate collision of the equipped vehicle with the leading vehicle; and
adjusting the weighting factor responsive at least in part to determining, via processing of image data captured by said camera, that the brake light of the leading vehicle ceases to be illuminated.
0 Assignments
0 Petitions
Accused Products
Abstract
A method for determining potential collision with another vehicle by a vehicle equipped with a vision system includes providing, at the equipped vehicle, a vision sensor including a camera and at least one non-vision sensor, and determining presence of a leading vehicle ahead of the equipped vehicle. A time to collision to the leading vehicle is determined based at least in part on a determined distance to the leading vehicle and a determined relative velocity between the equipped vehicle and the leading vehicle. A braking level of the equipped vehicle is determined to mitigate collision of the equipped vehicle with the leading vehicle. A weighting factor is employed when determining the braking level, and the weighting factor is adjusted responsive at least in part to determining, via processing of image data captured by the camera, that a brake light of the leading vehicle ceases to be illuminated.
1 Citation
20 Claims
-
1. A method for determining potential collision with another vehicle by a vehicle equipped with a vision system, said method comprising:
-
providing, at the equipped vehicle, a vision sensor comprising a camera having at least one million photosensing elements; providing, at the equipped vehicle, at least one non-vision sensor comprising at least one radar sensor or at least one lidar sensor; capturing, using said camera, image data of an exterior environment ahead of the equipped vehicle; determining presence of a leading vehicle ahead of the equipped vehicle; when the leading vehicle is determined to be present ahead of the equipped vehicle, determining, via processing by an image processor of image data captured by said camera, that a brake light of the leading vehicle is illuminated; determining distance to the leading vehicle; determining relative velocity between the equipped vehicle and the leading vehicle; determining a time to collision to the leading vehicle based at least in part on the determined distance to the leading vehicle and the determined relative velocity between the equipped vehicle and the leading vehicle; determining a braking level of the equipped vehicle to mitigate collision of the equipped vehicle with the leading vehicle; employing a weighting factor when determining the braking level of the equipped vehicle to mitigate collision of the equipped vehicle with the leading vehicle; and adjusting the weighting factor responsive at least in part to determining, via processing of image data captured by said camera, that the brake light of the leading vehicle ceases to be illuminated. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
-
-
12. A method for determining potential collision with another vehicle by a vehicle equipped with a vision system, said method comprising:
-
providing, at the equipped vehicle, a vision sensor comprising a camera having at least one million photosensing elements; providing, at the equipped vehicle, at least one non-vision sensor comprising at least one radar sensor or at least one lidar sensor; capturing, using said camera, image data of an exterior environment ahead of the equipped vehicle; determining presence of a leading vehicle ahead of the equipped vehicle; when the leading vehicle is determined to be present ahead of the equipped vehicle, determining, via processing by an image processor of image data captured by said camera, that a brake light of the leading vehicle is illuminated; determining, at least in part via image processing by said image processor of image data captured by said camera, distance to the leading vehicle; determining relative velocity between the equipped vehicle and the leading vehicle; determining a time to collision to the leading vehicle based at least in part on the determined distance to the leading vehicle and the determined relative velocity between the equipped vehicle and the leading vehicle; determining a braking level of the equipped vehicle to mitigate collision of the equipped vehicle with the leading vehicle; employing a weighting factor when determining the braking level of the equipped vehicle to mitigate collision of the equipped vehicle with the leading vehicle; adjusting the weighting factor responsive at least in part to determining, via processing of image data captured by said camera, that the brake light of the leading vehicle ceases to be illuminated; and wherein adjusting the weighting factor comprises decreasing weight given to the determined time to collision to the leading vehicle responsive at least in part to determining, via processing of image data captured by said camera, that the brake light of the leading vehicle ceases to be illuminated. - View Dependent Claims (13, 14, 15, 16)
-
-
17. A method for determining potential collision with another vehicle by a vehicle equipped with a vision system, said method comprising:
-
providing, at the equipped vehicle, a vision sensor comprising a camera having at least one million photosensing elements; providing, at the equipped vehicle, at least one non-vision sensor comprising at least one radar sensor; capturing, using said camera, image data of an exterior environment ahead of the equipped vehicle; determining presence of a leading vehicle ahead of the equipped vehicle; when the leading vehicle is determined to be present ahead of the equipped vehicle, determining, via processing by an image processor of image data captured by said camera, that a brake light of the leading vehicle is illuminated; determining distance to the leading vehicle; determining relative velocity between the equipped vehicle and the leading vehicle; wherein determining relative velocity between the equipped vehicle and the leading vehicle is responsive at least in part to at least one of (i) image processing by said image processor of image data captured by said camera and (ii) processing of radar data sensed by said at least one radar sensor of the equipped vehicle; determining a time to collision to the leading vehicle based at least in part on the determined distance to the leading vehicle and the determined relative velocity between the equipped vehicle and the leading vehicle; determining a braking level of the equipped vehicle to mitigate collision of the equipped vehicle with the leading vehicle; employing a weighting factor when determining the braking level of the equipped vehicle to mitigate collision of the equipped vehicle with the leading vehicle; and adjusting the weighting factor responsive at least in part to determining, via processing of image data captured by said camera, that the brake light of the leading vehicle ceases to be illuminated. - View Dependent Claims (18, 19, 20)
-
Specification