Vision method of detecting lane boundaries and obstacles
First Claim
1. In an automotive vehicle having a computer vision system and an associated camera for viewing a scene ahead of the vehicle, a method of detecting lane markers on a roadway comprising the steps of:
- obtaining an image of the scene and digitizing the image,normalizing the image,defining a search area in the image,searching for lane markers in the search area of the image to locate lane marker positions,estimating the position of any missing lane marker from said located lane marker positions, anddefining lane boundaries from the said located lane marker positions and the estimated position of the missing lane marker.
2 Assignments
0 Petitions

Accused Products

Abstract
An image processing method operates on an image from a ccd camera viewing a roadway scene in front of a vehicle to detect lane markers and determine the relationship of the vehicle to the lane. Obstacles in the lane near the vehicle are detected and a warning is given to the driver. The method uses template matching techniques or a Hough algorithm to detect the lane markers or road edges.
589 Citations
Vehicle rearview mirror system | ||
Patent #
US 7,906,756 B2
Filed 04/23/2010
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Driver assistance system for vehicle | ||
Patent #
US 7,873,187 B2
Filed 08/16/2010
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Donnelly Corporation
|
VEHICLE TRAVEL SUPPORT DEVICE, VEHICLE, VEHICLE TRAVEL SUPPORT PROGRAM | ||
Patent #
US 20110044503A1
Filed 01/09/2009
|
Current Assignee
Honda Motor Company
|
Original Assignee
Honda Motor Company
|
Reflective mirror assembly | ||
Patent #
US 7,864,399 B2
Filed 03/19/2010
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Interior rearview mirror system for a vehicle | ||
Patent #
US 7,914,188 B2
Filed 12/11/2009
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Donnelly Corporation
|
Interior mirror system | ||
Patent #
US 7,898,398 B2
Filed 01/19/2010
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Method for adjusting the orientation of a camera installed in a vehicle and system for carrying out this method | ||
Patent #
US 7,864,981 B2
Filed 01/18/2007
|
Current Assignee
Valeo Vision
|
Original Assignee
Valeo Vision
|
METHOD AND APPARATUS FOR LANE RECOGNITION FOR A VEHICLE | ||
Patent #
US 20110040468A1
Filed 05/21/2010
|
Current Assignee
Robert Bosch GmbH
|
Original Assignee
Robert Bosch GmbH
|
Imaging system for vehicle | ||
Patent #
US 7,877,175 B2
Filed 04/21/2010
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Donnelly Corporation
|
Vehicular accessory mounting system with a forwardly-viewing camera | ||
Patent #
US 7,888,629 B2
Filed 05/18/2009
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Donnelly Corporation
|
Accessory mounting system suitable for use in a vehicle | ||
Patent #
US 7,916,009 B2
Filed 04/21/2010
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Vehicular interior rearview information mirror system | ||
Patent #
US 7,918,570 B2
Filed 11/15/2010
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Interior rearview mirror system for vehicle | ||
Patent #
US 7,926,960 B2
Filed 12/07/2009
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Driver assistance system for vehicle | ||
Patent #
US 7,949,152 B2
Filed 12/28/2010
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Donnelly Corporation
|
Vehicular image sensing system | ||
Patent #
US 7,994,462 B2
Filed 12/17/2009
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Donnelly Corporation
|
Driver assistance system with vehicle states, environment and driver intention | ||
Patent #
US 7,974,748 B2
Filed 08/16/2006
|
Current Assignee
Honda Research Institute Europe GmbH
|
Original Assignee
Honda Research Institute Europe GmbH
|
Vehicular wireless communication system | ||
Patent #
US 8,000,894 B2
Filed 10/20/2010
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Vehicle information display | ||
Patent #
US 8,019,505 B2
Filed 01/14/2011
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Interior rearview mirror system with forwardly-viewing camera | ||
Patent #
US 7,994,471 B2
Filed 02/14/2011
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Donnelly Corporation
|
Vehicular imaging system in an automatic headlamp control system | ||
Patent #
US 8,017,898 B2
Filed 08/13/2008
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Automatic signaling system for vehicles | ||
Patent #
US 7,986,223 B2
Filed 01/26/2009
|
Current Assignee
Autosignal LLC
|
Original Assignee
Anita Au, Gerald Chan
|
Automatic headlamp control system | ||
Patent #
US 7,972,045 B2
Filed 08/10/2007
|
Current Assignee
Magna Mirrors of America Incorporated
|
Original Assignee
Donnelly Corporation
|
Imaging system for vehicle | ||
Patent #
US 7,991,522 B2
Filed 12/28/2010
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Donnelly Corporation
|
Automotive radar sensor blockage detection system and related techniques | ||
Patent #
US 7,973,701 B2
Filed 03/30/2009
|
Current Assignee
Valeo Radar Systems Inc.
|
Original Assignee
Valeo Radar Systems Inc.
|
Autonomous Mobile Robot | ||
Patent #
US 20110208357A1
Filed 12/17/2010
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
Mirror assembly for vehicle | ||
Patent #
US 8,049,640 B2
Filed 02/25/2011
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Vehicle vision system | ||
Patent #
US 8,063,759 B2
Filed 06/05/2007
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Donnelly Corporation
|
Vehicular interior rearview mirror system | ||
Patent #
US 8,047,667 B2
Filed 03/28/2011
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Exterior airbag deployment techniques | ||
Patent #
US 8,041,483 B2
Filed 10/29/2007
|
Current Assignee
Automotive Technologies International Incorporated
|
Original Assignee
Automotive Technologies International Incorporated
|
Interior rearview mirror system | ||
Patent #
US 8,063,753 B2
Filed 02/24/2011
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
OBJECT DETECTION SYSTEM FOR VEHICLE | ||
Patent #
US 20100228435A1
Filed 04/21/2010
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Donnelly Corporation
|
Exterior Airbag Deployment Techniques | ||
Patent #
US 20100057305A1
Filed 11/05/2009
|
Current Assignee
American Vehicular Sciences LLC
|
Original Assignee
Automotive Technologies International Incorporated
|
Steering system with lane keeping integration | ||
Patent #
US 7,711,464 B2
Filed 01/25/2008
|
Current Assignee
Steering Solutions IP Holding Corporation
|
Original Assignee
GM Global Technology Operations Incorporated
|
Vehicular image sensing system | ||
Patent #
US 7,655,894 B2
Filed 11/19/2008
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Donnelly Corporation
|
Method and apparatus for three-dimensional object segmentation | ||
Patent #
US 7,680,323 B1
Filed 11/24/2003
|
Current Assignee
Cognex Corporation
|
Original Assignee
Cognex Corporation
|
Vehicular interior electrochromic rearview mirror assembly | ||
Patent #
US 7,826,123 B2
Filed 06/02/2009
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Apparatus and method for automatically detecting objects | ||
Patent #
US 7,747,039 B2
Filed 11/29/2005
|
Current Assignee
Nissan Motor Co. Ltd.
|
Original Assignee
Nissan Motor Co. Ltd.
|
Imaging system for vehicle | ||
Patent #
US 7,792,329 B2
Filed 10/27/2009
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Donnelly Corporation
|
METHOD AND SYSTEM FOR VIDEO-BASED ROAD CHARACTERIZATION, LANE DETECTION AND DEPARTURE PREVENTION | ||
Patent #
US 20100079590A1
Filed 01/23/2008
|
Current Assignee
Valeo Schalter und Sensoren GmbH
|
Original Assignee
Valeo Schalter und Sensoren GmbH
|
OBJECT DETECTION SYSTEM FOR VEHICLE | ||
Patent #
US 20100002081A1
Filed 09/15/2009
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Donnelly Corporation
|
CLEAR PATH DETECTION THROUGH ROAD MODELING | ||
Patent #
US 20100098295A1
Filed 10/19/2009
|
Current Assignee
GM Global Technology Operations LLC
|
Original Assignee
GM Global Technology Operations Incorporated
|
Object detection system for vehicle | ||
Patent #
US 7,720,580 B2
Filed 12/22/2005
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Donnelly Corporation
|
Method and device for lane keeping support in motor vehicles | ||
Patent #
US 7,765,066 B2
Filed 12/11/2002
|
Current Assignee
Robert Bosch GmbH
|
Original Assignee
Robert Bosch GmbH
|
Interior rearview mirror system | ||
Patent #
US 7,815,326 B2
Filed 04/23/2010
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Information mirror system | ||
Patent #
US 7,832,882 B2
Filed 01/26/2010
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Interior rearview mirror system for a vehicle | ||
Patent #
US 7,859,737 B2
Filed 09/08/2009
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Vision system for a vehicle including image processor | ||
Patent #
US 7,859,565 B2
Filed 08/19/2003
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Donnelly Corporation
|
LOW SPEED FOLLOW OPERATION AND CONTROL STRATEGY | ||
Patent #
US 20090005948A1
Filed 06/28/2007
|
Current Assignee
Visteon Global Technologies Incorporated
|
Original Assignee
Visteon Global Technologies Incorporated
|
Diagrammatizing Apparatus | ||
Patent #
US 20090010482A1
Filed 05/25/2005
|
Current Assignee
Ibaraki Toyota Jidosha Kabushiki Kaisha, Kabushiki Kaisha Toyota Chuo Kenkyusho
|
Original Assignee
Ibaraki Toyota Jidosha Kabushiki Kaisha, Kabushiki Kaisha Toyota Chuo Kenkyusho
|
Automatic signaling systems for vehicles | ||
Patent #
US 7,482,916 B2
Filed 01/28/2005
|
Current Assignee
Autosignal LLC
|
Original Assignee
Anita Au, Gerald Chan
|
On-vehicle image processing apparatus | ||
Patent #
US 20090028388A1
Filed 07/22/2008
|
Current Assignee
Renesas Electronics Corporation
|
Original Assignee
NEC Electronics Corporation
|
WARNING METHOD AND DEVICE FOR DEVIATION OF A MOVING VEHICLE | ||
Patent #
US 20090069973A1
Filed 09/10/2007
|
Current Assignee
Shih-Hsiung Li
|
Original Assignee
Shih-Hsiung Li
|
Steering system with lane keeping integration | ||
Patent #
US 7,510,038 B2
Filed 06/10/2004
|
Current Assignee
Steering Solutions IP Holding Corporation
|
Original Assignee
Delphi Technologies Inc.
|
Road Marking Recognition System | ||
Patent #
US 20090088978A1
Filed 08/04/2006
|
Current Assignee
Ibaraki Toyota Jidosha Kabushiki Kaisha, Aisin AW Corporation Limited
|
Original Assignee
Ibaraki Toyota Jidosha Kabushiki Kaisha, Aisin AW Corporation Limited
|
Imaging system for vehicle | ||
Patent #
US 7,526,103 B2
Filed 04/14/2005
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Donnelly Corporation
|
APPARATUS AND METHOD FOR CONTROLLING TRAVEL SPEED OF VEHICLE | ||
Patent #
US 20090157273A1
Filed 11/26/2008
|
Current Assignee
Hyundai Motor Company
|
Original Assignee
Hyundai Motor Company
|
Single camera system and method for range and lateral position measurement of a preceding vehicle | ||
Patent #
US 7,561,720 B2
Filed 04/30/2004
|
Current Assignee
Visteon Global Technologies Incorporated
|
Original Assignee
Visteon Global Technologies Incorporated
|
AUTOMATIC SIGNALING SYSTEM FOR VEHICLES | ||
Patent #
US 20090189756A1
Filed 01/26/2009
|
Current Assignee
Autosignal LLC
|
Original Assignee
Gerald Chan
|
Vehicular vision system | ||
Patent #
US 7,561,181 B2
Filed 05/05/2005
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
System and method for range measurement of a preceding vehicle | ||
Patent #
US 7,561,721 B2
Filed 02/02/2005
|
Current Assignee
Visteon Global Technologies Incorporated
|
Original Assignee
Visteon Global Technologies Incorporated
|
SYSTEMS AND METHODS FOR RECOGNIZING A TARGET FROM A MOVING PLATFORM | ||
Patent #
US 20090214079A1
Filed 12/05/2008
|
Current Assignee
Honeywell International Inc.
