VEHICULAR DRIVER ASSIST SYSTEM

• US 20190005339A1
• Filed: 08/20/2018
• Published: 01/03/2019
• Est. Priority Date: 03/08/2016
• Status: Active Grant

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Inventors: Chundrlik, JR., William J., Raudszus, Dominik, Van Dan Elzen, Christopher L.
• Granted Patent: US 10,685,243 B2
• Time in Patent Office: Days
• 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 2300/302 combining image information with GPS information or vehicle data, e.g. vehicle speed, gyro, steering angle data
• CPC Class Codes: B60R 2300/607 from a bird's eye viewpoint
• CPC Class Codes: B60R 2300/804 for lane monitoring
• CPC Class Codes: B60R 2300/8093 for obstacle warning
• 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 1/0962 having an indicator mounted inside the vehicle, e.g. giving voice messages
• CPC Class Codes: G08G 1/165 for passive traffic, e.g. including static obstacles, trees
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A vehicular driver assistance system includes a camera disposed at a vehicle and a control having an image processor that processes image data captured by the camera to determine lane markings demarcating a traffic lane in which the vehicle is traveling and to estimate a path of travel for the vehicle to maintain the vehicle in the traffic lane in which the vehicle is traveling in situations where the lane markings demarcating the traffic lane in which the vehicle is traveling are not readily determinable. The control estimates the path of travel for the vehicle at least responsive to vehicle information. The system updates the estimated path of travel ahead of the vehicle even when no lane markings are determined present on the road ahead of the vehicle. The control adjusts processing of captured image data responsive at least in part to a driving situation that the vehicle is in.

Claims

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

a camera disposed at a vehicle and having a field of view forward of the vehicle;

a control comprising an image processor that is operable to process image data captured by said camera;

wherein, responsive to processing by said image processor of image data captured by said camera, said control determines lane markings demarcating a traffic lane in which the vehicle is traveling;

wherein, responsive to processing by said image processor of image data captured by said camera, said control estimates a path of travel for the vehicle to maintain the vehicle in the traffic lane in which the vehicle is traveling in situations where the lane markings demarcating the traffic lane in which the vehicle is traveling are not readily determinable;

wherein said control estimates the path of travel for the vehicle at least responsive to vehicle information, and wherein the vehicle information comprises at least one selected from the group consisting of (i) vehicle speed, (ii) vehicle differential wheel speeds and (iii) vehicle yaw rate;

wherein said driver assistance system updates the estimated path of travel ahead of the vehicle even when no lane markings are determined present on the road ahead of the vehicle;

wherein said control adjusts processing by said image processor of image data captured by said camera responsive at least in part to a driving situation that the vehicle is in; and

wherein the driving situation comprises at least one driving situation selected from the group consisting of (i) the vehicle cresting a hill, (ii) the vehicle crossing an intersection, (iii) the vehicle passing an entrance ramp and (iv) the vehicle passing an exit ramp.

2. The driver assistance system of claim 1, wherein, responsive to processing by said image processor of image data captured by said camera, said control estimates the path of travel for the vehicle to maintain the vehicle in the traffic lane in which the vehicle is traveling in situations where the lane markings demarcating the traffic lane in which the vehicle is traveling are lost by said camera for a period of time.

3. The driver assistance system of claim 1, wherein, responsive to processing by said image processor of image data captured by said camera, said control estimates the path of travel for the vehicle to maintain the vehicle in the traffic lane in which the vehicle is traveling in situations where the lane markings demarcating the traffic lane in which the vehicle is traveling are lost by said camera as the vehicle crosses an intersection.

4. The driver assistance system of claim 1, wherein, responsive to processing by said image processor of image data captured by said camera, said control estimates the path of travel for the vehicle to maintain the vehicle in the traffic lane in which the vehicle is traveling in situations where lane markings are erroneously determined by processing by said image processor of captured image data alone.