|
Original Assignee
Honeywell International Inc.
|
Traveling Lane Detector | ||
Patent #
US 20090201370A1
Filed 02/04/2009
|
Current Assignee
Hitachi America Limited
|
Original Assignee
Hitachi America Limited
|
Methods and systems for detection of repeating patterns of features | ||
Patent #
US 7,583,840 B2
Filed 06/24/2008
|
Current Assignee
Lockheed Martin Corporation
|
Original Assignee
Lockheed Martin Corporation
|
Driver assistance system for vehicle | ||
Patent #
US 7,616,781 B2
Filed 04/24/2009
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Donnelly Corporation
|
System and method for range measurement of a preceding vehicle | ||
Patent #
US 7,623,681 B2
Filed 12/07/2005
|
Current Assignee
Visteon Global Technologies Incorporated
|
Original Assignee
Visteon Global Technologies Incorporated
|
Image processing apparatus and method | ||
Patent #
US 7,612,800 B2
Filed 06/27/2003
|
Current Assignee
Toshiba Corporation
|
Original Assignee
Toshiba Corporation
|
Method and device for informing a driver or for reacting when the vehicle leaves a lane | ||
Patent #
US 7,620,497 B2
Filed 04/16/2003
|
Current Assignee
Robert Bosch GmbH
|
Original Assignee
Robert Bosch GmbH
|
System and method for on-road detection of a vehicle using knowledge fusion | ||
Patent #
US 7,639,841 B2
Filed 12/19/2005
|
Current Assignee
Siemens Corp.
|
Original Assignee
Continental Automotive GmbH, Siemens Corp.
|
System and method for detecting and protecting pedestrians | ||
Patent #
US 7,630,806 B2
Filed 10/23/2007
|
Current Assignee
American Vehicular Sciences LLC
|
Original Assignee
Automotive Technologies International Incorporated
|
Image sensing system for a vehicle | ||
Patent #
US 7,325,935 B2
Filed 01/08/2007
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Image sensing system for a vehicle | ||
Patent #
US 7,325,934 B2
Filed 01/08/2007
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
System and Method for Detecting and Protecting Pedestrians | ||
Patent #
US 20080046150A1
Filed 10/23/2007
|
Current Assignee
American Vehicular Sciences LLC
|
Original Assignee
Automotive Technologies International Incorporated
|
Docking assistant | ||
Patent #
US 7,336,805 B2
Filed 06/16/2005
|
Current Assignee
Chemtron Research LLC
|
Original Assignee
Daimler Chrysler Company LLC
|
Vehicular vision system | ||
Patent #
US 7,344,261 B2
Filed 10/06/2005
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Donnelly Corporation
|
Vehicle headlight control using imaging sensor | ||
Patent #
US 7,339,149 B1
Filed 11/16/1999
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Donnelly Corporation
|
Image processing apparatus for selectively storing specific regions of an image | ||
Patent #
US 7,365,779 B2
Filed 09/13/2001
|
Current Assignee
Fujitsu Ten Limited
|
Original Assignee
Fujitsu Ten Limited
|
Systems, methods and computer products for lane keeping and handling of non-detected lane markers | ||
Patent #
US 20080080740A1
Filed 04/05/2007
|
Current Assignee
GM Global Technology Operations Incorporated
|
Original Assignee
GM Global Technology Operations Incorporated
|
Lane marker recognition method | ||
Patent #
US 7,362,883 B2
Filed 11/27/2002
|
Current Assignee
Hitachi America Limited
|
Original Assignee
Hitachi America Limited
|
Exterior Airbag Deployment Techniques | ||
Patent #
US 20080119993A1
Filed 10/29/2007
|
Current Assignee
Automotive Technologies International Incorporated
|
Original Assignee
Automotive Technologies International Incorporated
|
Image sensing system for a vehicle | ||
Patent #
US 7,380,948 B2
Filed 01/04/2007
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Image sensing system for controlling an accessory or headlight of a vehicle | ||
Patent #
US 7,388,182 B2
Filed 01/09/2007
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Donnelly Corporation
|
Vehicle headlight control using imaging sensor with spectral filtering | ||
Patent #
US 7,402,786 B2
Filed 10/06/2006
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Donnelly Corporation
|
STEERING SYSTEM WITH LANE KEEPING INTEGRATION | ||
Patent #
US 20080189012A1
Filed 01/25/2008
|
Current Assignee
Steering Solutions IP Holding Corporation
|
Original Assignee
Delphi Technologies Inc.
|
Lane-departure warning system with differentiation between an edge-of-lane marking and a structural boundary of the edge of the lane | ||
Patent #
US 7,411,486 B2
Filed 11/28/2005
|
Current Assignee
Daimler AG
|
Original Assignee
Daimler AG
|
Automatic exterior light control for a vehicle | ||
Patent #
US 7,423,248 B2
Filed 11/07/2007
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Donnelly Corporation
|
Vision system for a vehicle | ||
Patent #
US 7,425,076 B2
Filed 12/18/2007
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
METHODS AND SYSTEMS FOR DETECTION OF REPEATING PATTERNS OF FEATURES | ||
Patent #
US 20080260259A1
Filed 06/24/2008
|
Current Assignee
Lockheed Martin Corporation
|
Original Assignee
Lockheed Martin Corporation
|
Apparatus and Method For Automatically Detecting Objects | ||
Patent #
US 20080273750A1
Filed 11/29/2005
|
Current Assignee
Nissan Motor Co. Ltd.
|
Original Assignee
Nissan Motor Co. Ltd.
|
Autonomous Mobile Robot | ||
Patent #
US 20080294288A1
Filed 08/05/2008
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
SYSTEM AND METHOD FOR LOCATING A THREE-DIMENSIONAL OBJECT USING MACHINE VISION | ||
Patent #
US 20080298672A1
Filed 05/29/2007
|
Current Assignee
Cognex Corporation
|
Original Assignee
Cognex Corporation
|
Image sensing system for a vehicle | ||
Patent #
US 7,459,664 B2
Filed 01/24/2007
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Donnelly Corporation
|
Video safety detector with projected pattern | ||
Patent #
US 7,167,575 B1
Filed 04/29/2000
|
Current Assignee
Cognex Corporation
|
Original Assignee
Cognex Corporation
|
Driver assistance system | ||
Patent #
US 20070043491A1
Filed 08/16/2006
|
Current Assignee
Honda Research Institute Europe GmbH
|
Original Assignee
Honda Research Institute Europe GmbH
|
System and method for range measurement of a preceding vehicle | ||
Patent #
US 20070031008A1
Filed 08/02/2005
|
Current Assignee
Visteon Global Technologies Incorporated
|
Original Assignee
Visteon Global Technologies Incorporated
|
Antenna configurations for reduced radar complexity | ||
Patent #
US 7,183,995 B2
Filed 07/14/2003
|
Current Assignee
Valeo Radar Systems Inc.
|
Original Assignee
Raytheon Company
|
Controlling vehicle dynamics through the use of an image sensor system | ||
Patent #
US 20070095588A1
Filed 11/06/2003
|
Current Assignee
Robert Bosch GmbH
|
Original Assignee
Robert Bosch GmbH
|
System and method for range measurement of a preceding vehicle | ||
Patent #
US 20070127779A1
Filed 12/07/2005
|
Current Assignee
Visteon Global Technologies Incorporated
|
Original Assignee
Visteon Global Technologies Incorporated
|
Vehicle imaging system | ||
Patent #
US 7,227,459 B2
Filed 11/09/2004
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Donnelly Corporation
|
System and method for forming images for display in a vehicle | ||
Patent #
US 7,227,515 B2
Filed 05/16/2005
|
Current Assignee
L-3 Communications Corporation
|
Original Assignee
L-3 Communications Corporation
|
METHOD FOR ADJUSTING THE ORIENTATION OF A CAMERA INSTALLED IN A VEHICLE AND SYSTEM FOR CARRYING OUT THIS METHOD | ||
Patent #
US 20070165909A1
Filed 01/18/2007
|
Current Assignee
Valeo Vision
|
Original Assignee
Valeo Vision
|
Lane recognition system | ||
Patent #
US 7,295,682 B2
Filed 10/17/2002
|
Current Assignee
Hitachi Ltd.
|
Original Assignee
Hitachi America Limited
|
Image sensing system for a vehicle | ||
Patent #
US 7,311,406 B2
Filed 01/10/2007
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Safe distance algorithm for adaptive cruise control | ||
Patent #
US 6,708,100 B2
Filed 08/12/2002
|
Current Assignee
Valeo Radar Systems Inc.
|
Original Assignee
Raytheon Company
|
Path prediction system and method | ||
Patent #
US 6,675,094 B2
Filed 09/07/2001
|
Current Assignee
Valeo Radar Systems Inc.
|
Original Assignee
Raytheon Company
|
Switched beam antenna architecture | ||
Patent #
US 6,642,908 B2
Filed 08/16/2001
|
Current Assignee
Valeo Radar Systems Inc.
|
Original Assignee
Raytheon Company
|
Near object detection system | ||
Patent #
US 6,784,828 B2
Filed 08/16/2001
|
Current Assignee
Valeo Radar Systems Inc.
|
Original Assignee
Raytheon Company
|
Antenna configurations for reduced radar complexity | ||
Patent #
US 6,995,730 B2
Filed 11/13/2002
|
Current Assignee
Valeo Radar Systems Inc.
|
Original Assignee
Raytheon Company
|
Radar detection method and apparatus | ||
Patent #
US 6,864,831 B2
Filed 08/26/2002
|
Current Assignee
Regenmacher Ltd.
|
Original Assignee
Raytheon Company
|
Antenna configurations for reduced radar complexity | ||
Patent #
US 6,970,142 B1
Filed 02/27/2003
|
Current Assignee
Valeo Radar Systems Inc.
|
Original Assignee
Raytheon Company
|
Radar detection method and apparatus | ||
Patent #
US 6,577,269 B2
Filed 08/16/2001
|
Current Assignee
Valeo Radar Systems Inc.
|
Original Assignee
Raytheon Company
|
Near object detection system | ||
Patent #
US 6,670,910 B2
Filed 01/31/2002
|
Current Assignee
Valeo Radar Systems Inc.
|
Original Assignee
Raytheon Company
|
Automotive side object detection sensor blockage detection system and related techniques | ||
Patent #
US 6,611,227 B1
Filed 08/08/2002
|
Current Assignee
Valeo Radar Systems Inc.
|
Original Assignee
Raytheon Company
|
Method of determining the configuration of a path for motor vehicle | ||
Patent #
US 5,341,437 A
Filed 02/09/1993
|
Current Assignee
Honda Giken Kogyo Kabushiki Kaisha
|
Original Assignee
Honda Giken Kogyo Kabushiki Kaisha
|
Video amplifier for a radar receiver | ||
Patent #
US 6,903,679 B2
Filed 08/16/2001
|
Current Assignee
Valeo Radar Systems Inc.
|
Original Assignee
Raytheon Company
|
Driving way judging device and method | ||
Patent #
US 5,359,666 A
Filed 03/15/1993
|
Current Assignee
Honda Giken Kogyo Kabushiki Kaisha
|
Original Assignee
Honda Giken Kogyo Kabushiki Kaisha
|
Technique for changing a range gate and radar for coverage | ||
Patent #
US 6,683,557 B2
Filed 08/16/2001
|
Current Assignee
Valeo Radar Systems Inc.
|
Original Assignee
Raytheon Company
|
Radar detection method and apparatus | ||
Patent #
US 7,071,868 B2
Filed 04/08/2005
|
Current Assignee
Valeo Radar Systems Inc.
|
Original Assignee
Raytheon Company
|
Radar transmitter circuitry and techniques | ||
Patent #
US 6,707,419 B2
Filed 08/16/2001
|
Current Assignee
Valeo Radar Systems Inc.
|
Original Assignee
Raytheon Company
|
System for controlling the in situ orientation of a vehicle headlamp, and method of use | ||
Patent #
US 6,990,397 B2
Filed 12/09/2003
|
Current Assignee
Valeo Vision
|
Original Assignee
Valeo Vision
|
Collision warning systems and methods | ||
Patent #
US 7,009,503 B2
Filed 03/19/2004
|
Current Assignee
Idealab IdeaLab
|
Original Assignee
Idealab IdeaLab
|
Lane marker projection method for a motor vehicle vision system | ||
Patent #
US 7,050,908 B1
Filed 03/22/2005
|
Current Assignee
Aptiv Technologies Limited
|
Original Assignee
Delphi Technologies Inc.
|
Lane-departure warning system with differentiation between an edge-of-lane marking and a structural boundary of the edge of the lane | ||
Patent #
US 20060132295A1
Filed 11/28/2005
|
Current Assignee
Daimler AG
|
Original Assignee
Daimler AG
|
Device and method for improving visibility in a motor vehicle | ||
Patent #
US 20060151223A1
Filed 09/23/2003
|
Current Assignee
Robert Bosch GmbH
|
Original Assignee
Robert Bosch GmbH
|
Object detection system for vehicle | ||
Patent #
US 20060184297A1
Filed 12/22/2005
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Mirrors of America Incorporated
|
System and method for range measurement of a preceding vehicle | ||
Patent #
US 20060182313A1
Filed 02/02/2005
|
Current Assignee
Visteon Global Technologies Incorporated
|
Original Assignee
Visteon Global Technologies Incorporated
|
Collision warning systems and methods | ||
Patent #
US 20050017858A1
Filed 03/19/2004
|
Current Assignee
Idealab IdeaLab
|
Original Assignee
Idealab IdeaLab
|
Traffic surveillance and report system | ||
Patent #
US 20050033505A1
Filed 12/02/2003
|
Current Assignee
PREMIER WIRELESS INC.
|
Original Assignee
PREMIER WIRELESS INC.
|
Method and system for displaying an image | ||
Patent #
US 20050061976A1
Filed 11/02/2004
|
Current Assignee
L-3 Communications Corporation
|
Original Assignee
Raytheon Company
|
Apparatus and method for detecting traffic lane mark for automotive vehicle | ||
Patent #
US 6,879,706 B2
Filed 12/20/2001
|
Current Assignee
Nissan Motor Co. Ltd.
|
Original Assignee
Nissan Motor Co. Ltd.
|
Vehicle imaging system with stereo imaging | ||
Patent #
US 20050083184A1
Filed 11/09/2004
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Donnelly Corporation
|
Vehicular black box monitoring system | ||
Patent #
US 6,894,606 B2
Filed 11/21/2001
|
Current Assignee
Scott Forbes, Fred Forbes, James Forbes, David Forbes
|
Original Assignee
Scott Forbes, Fred Forbes, James Forbes, David Forbes
|
Vehicular vision system | ||
Patent #
US 6,891,563 B2
Filed 12/20/2002
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Vehicular black box monitoring system | ||
Patent #
US 20050099279A1
Filed 12/02/2004
|
Current Assignee
Scott Forbes, Fred Forbes, James Forbes, David Forbes
|
Original Assignee
Scott Forbes, Fred Forbes, James Forbes, David Forbes
|
Method and system for deploying a mirror assembly from a recessed position | ||
Patent #
US 20050105196A1
Filed 10/25/2004
|
Current Assignee
L-3 Communications Corporation
|
Original Assignee
Raytheon Company
|
System and method for forming images for display in a vehicle | ||
Patent #
US 6,897,892 B2
Filed 10/08/2001
|
Current Assignee
L-3 Communications Corporation
|
Original Assignee
L-3 Communications Corporation
|
Method and device for informing a driver or for reacting when the vehicle leaves a lane | ||
Patent #
US 20050182539A1
Filed 04/16/2003
|
Current Assignee
Robert Bosch GmbH
|
Original Assignee
Robert Bosch GmbH
|
Car navigation device | ||
Patent #
US 20050171688A1
Filed 01/21/2005
|
Current Assignee
DENSO Corporation
|
Original Assignee
Ibaraki Toyota Jidosha Kabushiki Kaisha, DENSO Corporation
|
System and method for forming images for display in a vehicle | ||
Patent #
US 20050206727A1
Filed 05/16/2005
|
Current Assignee
L-3 Communications Corporation
|
Original Assignee
L-3 Communications Corporation
|
Automatic signaling systems for vehicles | ||
Patent #
US 20050200467A1
Filed 01/28/2005
|
Current Assignee
Autosignal LLC
|
Original Assignee
Anita Au, Gerald Chan
|
Method and device for predicting the course of motor vehicles | ||
Patent #
US 20050228580A1
Filed 12/07/2002
|
Current Assignee
Robert Bosch GmbH
|
Original Assignee
Robert Bosch GmbH
|
Lateral guidance assistance for motor vehicles | ||
Patent #
US 20050228588A1
Filed 12/11/2002
|
Current Assignee
Robert Bosch GmbH
|
Original Assignee
Robert Bosch GmbH
|
Single camera system and method for range and lateral position measurement of a preceding vehicle | ||
Patent #
US 20050244034A1
Filed 04/30/2004
|
Current Assignee
Visteon Global Technologies Incorporated
|
Original Assignee
Visteon Global Technologies Incorporated
|
Docking assistant | ||
Patent #
US 20050281436A1
Filed 06/16/2005
|
Current Assignee
Chemtron Research LLC
|
Original Assignee
Daimler Chrysler Company LLC
|
Process for recognition of lane markers using image data | ||
Patent #
US 6,978,037 B1
Filed 11/01/2000
|
Current Assignee
Daimler AG
|
Original Assignee
Daimler Chrysler Company LLC
|
Technique for changing a range gate and radar coverage | ||
Patent #
US 6,977,609 B2
Filed 07/08/2004
|
Current Assignee
Valeo Radar Systems Inc.
|
Original Assignee
Raytheon Company
|
Obstacle detection system | ||
Patent #
US 6,678,394 B1
Filed 11/30/1999
|
Current Assignee
Cognex Technology Investment Corporation
|
Original Assignee
Cognex Technology Investment Corporation
|
Method and device for determining light conditions in front of a moving object, in particular a motor vehicle | ||
Patent #
US 6,677,986 B1
Filed 06/14/2000
|
Current Assignee
Robert Bosch GmbH
|
Original Assignee
Robert Bosch GmbH
|
Image processing apparatus and method | ||
Patent #
US 20040057599A1
Filed 06/27/2003
|
Current Assignee
Toshiba Corporation
|
Original Assignee
Toshiba Corporation
|
Vision system for a vehicle including image processor | ||
Patent #
US 20040051634A1
Filed 08/19/2003
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Mirrors of America Incorporated
|
Method and apparatus for three-dimensional object segmentation | ||
Patent #
US 6,701,005 B1
Filed 04/29/2000
|
Current Assignee
Cognex Corporation
|
Original Assignee
Cognex Corporation
|
Alarm device for retaining vehicles in a path | ||
Patent #
US 20040070492A1
Filed 10/15/2002
|
Current Assignee
Reg Huang
|
Original Assignee
Reg Huang
|
Method and apparatus for displaying information with a head-up display | ||
Patent #
US 6,731,435 B1
Filed 08/15/2001
|
Current Assignee
L-3 Communications Corporation
|
Original Assignee
Raytheon Company
|
Queuing management and vessel recognition | ||
Patent #
US 20040091134A1
Filed 10/29/2003
|
Current Assignee
Premier Wireless Inc.
|
Original Assignee
PREMIER WIRELESS INC.
|
Externally deployed airbag system | ||
Patent #
US 6,749,218 B2
Filed 03/13/2002
|
Current Assignee
American Vehicular Sciences LLC
|
Original Assignee
Automotive Technologies International Incorporated
|
Monocular computer vision aided road vehicle driving for safety | ||
Patent #
US 6,765,480 B2
Filed 04/10/2002
|
Current Assignee
Din-Chang Tseng
|
Original Assignee
Din-Chang Tseng
|
Image enhancement in far infrared camera | ||
Patent #
US 6,759,949 B2
Filed 05/23/2002
|
Current Assignee
Visteon Global Technologies Incorporated
|
Original Assignee
Visteon Global Technologies Incorporated
|
System for controlling the in situ orientation of a vehicle headlamp, and method of use | ||
Patent #
US 20040167697A1
Filed 12/09/2003
|
Current Assignee
Valeo Vision
|
Original Assignee
Valeo Vision
|
System and method for providing images for an operator of a vehicle | ||
Patent #
US 6,789,901 B1
Filed 01/04/2002
|
Current Assignee
L-3 Communications Corporation
|
Original Assignee
Raytheon Company
|
Method and system for deploying a mirror assembly from a recessed position | ||
Patent #
US 6,808,274 B2
Filed 06/04/2002
|
Current Assignee
L-3 Communications Corporation
|
Original Assignee
Raytheon Company
|
Method and system for displaying an image | ||
Patent #
US 6,815,680 B2
Filed 06/05/2002
|
Current Assignee
L-3 Communications Corporation
|
Original Assignee
Raytheon Company
|
Vehicle imaging system with accessory control | ||
Patent #
US 6,822,563 B2
Filed 01/14/2002
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Donnelly Corporation
|
Lane detection system and apparatus | ||
Patent #
US 6,819,779 B1
Filed 11/22/2000
|
Current Assignee
Cognex Corporation
|
Original Assignee
Cognex Corporation
|
Steering system with lane keeping integration | ||
Patent #
US 20040262063A1
Filed 06/10/2004
|
Current Assignee
Steering Solutions IP Holding Corporation
|
Original Assignee
Delphi Technologies Inc.
|
Safe distance algorithm for adaptive cruise control | ||
Patent #
US 20030004633A1
Filed 08/12/2002
|
Current Assignee
Valeo Radar Systems Inc.
|
Original Assignee
Mark E. Russell, Delbert Lippert, Walter Gordon Woodington, H. Barteld Van Rees, John Michael Firda, Michael Joseph Delcheccolo
|
Radar detection method and apparatus | ||
Patent #
US 20030001772A1
Filed 08/26/2002
|
Current Assignee
Regenmacher Ltd.
|
Original Assignee
Regenmacher Ltd.
|
Lane recognition system | ||
Patent #
US 20030072471A1
Filed 10/17/2002
|
Current Assignee
Hitachi Ltd.
|
Original Assignee
Hitachi America Limited
|
Vehicle camera display system | ||
Patent #
US 6,611,202 B2
Filed 02/05/2001
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
TECHNIQUE FOR CHANGING A RANGE GATE AND RADAR COVERAGE | ||
Patent #
US 20030210172A1
Filed 08/16/2001
|
Current Assignee
Valeo Radar Systems Inc.
|
Original Assignee
Raytheon Company
|
Video amplifier for a radar receiver | ||
Patent #
US 20030210182A1
Filed 08/16/2001
|
Current Assignee
Valeo Radar Systems Inc.
|
Original Assignee
Raytheon Company
|
Method and system for displaying an image | ||
Patent #
US 20030226966A1
Filed 06/05/2002
|
Current Assignee
L-3 Communications Corporation
|
Original Assignee
Raytheon Company
|
Method and system for deploying a mirror assembly from a recessed position | ||
Patent #
US 20030223133A1
Filed 06/04/2002
|
Current Assignee
L-3 Communications Corporation
|
Original Assignee
Raytheon Company
|
Rear monitoring system | ||
Patent #
US 6,360,170 B1
Filed 02/23/2000
|
Current Assignee
Yazaki Corporation
|
Original Assignee
Yazaki Corporation
|
Image processing apparatus | ||
Patent #
US 20020030735A1
Filed 09/13/2001
|
Current Assignee
Fujitsu Ten Limited
|
Original Assignee
Fujitsu Ten Limited
|
Radar detection method and apparatus | ||
Patent #
US 20020044082A1
Filed 08/16/2001
|
Current Assignee
Valeo Radar Systems Inc.
|
Original Assignee
Raytheon Company
|
Path prediction system and method | ||
Patent #
US 20020049539A1
Filed 09/07/2001
|
Current Assignee
Valeo Radar Systems Inc.