5. The driver assistance system of claim 1, wherein, responsive to processing by said image processor of image data captured by said camera, said control estimates the path of travel for the vehicle to maintain the vehicle in the traffic lane in which the vehicle is traveling in situations where processing by said image processor of image data alone determines lane markings that are not demarcating the traffic lane in which the vehicle is traveling.

6. The driver assistance system of claim 1, wherein said control estimates the path of travel for the vehicle at least in part responsive to a location input from a global positioning system to said control that provides the vehicle'"'"'s current geographical location information.

7. The driver assistance system of claim 1, wherein said control estimates the path of travel for the vehicle at least in part responsive to a map input from a digital map to said control that provides road information pertaining to the road along which the vehicle is traveling.

8. The driver assistance system of claim 1, wherein, responsive to processing by said image processor of image data captured by said camera and responsive to a map input from a digital map to said control, said control estimates the path of travel for the vehicle to maintain the vehicle in the traffic lane in which the vehicle is traveling in situations where the lane markings demarcating the traffic lane in which the vehicle is traveling are not readily determinable.

9. The driver assistance system of claim 1, wherein, responsive to processing by said image processor of image data captured by said camera and responsive to a location input from a global positioning system to said control, said control estimates the path of travel for the vehicle to maintain the vehicle in the traffic lane in which the vehicle is traveling in situations where the lane markings demarcating the traffic lane in which the vehicle is traveling are not readily determinable.

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

a camera disposed at a vehicle and having a field of view forward of the vehicle;

a control comprising an image processor that is operable to process image data captured by said camera;

wherein, responsive to processing by said image processor of image data captured by said camera, said control determines lane markings demarcating a traffic lane in which the vehicle is traveling;

wherein, responsive to processing by said image processor of image data captured by said camera and responsive to at least one input selected from the group consisting of (i) a map input from a digital map to said control and (ii) a location input from a global positioning system to said control, said control estimates a path of travel for the vehicle to maintain the vehicle in the traffic lane in which the vehicle is traveling in situations where the lane markings demarcating the traffic lane in which the vehicle is traveling are not readily determinable;

wherein said control estimates the path of travel for the vehicle at least responsive to vehicle information, and wherein the vehicle information comprises at least one selected from the group consisting of (i) vehicle speed, (ii) vehicle differential wheel speeds and (iii) vehicle yaw rate;

wherein said control estimates the path of travel for the vehicle at least in part responsive to a location input from a global positioning system to said control that provides the vehicle'"'"'s current geographical location information;

wherein said driver assistance system updates the estimated path of travel ahead of the vehicle even when no lane markings are determined present on the road ahead of the vehicle;

wherein said control adjusts processing by said image processor of image data captured by said camera responsive at least in part to a driving situation that the vehicle is in; and

wherein the driving situation comprises at least one driving situation selected from the group consisting of (i) the vehicle cresting a hill, (ii) the vehicle crossing an intersection, (iii) the vehicle passing an entrance ramp and (iv) the vehicle passing an exit ramp.

11. The driver assistance system of claim 10, wherein, responsive to processing by said image processor of image data captured by said camera, said control estimates the path of travel for the vehicle to maintain the vehicle in the traffic lane in which the vehicle is traveling in situations where the lane markings demarcating the traffic lane in which the vehicle is traveling are lost by said camera for a period of time.

12. The driver assistance system of claim 10, wherein, responsive to processing by said image processor of image data captured by said camera, said control estimates the path of travel for the vehicle to maintain the vehicle in the traffic lane in which the vehicle is traveling in situations where the lane markings demarcating the traffic lane in which the vehicle is traveling are lost by said camera as the vehicle crosses an intersection.

13. The driver assistance system of claim 10, wherein, responsive to processing by said image processor of image data captured by said camera, said control estimates the path of travel for the vehicle to maintain the vehicle in the traffic lane in which the vehicle is traveling in situations where lane markings are erroneously determined by processing by said image processor of captured image data alone.