|
Original Assignee
Raytheon Company
|
Apparatus and method for detecting traffic lane mark for automotive vehicle | ||
Patent #
US 20020080019A1
Filed 12/20/2001
|
Current Assignee
Nissan Motor Co. Ltd.
|
Original Assignee
Nissan Motor Co. Ltd.
|
Near object detection system | ||
Patent #
US 20020067287A1
Filed 08/16/2001
|
Current Assignee
Valeo Radar Systems Inc.
|
Original Assignee
Raytheon Company
|
Safe distance algorithm for adaptive cruise control | ||
Patent #
US 20020072843A1
Filed 08/16/2001
|
Current Assignee
Valeo Radar Systems Inc.
|
Original Assignee
Raytheon Company
|
Radar transmitter circuitry and techniques | ||
Patent #
US 20020075178A1
Filed 08/16/2001
|
Current Assignee
Valeo Radar Systems Inc.
|
Original Assignee
Raytheon Company
|
Portable object detection system | ||
Patent #
US 20020075138A1
Filed 08/16/2001
|
Current Assignee
Raytheon Company
|
Original Assignee
Raytheon Company
|
Externally deployed airbag system | ||
Patent #
US 20020093180A1
Filed 03/13/2002
|
Current Assignee
American Vehicular Sciences LLC
|
Original Assignee
Automotive Technologies International Incorporated
|
Vision-based method and apparatus for monitoring vehicular traffic events | ||
Patent #
US 6,442,474 B1
Filed 12/07/2000
|
Current Assignee
Koninklijke Philips N.V.
|
Original Assignee
Koninklijke Philips N.V.
|
Near object detection system | ||
Patent #
US 20020147534A1
Filed 01/31/2002
|
Current Assignee
Valeo Radar Systems Inc.
|
Original Assignee
Raytheon Company
|
Video safety detector with shadow elimination | ||
Patent #
US 6,469,734 B1
Filed 04/29/2000
|
Current Assignee
Cognex Corporation
|
Original Assignee
Cognex Corporation
|
Switched beam antenna architecture | ||
Patent #
US 20020163478A1
Filed 08/16/2001
|
Current Assignee
Valeo Radar Systems Inc.
|
Original Assignee
Raytheon Company
|
Vision system for a vehicle including an image capture device and a display system having a long focal length | ||
Patent #
US 6,498,620 B2
Filed 11/19/1997
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Local positioning apparatus, and method therefor | ||
Patent #
US 6,493,458 B2
Filed 12/21/1998
|
Current Assignee
Matsushita Electric Industrial Company Limited
|
Original Assignee
Matsushita Electric Industrial Company Limited
|
Sensing device for detecting movement of vehicle by lane-marker | ||
Patent #
US 6,215,392 B1
Filed 04/18/2000
|
Current Assignee
Matsushita Electric Industrial Company Limited
|
Original Assignee
Matsushita Electric Industrial Company Limited
|
Method and apparatus for prompting a motor vehicle operator to remain within a lane | ||
Patent #
US 6,226,592 B1
Filed 03/22/1999
|
Current Assignee
SPX Corporation
|
Original Assignee
Veridian Erim International Inc.
|
Device for controlling the brightness of an instrumentation light of an automobile | ||
Patent #
US 6,246,174 B1
Filed 07/17/2000
|
Current Assignee
Robert Bosch GmbH
|
Original Assignee
Robert Bosch GmbH
|
Vehicle steering control apparatus | ||
Patent #
US 6,263,270 B1
Filed 11/14/1997
|
Current Assignee
Ibaraki Toyota Jidosha Kabushiki Kaisha
|
Original Assignee
Ibaraki Toyota Jidosha Kabushiki Kaisha
|
Automotive CCD camera | ||
Patent #
US 6,281,805 B1
Filed 07/13/2000
|
Current Assignee
Hyundai Motor Company
|
Original Assignee
Hyundai Motor Company
|
Video safety curtain | ||
Patent #
US 6,297,844 B1
Filed 11/24/1999
|
Current Assignee
Cognex Corporation
|
Original Assignee
Cognex Corporation
|
Process for detecting the road conditions ahead for motor vehicles | ||
Patent #
US 6,300,865 B1
Filed 04/22/1999
|
Current Assignee
Daimler Chrysler Company LLC
|
Original Assignee
Daimler Chrysler Company LLC
|
Mobile interactive workstation | ||
Patent #
US 6,314,364 B1
Filed 12/12/1995
|
Current Assignee
Hisatsugu Nakamura
|
Original Assignee
Hisatsugu Nakamura
|
Vehicle with optical scanning device for a lateral road area | ||
Patent #
US 6,038,496 A
Filed 03/06/1996
|
Current Assignee
Daimler AG
|
Original Assignee
Daimler Chrysler Company LLC
|
Display enhancements for vehicle vision system | ||
Patent #
US 5,949,331 A
Filed 09/22/1997
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Donnelly Corporation
|
Road lane recognizing apparatus | ||
Patent #
US 6,005,492 A
Filed 07/01/1998
|
Current Assignee
Honda Giken Kogyo Kabushiki Kaisha
|
Original Assignee
Honda Giken Kogyo Kabushiki Kaisha
|
Method of analyzing sequences of road images, device for implementing it and its application to detecting obstacles | ||
Patent #
US 5,706,355 A
Filed 09/19/1996
|
Current Assignee
Thomson-CSF
|
Original Assignee
Thomson-CSF
|
Vehicle in-lane positional indication/control by phase detection of RF signals induced in completely-passive resonant-loop circuits buried along a road lane | ||
Patent #
US 5,708,427 A
Filed 04/18/1996
|
Current Assignee
Bush E. William
|
Original Assignee
Bush E. William
|
Lane image processing system for vehicle | ||
Patent #
US 5,790,403 A
Filed 07/11/1995
|
Current Assignee
Honda Giken Kogyo Kabushiki Kaisha
|
Original Assignee
Honda Giken Kogyo Kabushiki Kaisha
|
Perception-based audio visual synchronization measurement system | ||
Patent #
US 5,596,364 A
Filed 03/30/1995
|
Current Assignee
United States Secretary of Commerce
|
Original Assignee
THE GOVERNMENT OF THE UNITED STATES OF AMERICA AS REPRESENTED BY THE SECRETARY OF COMMERCE
|
Automated lane definition for machine vision traffic detector | ||
Patent #
US 5,621,645 A
Filed 01/24/1995
|
Current Assignee
Global Traffic Technologies LLC
|
Original Assignee
3M Company
|
Off-lane alarm apparatus | ||
Patent #
US 5,661,472 A
Filed 01/26/1996
|
Current Assignee
Isuzu Motors Limited
|
Original Assignee
Isuzu Motors Limited
|
Rearview vision system for vehicle including panoramic view | ||
Patent #
US 5,670,935 A
Filed 05/22/1995
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Donnelly Corporation
|
System and method for detecting obstacles in a road | ||
Patent #
US 5,680,313 A
Filed 05/01/1995
|
Current Assignee
Caterpillar Incorporated
|
Original Assignee
Caterpillar Incorporated
|
Apparatus for measuring dimensions of objects | ||
Patent #
US 5,481,298 A
Filed 03/14/1995
|
Current Assignee
Mitsui Engineering Shipbuilding Company Limited, Toyama Light Metal Industry Co. Ltd. Tokyo JP, Toyama Light Metal Industry Co. Ltd.
|
Original Assignee
TOYAMA LIGHT METAL INDUSTRY CO. LTD., Mitsui Engineering Shipbuilding Company Limited
|
Self-navigating vehicle equipped with lane boundary recognition system | ||
Patent #
US 5,517,412 A
Filed 09/16/1994
|
Current Assignee
Honda Giken Kogyo Kabushiki Kaisha
|
Original Assignee
Honda Giken Kogyo Kabushiki Kaisha
|
Motor vehicle obstacle monitoring system using optical flow processing | ||
Patent #
US 5,521,633 A
Filed 09/24/1993
|
Current Assignee
Yazaki Corporation
|
Original Assignee
Yazaki Corporation
|
Distance detection method and system using a stereoscopical imaging apparatus | ||
Patent #
US 5,535,144 A
Filed 02/18/1994
|
Current Assignee
Fuji Heavy Industries Limited
|
Original Assignee
Fuji Heavy Industries Limited
|
Automobile apparatus for road lane and vehicle ahead detection and ranging | ||
Patent #
US 5,555,312 A
Filed 04/28/1994
|
Current Assignee
Fujitsu Ten Limited, Fujitsu Limited
|
Original Assignee
Fujitsu Limited
|
Apparatus and method for controlling a moving vehicle utilizing a digital differential analysis circuit | ||
Patent #
US 5,379,353 A
Filed 09/22/1993
|
Current Assignee
Honda Giken Kogyo Kabushiki Kaisha
|
Original Assignee
Honda Giken Kogyo Kabushiki Kaisha
|
Automatic lateral guidance control system | ||
Patent #
US 5,390,118 A
Filed 11/24/1993
|
Current Assignee
Aisin Seiki Co. Ltd.
|
Original Assignee
Aisin Seiki Co. Ltd.
|
Edge detecting apparatus | ||
Patent #
US 5,398,292 A
Filed 04/20/1993
|
Current Assignee
Honda Giken Kogyo Kabushiki Kaisha
|
Original Assignee
Honda Giken Kogyo Kabushiki Kaisha
|
Vehicular traffic monitoring system | ||
Patent #
US 5,404,306 A
Filed 04/20/1994
|
Current Assignee
Iteris Incorporated
|
Original Assignee
Rockwell International Corporation
|
System for monitoring condition outside vehicle using imaged picture by a plurality of television cameras | ||
Patent #
US 5,410,346 A
Filed 03/15/1993
|
Current Assignee
Fuji Heavy Industries Limited
|
Original Assignee
Fuji Heavy Industries Limited
|
Real time implementation of the hough transform | ||
Patent #
US 5,430,810 A
Filed 06/18/1993
|
Current Assignee
IMRA America Incorporated
|
Original Assignee
IMRA America Incorporated
|
Perception-based video quality measurement system | ||
Patent #
US 5,446,492 A
Filed 01/19/1993
|
Current Assignee
United States Secretary of Commerce
|
Original Assignee
United States Secretary of Commerce
|
Vehicle navigation control system | ||
Patent #
US 5,448,487 A
Filed 04/08/1994
|
Current Assignee
Fuji Heavy Industries Limited
|
Original Assignee
Fuji Heavy Industries Limited
|
Obstacle detection system for motor vehicle | ||
Patent #
US 5,467,284 A
Filed 05/20/1994
|
Current Assignee
Mazda Motor Corporation
|
Original Assignee
Mazda Motor Corporation
|
Obstacle avoidance system for helicopters and other aircraft | ||
Patent #
US 5,465,142 A
Filed 04/30/1993
|
Current Assignee
Northrop Grumman Systems Corp.
|
Original Assignee
Northrop Grumman Corporation
|
Apparatus for detecting the travel path of a vehicle using image analysis | ||
Patent #
US 5,301,115 A
Filed 05/31/1991
|
Current Assignee
Nissan Motor Co. Ltd.
|
Original Assignee
Nissan Motor Co. Ltd.
|
Optical inspection probe | ||
Patent #
US 5,319,442 A
Filed 08/11/1992
|
Current Assignee
Renishaw Metrology Limited
|
Original Assignee
Renishaw Metrology Limited
|
Method and means for avoiding collision between a motor vehicle and obstacles | ||
Patent #
US 5,343,206 A
Filed 01/06/1993
|
Current Assignee
Fiat Auto S.p.A.
|
Original Assignee
Fiat Auto S.p.A.
|
Vehicle lane position detection system | ||
Patent #
US 5,351,044 A
Filed 08/12/1992
|
Current Assignee
Bendix Commercial Vehicle Systems LLC
|
Original Assignee
Rockwell International Corporation
|
Automatic lateral guidance control system | ||
Patent #
US 5,357,432 A
Filed 11/24/1993
|
Current Assignee
Aisin Seiki Co. Ltd.