14. The driver assistance system of claim 10, wherein, responsive to processing by said image processor of image data captured by said camera, said control estimates the path of travel for the vehicle to maintain the vehicle in the traffic lane in which the vehicle is traveling in situations where processing by said image processor of image data alone determines lane markings that are not demarcating the traffic lane in which the vehicle is traveling.

15. The driver assistance system of claim 10, wherein, responsive to processing by said image processor of image data captured by said camera and responsive to a map input from a digital map to said control, said control estimates the path of travel for the vehicle to maintain the vehicle in the traffic lane in which the vehicle is traveling in situations where the lane markings demarcating the traffic lane in which the vehicle is traveling are not readily determinable.

16. The driver assistance system of claim 10, wherein, responsive to processing by said image processor of image data captured by said camera and responsive to the location input from the global positioning system to said control, said control estimates the path of travel for the vehicle to maintain the vehicle in the traffic lane in which the vehicle is traveling in situations where the lane markings demarcating the traffic lane in which the vehicle is traveling are not readily determinable.

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

a camera disposed at a vehicle and having a field of view forward of the vehicle;

a control comprising an image processor that is operable to process image data captured by said camera;

wherein, responsive to processing by said image processor of image data captured by said camera, said control determines lane markings demarcating a traffic lane in which the vehicle is traveling;

wherein, responsive to processing by said image processor of image data captured by said camera and responsive to at least one input selected from the group consisting of (i) a map input from a digital map to said control and (ii) a location input from a global positioning system to said control, said control estimates a path of travel for the vehicle to maintain the vehicle in the traffic lane in which the vehicle is traveling in situations where the lane markings demarcating the traffic lane in which the vehicle is traveling are not readily determinable;

wherein said control estimates the path of travel for the vehicle at least responsive to vehicle information, and wherein the vehicle information comprises at least one selected from the group consisting of (i) vehicle speed, (ii) vehicle differential wheel speeds and (iii) vehicle yaw rate;

wherein said driver assistance system updates the estimated path of travel ahead of the vehicle even when no lane markings are determined present on the road ahead of the vehicle;

wherein said control adjusts processing by said image processor of image data captured by said camera responsive at least in part to a driving situation that the vehicle is in; and

wherein the driving situation comprises at least one driving situation selected from the group consisting of (i) the vehicle cresting a hill, (ii) the vehicle crossing an intersection, (iii) the vehicle passing an entrance ramp and (iv) the vehicle passing an exit ramp.

18. The driver assistance system of claim 17, wherein, responsive to processing by said image processor of image data captured by said camera and responsive to a map input from a digital map to said control, said control estimates the path of travel for the vehicle to maintain the vehicle in the traffic lane in which the vehicle is traveling in situations where the lane markings demarcating the traffic lane in which the vehicle is traveling are not readily determinable.

19. The driver assistance system of claim 17, wherein, responsive to processing by said image processor of image data captured by said camera and responsive to a location input from a global positioning system to said control, said control estimates the path of travel for the vehicle to maintain the vehicle in the traffic lane in which the vehicle is traveling in situations where the lane markings demarcating the traffic lane in which the vehicle is traveling are not readily determinable.

20. The driver assistance system of claim 17, wherein, responsive to processing by said image processor of image data captured by said camera, said control estimates the path of travel for the vehicle to maintain the vehicle in the traffic lane in which the vehicle is traveling in situations selected from the group consisting of (i) situations where the lane markings demarcating the traffic lane in which the vehicle is traveling are lost by said camera for a period of time, (ii) situations where the lane markings demarcating the traffic lane in which the vehicle is traveling are lost by said camera as the vehicle crosses an intersection, (iii) situations where lane markings are erroneously determined by processing by said image processor of captured image data alone, and (iv) situations where processing by said image processor of image data alone determines lane markings that are not demarcating the traffic lane in which the vehicle is traveling.