|
Original Assignee
Aisin Seiki Co. Ltd.
|
Apparatus and method for improving accuracy of an automatic travelling apparatus | ||
Patent #
US 5,367,457 A
Filed 06/01/1993
|
Current Assignee
Honda Giken Kogyo Kabushiki Kaisha
|
Original Assignee
Honda Giken Kogyo Kabushiki Kaisha
|
Clearance measurement system, video clearance measurement vehicle and improved method of performing clearance measurements | ||
Patent #
US 5,212,655 A
Filed 11/21/1990
|
Current Assignee
CSX Transportation Incorporated
|
Original Assignee
CSX Transportation Incorporated
|
Automatic travelling apparatus | ||
Patent #
US 5,233,527 A
Filed 03/19/1991
|
Current Assignee
Honda Giken Kogyo Kabushiki Kaisha
|
Original Assignee
Honda Giken Kogyo Kabushiki Kaisha
|
System and method for controlling steering response according to vehicle speed applicable to autonomous vehicle | ||
Patent #
US 5,249,126 A
Filed 09/25/1990
|
Current Assignee
Nissan Motor Co. Ltd.
|
Original Assignee
Nissan Motor Co. Ltd.
|
Peak data extracting device and a rotary motion recurrence formula computing device | ||
Patent #
US 5,247,587 A
Filed 09/08/1992
|
Current Assignee
Honda Giken Kogyo Kabushiki Kaisha
|
Original Assignee
Honda Giken Kogyo Kabushiki Kaisha
|
Autonomous vehicle using fuzzy control | ||
Patent #
US 5,101,351 A
Filed 04/11/1990
|
Current Assignee
Nissan Motor Co. Ltd.
|
Original Assignee
Nissan Motor Co. Ltd.
|
Autonomous vehicle for automatically/autonomously running on route of travel and its method using fuzzy control | ||
Patent #
US 5,122,957 A
Filed 02/27/1990
|
Current Assignee
Nissan Motor Co. Ltd.
|
Original Assignee
Nissan Motor Co. Ltd.
|
Landmark recognition for autonomous mobile robots | ||
Patent #
US 5,144,685 A
Filed 03/31/1989
|
Current Assignee
Honeywell Incorporated
|
Original Assignee
Honeywell Incorporated
|
Distance detecting apparatus and method for a vehicle | ||
Patent #
US 5,159,557 A
Filed 06/11/1991
|
Current Assignee
Mitsubishi Electric Corporation
|
Original Assignee
Mitsubishi Electric Corporation
|
Method and apparatus for automatic steering control of automobile | ||
Patent #
US 5,163,002 A
Filed 05/16/1991
|
Current Assignee
Nissan Motor Co. Ltd.
|
Original Assignee
Nissan Motor Co. Ltd.
|
Automatic travelling apparatus and method | ||
Patent #
US 5,172,315 A
Filed 04/23/1992
|
Current Assignee
Honda Giken Kogyo Kabushiki Kaisha
|
Original Assignee
Honda Giken Kogyo Kabushiki Kaisha
|
Automatic travelling apparatus | ||
Patent #
US 5,172,317 A
Filed 04/23/1992
|
Current Assignee
Honda Giken Kogyo Kabushiki Kaisha
|
Original Assignee
Honda Giken Kogyo Kabushiki Kaisha
|
System and method for locating a three-dimensional object using machine vision | ||
Patent #
US 8,126,260 B2
Filed 05/29/2007
|
Current Assignee
Cognex Corporation
|
Original Assignee
Cognex Corporation
|
Method and device for predicting the course of motor vehicles | ||
Patent #
US 8,126,640 B2
Filed 12/07/2002
|
Current Assignee
Robert Bosch GmbH
|
Original Assignee
Robert Bosch GmbH
|
Driving assist method and driving assist apparatus | ||
Patent #
US 20070282501A1
Filed 05/23/2007
|
Current Assignee
Aisin AW Corporation Limited
|
Original Assignee
Aisin AW Corporation Limited
|
Imaging system for vehicle | ||
Patent #
US 8,090,153 B2
Filed 05/13/2011
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Donnelly Corporation
|
Controlling vehicle dynamics through the use of an image sensor system | ||
Patent #
US 8,108,097 B2
Filed 11/06/2003
|
Current Assignee
Robert Bosch GmbH
|
Original Assignee
Robert Bosch GmbH
|
Vehicle rearview mirror system | ||
Patent #
US 8,106,347 B2
Filed 03/01/2011
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Imaging system for vehicle | ||
Patent #
US 8,116,929 B2
Filed 07/26/2011
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Donnelly Corporation
|
Interior rearview mirror system for a vehicle | ||
Patent #
US 8,100,568 B2
Filed 03/24/2011
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Donnelly Corporation
|
Interior rearview mirror system | ||
Patent #
US 8,094,002 B2
Filed 03/03/2011
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Donnelly Corporation
|
Automatic lighting system with adaptive function | ||
Patent #
US 8,070,332 B2
Filed 03/29/2011
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Interior rearview mirror assembly with display device | ||
Patent #
US 8,083,386 B2
Filed 08/28/2009
|
Current Assignee
Magna Mirrors of America Incorporated
|
Original Assignee
Donnelly Corporation
|
Vehicle information display | ||
Patent #
US 8,095,260 B1
Filed 09/12/2011
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
On-vehicle image processing apparatus | ||
Patent #
US 8,116,523 B2
Filed 07/22/2008
|
Current Assignee
Renesas Electronics Corporation
|
Original Assignee
Renesas Electronics Corporation
|
Driving assist method and driving assist apparatus | ||
Patent #
US 8,078,356 B2
Filed 05/23/2007
|
Current Assignee
Aisin AW Corporation Limited
|
Original Assignee
Aisin AW Corporation Limited
|
Methods and apparatus for practical 3D vision system | ||
Patent #
US 8,111,904 B2
Filed 10/07/2005
|
Current Assignee
Cognex Technology Investment Corporation
|
Original Assignee
Cognex Technology Investment Corporation
|
Vehicular video mirror system | ||
Patent #
US 8,121,787 B2
Filed 08/15/2011
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Vehicular having a camera, a rain sensor and a single-ball interior electrochromic mirror assembly attached at an attachment element | ||
Patent #
US 8,134,117 B2
Filed 07/27/2011
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Donnelly Corporation
|
Automatic lighting system | ||
Patent #
US 8,142,059 B2
Filed 11/09/2011
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Interior rearview mirror assembly for vehicle | ||
Patent #
US 8,162,493 B2
Filed 03/30/2011
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Adaptive forward lighting system for vehicle | ||
Patent #
US 8,162,518 B2
Filed 06/30/2011
|
Current Assignee
Magna Mirrors of America Incorporated
|
Original Assignee
Donnelly Corporation
|
Method of forming a mirrored bent cut glass shape for vehicular exterior rearview mirror assembly | ||
Patent #
US 8,164,817 B2
Filed 10/22/2010
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Vehicle information display system | ||
Patent #
US 8,170,748 B1
Filed 01/06/2012
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Vehicular interior rearview mirror system | ||
Patent #
US 8,177,376 B2
Filed 10/28/2011
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Video mirror system suitable for use in a vehicle | ||
Patent #
US 8,179,236 B2
Filed 04/13/2010
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Rearview mirror assembly for vehicle | ||
Patent #
US 8,179,586 B2
Filed 02/24/2011
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Vision system for vehicle | ||
Patent #
US 8,189,871 B2
Filed 01/31/2011
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
OBJECT DETECTION APPARATUS | ||
Patent #
US 20120140072A1
Filed 11/17/2011
|
Current Assignee
Fujitsu Ten Limited
|
Original Assignee
Fujitsu Ten Limited
|
Forward facing sensing system for a vehicle | ||
Patent #
US 8,217,830 B2
Filed 07/28/2011
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Interior rearview mirror information display system for a vehicle | ||
Patent #
US 8,228,588 B2
Filed 12/10/2010
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
AUTOMATIC DETECTION AND GROUPING OF STRAIGHT LINES IN IMAGES FOR PERSONALIZATION | ||
Patent #
US 20120189190A1
Filed 01/24/2011
|
Current Assignee
Xerox Corporation
|
Original Assignee
Xerox Corporation, Purdue Research Foundation
|
Imaging system for vehicle | ||
Patent #
US 8,239,086 B2
Filed 02/10/2012
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Donnelly Corporation
|
Interior rearview mirror assembly for a vehicle | ||
Patent #
US 8,267,559 B2
Filed 01/20/2012
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Donnelly Corporation
|
Vehicular video mirror system | ||
Patent #
US 8,271,187 B2
Filed 02/17/2012
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
VISION SYSTEM FOR VEHICLE | ||
Patent #
US 20120236150A1
Filed 05/25/2012
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Vehicular electrochromic interior rearview mirror assembly | ||
Patent #
US 8,277,059 B2
Filed 10/07/2010
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Interior rearview mirror system | ||
Patent #
US 8,282,226 B2
Filed 10/18/2010
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Mirror reflective element sub-assembly for exterior rearview mirror of a vehicle | ||
Patent #
US 8,282,253 B2
Filed 12/22/2011
|
Current Assignee
Magna Mirrors of America Incorporated
|
Original Assignee
Donnelly Corporation
|
Object detection system for vehicle | ||
Patent #
US 8,289,142 B2
Filed 09/15/2009
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Donnelly Corporation
|
Interior rearview mirror system with forwardly-viewing camera and a control | ||
Patent #
US 8,288,711 B2
Filed 03/02/2012
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Donnelly Corporation
|
Forward facing sensing system for vehicle | ||
Patent #
US 8,294,608 B1
Filed 07/03/2012
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Automotive rearview mirror assembly | ||
Patent #
US 8,294,975 B2
Filed 01/11/2010
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Vehicle rearview mirror system | ||
Patent #
US 8,304,711 B2
Filed 01/20/2012
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Vehicle travel support device, vehicle, vehicle travel support program | ||
Patent #
US 8,306,270 B2
Filed 01/09/2009
|
Current Assignee
Honda Motor Company
|
Original Assignee
Honda Motor Company
|
Accessory system suitable for use in a vehicle and accommodating a rain sensor | ||
Patent #
US 8,309,907 B2
Filed 04/13/2010
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Donnelly Corporation
|
Vehicular vision system | ||
Patent #
US 8,314,689 B2
Filed 06/18/2012
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Donnelly Corporation
|
Systems and methods for recognizing a target from a moving platform | ||
Patent #
US 8,320,615 B2
Filed 12/05/2008
|
Current Assignee
Honeywell International Inc.
|
Original Assignee
Honeywell International Inc.
|
Mirror assembly for vehicle | ||
Patent #
US 8,325,055 B2
Filed 10/28/2011
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Interior rearview mirror system | ||
Patent #
US 8,325,028 B2
Filed 01/06/2012
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Donnelly Corporation
|
System and method of auto-exposure control for image acquisition hardware using three dimensional information | ||
Patent #
US 8,326,084 B1
Filed 12/21/2004
|
Current Assignee
Cognex Technology Investment Corporation
|
Original Assignee
Cognex Technology Investment Corporation
|
Imaging system for vehicle | ||
Patent #
US 8,325,986 B2
Filed 12/22/2011
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Donnelly Corporation
|
LANE SENSING ENHANCEMENT THROUGH OBJECT VEHICLE INFORMATION FOR LANE CENTERING/KEEPING | ||
Patent #
US 20120314070A1
Filed 06/09/2011
|
Current Assignee
GM Global Technology Operations LLC
|
Original Assignee
GM Global Technology Operations LLC
|
Reflective mirror assembly | ||
Patent #
US 8,335,032 B2
Filed 12/28/2010
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Vehicle vision system with night vision function | ||
Patent #
US 8,355,839 B2
Filed 04/24/2012
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
SYSTEM AND METHOD FOR PERIODIC LANE MARKER IDENTIFICATION AND TRACKING | ||
Patent #
US 20130028473A1
Filed 07/27/2012
|
Current Assignee
Gentex Corporation
|
Original Assignee
Gentex Corporation
|
Automatic signaling system for vehicles | ||
Patent #
US 8,378,805 B2
Filed 07/26/2011
|
Current Assignee
Autosignal LLC
|
Original Assignee
Anita Au, Gerald Chan
|
Rearview mirror assembly for vehicle | ||
Patent #
US 8,379,289 B2
Filed 05/14/2012
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Imaging system for vehicle | ||
Patent #
US 8,386,114 B2
Filed 08/03/2012
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Donnelly Corporation
|
Interior rearview mirror system for a vehicle | ||
Patent #
US 8,400,704 B2
Filed 07/23/2012
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Method for calibrating a vehicular camera system | ||
Patent #
US 8,421,865 B2
Filed 05/01/2012
|
Current Assignee
Magna Electronics Europe Gmbh Co. Kg
|
Original Assignee
Magna Electronics Europe Gmbh Co. Kg
|
Rear vision system for a vehicle | ||
Patent #
US 8,427,288 B2
Filed 10/21/2011
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Donnelly Corporation
|
Adaptive forward lighting system for vehicle | ||
Patent #
US 8,434,919 B2
Filed 04/20/2012
|
Current Assignee
Magna Mirrors of America Incorporated
|
Original Assignee
Donnelly Corporation
|
Combined RGB and IR imaging sensor | ||
Patent #
US 8,446,470 B2
Filed 10/03/2008
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Exterior airbag deployment techniques | ||
Patent #
US 8,447,474 B2
Filed 11/05/2009
|
Current Assignee
American Vehicular Sciences LLC
|
Original Assignee
American Vehicular Sciences LLC
|
Imaging system for vehicle | ||
Patent #
US 8,451,107 B2
Filed 09/11/2008
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vehicular vision system | ||
Patent #
US 8,462,204 B2
Filed 07/01/2009
|
Current Assignee
Kenneth Schofield, Keith J. Vadas, Mark L. Larson, Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Vehicular interior rearview mirror system | ||
Patent #
US 8,465,162 B2
Filed 05/14/2012
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Interior rearview mirror system | ||
Patent #
US 8,465,163 B2
Filed 10/08/2012
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Vision system for vehicle | ||
Patent #
US 8,483,439 B2
Filed 05/25/2012
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
VEHICLE CONTROL BASED ON PERCEPTION UNCERTAINTY | ||
Patent #
US 20130197736A1
Filed 01/30/2012
|
Current Assignee
Google LLC
|
Original Assignee
Google Inc.
|
Rearview mirror element assembly for vehicle | ||
Patent #
US 8,503,062 B2
Filed 08/27/2012
|
Current Assignee
Magna Mirrors of America Incorporated
|
Original Assignee
Donnelly Corporation
|
Variable reflectance mirror reflective element for exterior mirror assembly | ||
Patent #
US 8,506,096 B2
Filed 10/01/2012
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Interior rearview mirror system | ||
Patent #
US 8,508,383 B2
Filed 03/26/2012
|
Current Assignee
Magna Mirrors of America Incorporated
|
Original Assignee
Magna Mirrors of America Incorporated
|
Rearview mirror assembly for vehicle | ||
Patent #
US 8,508,384 B2
Filed 11/30/2012
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Vehicular blind spot indicator mirror | ||
Patent #
US 8,511,841 B2
Filed 01/13/2011
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Interior rearview mirror system | ||
Patent #
US 8,525,703 B2
Filed 03/17/2011
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Driver assist system for vehicle | ||
Patent #
US 8,543,330 B2
Filed 09/17/2012
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Donnelly Corporation
|
Imaging system for vehicle | ||
Patent #
US 8,543,277 B2
Filed 02/25/2013
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Electrochromic mirror reflective element for vehicular rearview mirror assembly | ||
Patent #
US 8,559,093 B2
Filed 04/20/2012
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Information display system for a vehicle | ||
Patent #
US 8,577,549 B2
Filed 01/14/2013
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
FULL SPEED LANE SENSING USING MULTIPLE CAMERAS | ||
Patent #
US 20130293714A1
Filed 04/09/2013
|
Current Assignee
GM Global Technology Operations LLC
|
Original Assignee
GM Global Operations LLC
|
FULL SPEED LANE SENSING WITH A SURROUNDING VIEW SYSTEM | ||
Patent #
US 20130293717A1
Filed 04/09/2013
|
Current Assignee
GM Global Technology Operations LLC
|
Original Assignee
GM Global Technology Operations LLC
|
Imaging system for vehicle | ||
Patent #
US 8,593,521 B2
Filed 11/30/2012
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vehicular vision system | ||
Patent #
US 8,599,001 B2
Filed 11/19/2012
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Automatic compass system for vehicle | ||
Patent #
US 8,608,327 B2
Filed 06/17/2013
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Variable transmission window | ||
Patent #
US 8,610,992 B2
Filed 10/22/2012
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Forward facing sensing system for vehicle | ||
Patent #
US 8,614,640 B2
Filed 10/22/2012
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
LANE DEPARTURE WARNING SYSTEM AND LANE DEPARTURE WARNING METHOD | ||
Patent #
US 20140002655A1
Filed 07/01/2013
|
Current Assignee
LG Innotek Company Limited
|
Original Assignee
LG Innotek Company Limited
|
Vehicle vision system | ||
Patent #
US 8,203,443 B2
Filed 11/09/2011
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Donnelly Corporation
|
Vehicular vision system | ||
Patent #
US 8,203,440 B2
Filed 01/16/2012
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Donnelly Corporation
|
Vehicle vision system | ||
Patent #
US 8,629,768 B2
Filed 06/18/2012
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Donnelly Corporation
|
Driver assistance system for vehicle | ||
Patent #
US 8,636,393 B2
Filed 05/06/2013
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Driver assistance system for a vehicle | ||
Patent #
US 8,637,801 B2
Filed 07/08/2013
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Multi-camera vision system for a vehicle | ||
Patent #
US 8,643,724 B2
Filed 03/13/2013
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Video mirror system for a vehicle | ||
Patent #
US 8,653,959 B2
Filed 12/02/2011
|
Current Assignee
Niall R. Lynam, John O. Lindahl, Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Rearview mirror assembly for vehicle | ||
Patent #
US 8,654,433 B2
Filed 08/05/2013
|
Current Assignee
Magna Mirrors of America Incorporated
|
Original Assignee
Magna Mirrors of America Incorporated
|
Vision system for vehicle | ||
Patent #
US 8,665,079 B2
Filed 10/15/2012
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Driver assist system for vehicle | ||
Patent #
US 8,676,491 B2
Filed 09/23/2013
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Clear path detection through road modeling | ||
Patent #
US 8,699,754 B2
Filed 10/19/2009
|
Current Assignee
GM Global Technology Operations LLC
|
Original Assignee
GM Global Technology Operations LLC
|
Method of manufacturing a reflective element for a vehicular rearview mirror assembly | ||
Patent #
US 8,705,161 B2
Filed 02/14/2013
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Method and apparatus for lane recognition for a vehicle | ||
Patent #
US 8,718,919 B2
Filed 05/21/2010
|
Current Assignee
Robert Bosch GmbH
|
Original Assignee
Robert Bosch GmbH
|
Variable reflectance mirror reflective element for exterior mirror assembly | ||
Patent #
US 8,727,547 B2
Filed 08/12/2013
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Traveling lane detector | ||
Patent #
US 8,730,325 B2
Filed 02/04/2009
|
Current Assignee
Hitachi America Limited
|
Original Assignee
Hitachi America Limited
|
Interior rearview mirror system | ||
Patent #
US 8,779,910 B2
Filed 11/07/2011
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Exterior rearview mirror assembly | ||
Patent #
US 8,797,627 B2
Filed 12/17/2012
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Automatic detection and grouping of straight lines in images for personalization | ||
Patent #
US 8,805,056 B2
Filed 01/24/2011
|
Current Assignee
Xerox Corporation
|
Original Assignee
Xerox Corporation
|
Vehicular vision system | ||
Patent #
US 8,814,401 B2
Filed 03/22/2012
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Driver assistance system for vehicle | ||
Patent #
US 8,818,042 B2
Filed 11/18/2013
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Mirror reflective element sub-assembly for exterior rearview mirror of a vehicle | ||
Patent #
US 8,833,987 B2
Filed 10/08/2012
|
Current Assignee
Magna Mirrors of America Incorporated
|
Original Assignee
Donnelly Corporation
|
Automatic vehicle exterior light control | ||
Patent #
US 8,842,176 B2
Filed 01/15/2010
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
CLEAR PATH DETECTION USING AN EXAMPLE-BASED APPROACH | ||
Patent #
US 20140314279A1
Filed 06/30/2014
|
Current Assignee
GM Global Technology Operations LLC
|
Original Assignee
GM Global Technology Operations LLC, Carnegie Mellon University
|
Parking assist system | ||
Patent #
US 8,874,317 B2
Filed 07/27/2010
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Automotive communication system | ||
Patent #
US 8,884,788 B2
Filed 08/30/2013
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Driver assistance system for a vehicle | ||
Patent #
US 8,886,401 B2
Filed 11/04/2013
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Adaptable wireless vehicle vision system based on wireless communication error | ||
Patent #
US 8,890,955 B2
Filed 02/09/2011
|
Current Assignee
Magna Mirrors of America Incorporated
|
Original Assignee
Magna Mirrors of America Incorporated
|
Vehicular video mirror system | ||
Patent #
US 8,908,039 B2
Filed 06/04/2012
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Imaging system for vehicle | ||
Patent #
US 8,908,040 B2
Filed 05/17/2013
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vehicular vision system | ||
Patent #
US 8,917,169 B2
Filed 12/02/2013
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
System and method for predicting behaviors of detected objects | ||
Patent #
US 8,948,955 B2
Filed 01/22/2014
|
Current Assignee
Google LLC
|
Original Assignee
Google Inc.
|
Systems and methods for determining whether a driving environment has changed | ||
Patent #
US 8,949,016 B1
Filed 09/28/2012
|
Current Assignee
Google LLC
|
Original Assignee
Google Inc.
|
Determining when to drive autonomously | ||
Patent #
US 8,954,217 B1
Filed 03/20/2014
|
Current Assignee
Google LLC
|
Original Assignee
Google Inc.
|
Rear illumination system | ||
Patent #
US 8,964,032 B2
Filed 01/26/2010
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Driving pattern recognition and safety control | ||
Patent #
US 8,965,621 B1
Filed 12/19/2013
|
Current Assignee
Waymo LLC
|
Original Assignee
Google Inc.
|
Driver assistance system for vehicle | ||
Patent #
US 8,977,008 B2
Filed 07/08/2013
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Driver assistance system for a vehicle | ||
Patent #
US 8,993,951 B2
Filed 07/16/2013
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vision system for vehicle | ||
Patent #
US 9,008,369 B2
Filed 08/25/2014
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Driver assistance system for vehicle | ||
Patent #
US 9,014,904 B2
Filed 09/23/2013
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Driver assist system for vehicle | ||
Patent #
US 9,014,966 B2
Filed 03/14/2014
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vehicular imaging system with camera misalignment correction and capturing image data at different resolution levels dependent on distance to object in field of view | ||
Patent #
US 9,018,577 B2
Filed 02/25/2013
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Interior rearview mirror system | ||
Patent #
US 9,019,091 B2
Filed 03/17/2011
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Imaging and display system for vehicle | ||
Patent #
US 9,041,806 B2
Filed 08/31/2010
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Mirror reflective element sub-assembly for exterior rearview mirror of a vehicle | ||
Patent #
US 9,045,091 B2
Filed 09/15/2014
|
Current Assignee
Magna Mirrors of America Incorporated
|
Original Assignee
Donnelly Corporation
|
Use of previous detections for lane marker detection | ||
Patent #
US 9,063,548 B1
Filed 12/19/2012
|
Current Assignee
Google LLC
|
Original Assignee
Google Inc.
|
Exterior rearview mirror assembly | ||
Patent #
US 9,073,491 B2
Filed 08/04/2014
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Lane boundary detection using images | ||
Patent #
US 9,081,385 B1
Filed 12/21/2012
|
Current Assignee
Google LLC
|
Original Assignee
Google Inc.
|
Rear vision system with trailer angle detection | ||
Patent #
US 9,085,261 B2
Filed 01/25/2012
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Variable reflectance mirror reflective element for exterior mirror assembly | ||
Patent #
US 9,090,211 B2
Filed 05/19/2014
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
System and method for periodic lane marker identification and tracking | ||
Patent #
US 9,098,751 B2
Filed 07/27/2012
|
Current Assignee
Gentex Corporation
|
Original Assignee
Gentex Corporation
|
Vehicular rear view camera display system with lifecheck function | ||
Patent #
US 9,117,123 B2
Filed 07/05/2011
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Modeling behavior based on observations of objects observed in a driving environment | ||
Patent #
US 9,120,484 B1
Filed 10/05/2011
|
Current Assignee
Google LLC
|
Original Assignee
Google Inc.
|
Alert system for vehicle | ||
Patent #
US 9,126,525 B2
Filed 02/25/2010
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Multi-camera vision system for a vehicle | ||
Patent #
US 9,131,120 B2
Filed 05/15/2013
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Forward facing sensing system for vehicle | ||
Patent #
US 9,140,789 B2
Filed 12/16/2013
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
TRAVEL DIVISION LINE RECOGNITION APPARATUS AND TRAVEL DIVISION LINE RECOGNITION PROGRAM | ||
Patent #
US 20150269447A1
Filed 03/23/2015
|
Current Assignee
DENSO Corporation
|
Original Assignee
DENSO Corporation
|
Systems and methods for mimicking a leading vehicle | ||
Patent #
US 9,150,220 B2
Filed 12/04/2014
|
Current Assignee
MobilEye Vision Technologies Ltd.
|
Original Assignee
MobilEye Vision Technologies Ltd.
|
Vision system for vehicle | ||
Patent #
US 9,171,217 B2
Filed 03/03/2014
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
WHITE BALANCE ADJUSTMENT METHOD FOR A DISPLAY DEVICE | ||
Patent #
US 20150312539A1
Filed 04/18/2014
|
Current Assignee
Shenzhen China Star Optoelectronics Technology Co. Ltd.
|
Original Assignee
Shenzhen China Star Optoelectronics Technology Co. Ltd.
|
Vehicular vision system | ||
Patent #
US 9,191,574 B2
Filed 03/13/2013
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vision system for vehicle | ||
Patent #
US 9,191,634 B2
Filed 04/03/2015
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Driver assistance system for vehicle | ||
Patent #
US 9,193,303 B2
Filed 04/20/2015
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vehicle vision system using kinematic model of vehicle motion | ||
Patent #
US 9,205,776 B2
Filed 05/20/2014
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Automotive communication system | ||
Patent #
US 9,221,399 B2
Filed 11/07/2014
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Magna Mirrors of America Incorporated
|
Driver assistance system for a vehicle | ||
Patent #
US 9,245,448 B2
Filed 06/17/2013
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Forward facing sensing system for vehicle | ||
Patent #
US 9,244,165 B1
Filed 09/21/2015
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Predicting trajectories of objects based on contextual information | ||
Patent #
US 9,248,834 B1
Filed 10/02/2014
|
Current Assignee
Google LLC
|
Original Assignee
Google Inc.
|
Automatic signaling system for vehicles | ||
Patent #
US 9,248,777 B2
Filed 02/19/2013
|
Current Assignee
Autosignal LLC
|
Original Assignee
Anita Au, Gerald Chan
|
Vision display system for vehicle | ||
Patent #
US 9,264,672 B2
Filed 12/21/2011
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Mirrors of America Incorporated
|
Zone driving | ||
Patent #
US 9,268,332 B2
Filed 07/07/2014
|
Current Assignee
Waymo LLC
|
Original Assignee
Google Inc.
|
LANE DETECTION APPARATUS AND OPERATING METHOD FOR THE SAME | ||
Patent #
US 20160055751A1
Filed 08/22/2015
|
Current Assignee
Hyundai Motor Company
|
Original Assignee
Hyundai Motor Company
|
Interior rearview mirror system for vehicle | ||
Patent #
US 9,278,654 B2
Filed 04/20/2012
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Driver assist system for vehicle | ||
Patent #
US 9,315,151 B2
Filed 04/03/2015
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Change detection using curve alignment | ||
Patent #
US 9,321,461 B1
Filed 08/29/2014
|
Current Assignee
Waymo LLC
|
Original Assignee
Google Inc.
|
Forward facing sensing system for vehicle | ||
Patent #
US 9,335,411 B1
Filed 01/25/2016
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Variable reflectance mirror reflective element for exterior mirror assembly | ||
Patent #
US 9,341,914 B2
Filed 07/27/2015
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Trailer hitching aid system for vehicle | ||
Patent #
US 9,352,623 B2
Filed 02/17/2014
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Method and system for dynamically calibrating vehicular cameras | ||
Patent #
US 9,357,208 B2
Filed 01/20/2012
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Driver assist system for vehicle | ||
Patent #
US 9,376,060 B2
Filed 11/16/2015
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Accessory system of a vehicle | ||
Patent #
US 9,376,061 B2
Filed 04/23/2015
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
System and method for predicting behaviors of detected objects through environment representation | ||
Patent #
US 9,381,916 B1
Filed 02/06/2012
|
Current Assignee
Google LLC
|
Original Assignee
Google Inc.
|
COMPLEX MARKING DETERMINING DEVICE AND COMPLEX MARKING DETERMINING METHOD | ||
Patent #
US 20160210519A1
Filed 01/13/2016
|
Current Assignee
Ibaraki Toyota Jidosha Kabushiki Kaisha, DENSO Corporation
|
Original Assignee
Ibaraki Toyota Jidosha Kabushiki Kaisha, DENSO Corporation
|
Method and system for video-based road characterization, lane detection and departure prevention | ||
Patent #
US 9,401,028 B2
Filed 12/17/2013
|
Current Assignee
Valeo Schalter und Sensoren GmbH
|
Original Assignee
Valeo Schalter und Sensoren GmbH
|
White balance adjustment method for a display device | ||
Patent #
US 9,414,036 B2
Filed 04/18/2014
|
Current Assignee
Shenzhen China Star Optoelectronics Technology Co. Ltd.
|
Original Assignee
Shenzhen China Star Optoelectronics Technology Co. Ltd.
|
Vision system for vehicle | ||
Patent #
US 9,428,192 B2
Filed 11/16/2015
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vehicle vision system | ||
Patent #
US 9,436,880 B2
Filed 01/13/2014
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Trailer angle detection system | ||
Patent #
US 9,446,713 B2
Filed 09/25/2013
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Parking assist system | ||
Patent #
US 9,457,717 B2
Filed 10/27/2014
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vision display system for vehicle | ||
Patent #
US 9,469,250 B2
Filed 02/12/2016
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Accurate position determination near exit lanes | ||
Patent #
US 9,470,537 B2
Filed 10/22/2014
|
Current Assignee
Audi AG, Volkswagen AG
|
Original Assignee
Audi AG, Volkswagen AG
|
Automotive communication system | ||
Patent #
US 9,481,306 B2
Filed 12/16/2015
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Interior mirror assembly with display | ||
Patent #
US 9,487,144 B2
Filed 10/14/2009
|
Current Assignee
Magna Mirrors of America Incorporated
|
Original Assignee
Magna Mirrors of America Incorporated
|
Vehicle camera alignment system | ||
Patent #
US 9,491,450 B2
Filed 07/30/2012
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Calibration system and method for vehicular surround vision system | ||
Patent #
US 9,491,451 B2
Filed 11/14/2012
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vehicular camera with on-board microcontroller | ||
Patent #
US 9,495,876 B2
Filed 07/27/2010
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Automatic control systems for vehicles | ||
Patent #
US 9,505,343 B2
Filed 01/28/2016
|
Current Assignee
Autosignal LLC
|
Original Assignee
Anita Au, Gerald Chan
|
Vehicle imaging system | ||
Patent #
US 9,509,957 B2
Filed 04/19/2013
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Forward facing sensing system for vehicle | ||
Patent #
US 9,507,021 B2
Filed 05/09/2016
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Full speed lane sensing with a surrounding view system | ||
Patent #
US 9,516,277 B2
Filed 04/09/2013
|
Current Assignee
GM Global Technology Operations LLC
|
Original Assignee
GM Global Technology Operations LLC
|
Full speed lane sensing using multiple cameras | ||
Patent #
US 9,538,144 B2
Filed 04/09/2013
|
Current Assignee
GM Global Technology Operations LLC
|
Original Assignee
GM Global Technology Operations LLC
|
Exterior rearview mirror assembly | ||
Patent #
US 9,545,883 B2
Filed 07/06/2015
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Rearview mirror assembly for vehicle | ||
Patent #
US 9,557,584 B2
Filed 08/12/2013
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Vehicle vision system with trailer angle detection | ||
Patent #
US 9,558,409 B2
Filed 12/11/2013
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Driver assistance system for vehicle | ||
Patent #
US 9,555,803 B2
Filed 05/16/2016
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vehicle vision system with targetless camera calibration | ||
Patent #
US 9,563,951 B2
Filed 05/20/2014
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vision display system for vehicle | ||
Patent #
US 9,598,014 B2
Filed 10/17/2016
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vision system for vehicle | ||
Patent #
US 9,609,289 B2
Filed 08/29/2016
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Determining changes in a driving environment based on vehicle behavior | ||
Patent #
US 9,633,564 B2
Filed 09/27/2012
|
Current Assignee
Google LLC
|
Original Assignee
Google Inc.
|
Vision system for vehicle | ||
Patent #
US 9,643,605 B2
Filed 10/26/2015
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Driver assist system for vehicle | ||
Patent #
US 9,656,608 B2
Filed 06/13/2016
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
System and method of providing recommendations to users of vehicles | ||
Patent #
US 9,658,620 B1
Filed 06/01/2015
|
Current Assignee
Waymo LLC
|
Original Assignee
Waymo LLC
|
Travel division line recognition apparatus and travel division line recognition program | ||
Patent #
US 9,665,780 B2
Filed 03/23/2015
|
Current Assignee
DENSO Corporation
|
Original Assignee
DENSO Corporation
|
Predicting trajectories of objects based on contextual information | ||
Patent #
US 9,669,827 B1
Filed 10/02/2015
|
Current Assignee
Waymo LLC
|
Original Assignee
Google Inc.
|
Systems and methods for mimicking a leading vehicle | ||
Patent #
US 9,676,389 B2
Filed 09/02/2015
|
Current Assignee
MobilEye Vision Technologies Ltd.
|
Original Assignee
MobilEye Vision Technologies Ltd.
|
System and method for evaluating the perception system of an autonomous vehicle | ||
Patent #
US 9,679,191 B1
Filed 07/07/2015
|
Current Assignee
Google LLC
|
Original Assignee
Waymo LLC
|
Calibration system and method for multi-camera vision system | ||
Patent #
US 9,688,200 B2
Filed 03/03/2014
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Trailer hitching aid system for vehicle | ||
Patent #
US 9,694,749 B2
Filed 05/23/2016
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Mirror reflective element sub-assembly for exterior rearview mirror of a vehicle | ||
Patent #
US 9,694,753 B2
Filed 06/01/2015
|
Current Assignee
Magna Mirrors of America Incorporated
|
Original Assignee
Magna Mirrors of America Incorporated
|
Vehicle vision system using kinematic model of vehicle motion | ||
Patent #
US 9,701,246 B2
Filed 12/07/2015
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Lane detection apparatus and operating method for the same | ||
Patent #
US 9,704,404 B2
Filed 08/22/2015
|
Current Assignee
Hyundai Motor Company
|
Original Assignee
Hyundai Motor Company
|
Multi-camera image stitching calibration system | ||
Patent #
US 9,723,272 B2
Filed 10/04/2013
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vision display system for vehicle | ||
Patent #
US 9,731,653 B2
Filed 03/16/2017
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vision system for vehicle | ||
Patent #
US 9,736,435 B2
Filed 03/20/2017
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Mirror reflective element sub-assembly for exterior rearview mirror of a vehicle | ||
Patent #
US 9,758,102 B1
Filed 06/30/2017
|
Current Assignee
Magna Mirrors of America Incorporated
|
Original Assignee
Magna Mirrors of America Incorporated
|
Vehicle vision system with customized display | ||
Patent #
US 9,762,880 B2
Filed 12/07/2012
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
System and method for predicting behaviors of detected objects through environment representation | ||
Patent #
US 9,766,626 B1
Filed 05/23/2016
|
Current Assignee
Google LLC
|
Original Assignee
Waymo LLC
|
RECOGNITION DEVICE, RECOGNITION METHOD OF OBJECT, AND COMPUTER-READABLE RECORDING MEDIUM | ||
Patent #
US 20170270378A1
Filed 03/15/2017
|
Current Assignee
Ricoh Company Limited
|
Original Assignee
Haike Guan
|
Vehicle vision system with trailer angle detection | ||
Patent #
US 9,779,313 B2
Filed 01/24/2017
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Rearview mirror assembly for vehicle | ||
Patent #
US 9,783,115 B2
Filed 01/24/2017
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Vehicular video mirror system | ||
Patent #
US 9,783,114 B2
Filed 12/05/2014
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Imaging and display system for vehicle | ||
Patent #
US 9,789,821 B2
Filed 05/22/2015
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Imaging system for vehicle | ||
Patent #
US 9,796,332 B2
Filed 05/24/2013
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Trailer angle detection system calibration | ||
Patent #
US 9,802,542 B2
Filed 09/19/2016
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Driver assist system for vehicle | ||
Patent #
US 9,809,168 B2
Filed 04/18/2016
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vision system for vehicle | ||
Patent #
US 9,809,171 B2
Filed 04/23/2015
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Forward facing imaging system | ||
Patent #
US 9,827,918 B2
Filed 01/19/2012
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Driving assist system for vehicle | ||
Patent #
US 9,834,142 B2
Filed 05/19/2017
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vehicular control system using cameras and radar sensor | ||
Patent #
US 9,834,216 B2
Filed 01/24/2017
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Method and system for dynamically calibrating vehicular cameras | ||
Patent #
US 9,834,153 B2
Filed 04/25/2012
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Change detection using curve alignment | ||
Patent #
US 9,836,052 B1
Filed 03/15/2016
|
Current Assignee
Waymo LLC
|
Original Assignee
Waymo LLC
|
System and method for periodic lane marker identification and tracking | ||
Patent #
US 9,836,657 B2
Filed 06/25/2015
|
Current Assignee
Gentex Corporation
|
Original Assignee
Gentex Corporation
|
Clear path detection using an example-based approach | ||
Patent #
US 9,852,357 B2
Filed 06/30/2014
|
Current Assignee
GM Global Technology Operations LLC
|
Original Assignee
GM Global Technology Operations LLC, Carnegie Mellon University
|
Parking assist system | ||
Patent #
US 9,868,463 B2
Filed 09/28/2016
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Variable reflectance mirror reflective element for exterior mirror assembly | ||
Patent #
US 9,878,670 B2
Filed 05/16/2016
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
System and method of establishing a multi-camera image using pixel remapping | ||
Patent #
US 9,900,522 B2
Filed 12/01/2011
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Driver active safety control system for vehicle | ||
Patent #
US 9,911,050 B2
Filed 09/04/2015
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
System and method for evaluating the perception system of an autonomous vehicle | ||
Patent #
US 9,911,030 B1
Filed 05/05/2017
|
Current Assignee
Waymo LLC
|
Original Assignee
Waymo LLC
|
Predicting trajectories of objects based on contextual information | ||
Patent #
US 9,914,452 B1
Filed 09/28/2016
|
Current Assignee
Waymo LLC
|
Original Assignee
Waymo LLC
|
Vehicle vision system with calibration algorithm | ||
Patent #
US 9,916,660 B2
Filed 01/15/2016
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Driver assistance system for vehicle | ||
Patent #
US 9,940,528 B2
Filed 11/20/2015
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vision system for vehicle | ||
Patent #
US 9,948,904 B2
Filed 08/14/2017
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Trailering assist system with trailer angle detection | ||
Patent #
US 9,950,738 B2
Filed 07/20/2015
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Early detection of turning condition identification using perception technology | ||
Patent #
US 9,959,624 B2
Filed 01/15/2016
|
Current Assignee
Audi AG, Volkswagen AG
|
Original Assignee
Audi AG, Volkswagen AG
|
Vehicular imaging system comprising an imaging device with a single image sensor and image processor for determining a totally blocked state or partially blocked state of the single image sensor as well as an automatic correction for misalignment of the imaging device | ||
Patent #
US 9,972,100 B2
Filed 04/23/2015
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vehicle vision system with targetless camera calibration | ||
Patent #
US 9,979,957 B2
Filed 01/26/2017
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Complex marking determining device and complex marking determining method | ||
Patent #
US 9,990,549 B2
Filed 01/13/2016
|
Current Assignee
Ibaraki Toyota Jidosha Kabushiki Kaisha, DENSO Corporation
|
Original Assignee
Ibaraki Toyota Jidosha Kabushiki Kaisha, DENSO Corporation
|
Imaging system for vehicle | ||
Patent #
US 10,003,755 B2
Filed 12/08/2014
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vehicular control system | ||
Patent #
US 10,015,452 B1
Filed 04/16/2018
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Early detection of exit only and shared lanes using perception technology | ||
Patent #
US 10,025,996 B2
Filed 12/22/2014
|
Current Assignee
Audi AG, Volkswagen AG
|
Original Assignee
Audi AG, Volkswagen AG
|
Rearview mirror assembly for vehicle | ||
Patent #
US 10,029,616 B2
Filed 01/16/2017
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Automatic control systems for vehicles | ||
Patent #
US 10,046,696 B2
Filed 11/10/2016
|
Current Assignee
Autosignal LLC
|
Original Assignee
Anita Au, Gerald Chan
|
Control system for vehicle | ||
Patent #
US 10,046,702 B2
Filed 12/04/2017
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vision system for vehicle | ||
Patent #
US 10,053,013 B2
Filed 11/06/2017
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Imaging and display system for vehicle | ||
Patent #
US 10,053,012 B2
Filed 10/16/2017
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vision system for vehicle | ||
Patent #
US 10,071,676 B2
Filed 09/12/2016
|
Current Assignee
Magna Mirrors of America Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vision system for vehicle | ||
Patent #
US 10,071,687 B2
Filed 11/27/2012
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vehicular imaging system with controlled illumination device and camera | ||
Patent #
US 10,075,650 B2
Filed 02/23/2015
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vehicle parking assist system with vision-based parking space detection | ||
Patent #
US 10,078,789 B2
Filed 07/14/2016
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Driver assistance system for vehicle | ||
Patent #
US 10,086,747 B2
Filed 08/25/2014
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vehicular control system with trailering assist function | ||
Patent #
US 10,089,541 B2
Filed 10/02/2017
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vision system for vehicle | ||
Patent #
US 10,099,614 B2
Filed 11/27/2012
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Driver assistance system for a vehicle | ||
Patent #
US 10,099,610 B2
Filed 10/10/2016
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vehicular camera with on-board microcontroller | ||
Patent #
US 10,106,155 B2
Filed 11/11/2016
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Forward facing sensing system for vehicle | ||
Patent #
US 10,107,905 B2
Filed 11/28/2016
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vehicular control system | ||
Patent #
US 10,110,860 B1
Filed 07/02/2018
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vehicular control system using cameras and radar sensor | ||
Patent #
US 10,118,618 B2
Filed 12/04/2017
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vehicle vision system with customized display | ||
Patent #
US 10,129,518 B2
Filed 09/11/2017
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vehicular video mirror system | ||
Patent #
US 10,131,280 B2
Filed 10/09/2017
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Vision display system for vehicle | ||
Patent #
US 10,144,352 B2
Filed 08/14/2017
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Interior rearview mirror system for vehicle | ||
Patent #
US 10,144,355 B2
Filed 03/07/2016
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Mirror reflective element sub-assembly for exterior rearview mirror of a vehicle | ||
Patent #
US 10,150,417 B2
Filed 09/11/2017
|
Current Assignee
Magna Mirrors of America Incorporated
|
Original Assignee
Magna Mirrors of America Incorporated
|
Recognition and prediction of lane constraints and construction areas in navigation | ||
Patent #
US 10,150,473 B2
Filed 08/17/2015
|
Current Assignee
MobilEye Vision Technologies Ltd.
|
Original Assignee
MobilEye Vision Technologies Ltd.
|
Early detection of exit only and shared lanes using perception technology | ||
Patent #
US 10,152,638 B2
Filed 06/20/2018
|
Current Assignee
Audi AG, Volkswagen AG
|
Original Assignee
Audi AG, Volkswagen AG
|
Trailer backup assist system | ||
Patent #
US 10,160,382 B2
Filed 02/04/2015
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Rearview mirror assembly for vehicle | ||
Patent #
US 10,166,927 B2
Filed 10/09/2017
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Display system for vehicle | ||
Patent #
US 10,175,477 B2
Filed 08/12/2013
|
Current Assignee
Magna Mirrors of America Incorporated
|
Original Assignee
Magna Mirrors of America Incorporated
|
Park-aid system for vehicle | ||
Patent #
US 10,179,545 B2
Filed 11/06/2017
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Multi-camera dynamic top view vision system | ||
Patent #
US 10,179,543 B2
Filed 02/27/2014
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vehicular control system | ||
Patent #
US 10,187,615 B1
Filed 10/22/2018
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Determining changes in a driving environment based on vehicle behavior | ||
Patent #
US 10,192,442 B2
Filed 03/24/2017
|
Current Assignee
Waymo LLC
|
Original Assignee
Waymo LLC
|
System and method for evaluating the perception system of an autonomous vehicle | ||
Patent #
US 10,198,619 B1
Filed 01/18/2018
|
Current Assignee
Waymo LLC
|
Original Assignee
Waymo LLC
|
Method for dynamically calibrating vehicular cameras | ||
Patent #
US 10,202,077 B2
Filed 05/23/2016
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vehicle vision system with calibration algorithm | ||
Patent #
US 10,235,775 B2
Filed 03/07/2018
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vehicular vision system | ||
Patent #
US 10,239,457 B2
Filed 08/20/2018
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Calibration system and method for vehicular surround vision system | ||
Patent #
US 10,264,249 B2
Filed 11/07/2016
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vehicle vision system using kinematic model of vehicle motion | ||
Patent #
US 10,266,115 B2
Filed 07/10/2017
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Rear seat occupant monitoring system for vehicle | ||
Patent #
US 10,272,839 B2
Filed 06/30/2017
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Multi-camera image stitching calibration system | ||
Patent #
US 10,284,818 B2
Filed 07/31/2017
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Automatic control systems for vehicles | ||
Patent #
US 10,293,743 B2
Filed 08/10/2018
|
Current Assignee
Autosignal LLC
|
Original Assignee
Anita Au, Gerald Chan
|
Trailer driving assist system | ||
Patent #
US 10,300,855 B2
Filed 10/25/2017
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vehicular display system | ||
Patent #
US 10,300,856 B2
Filed 08/20/2018
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vehicular control system | ||
Patent #
US 10,306,190 B1
Filed 01/21/2019
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vehicular exterior rearview mirror assembly with blind spot indicator | ||
Patent #
US 10,308,186 B2
Filed 12/10/2018
|
Current Assignee
Magna Mirrors of America Incorporated
|
Original Assignee
Magna Mirrors of America Incorporated
|
Top-down refinement in lane marking navigation | ||
Patent #
US 10,317,231 B2
Filed 06/10/2015
|
Current Assignee
MobilEye Vision Technologies Ltd.
|
Original Assignee
MobilEye Vision Technologies Ltd.
|
Vehicular vision system with rear backup video display | ||
Patent #
US 10,336,255 B2
Filed 11/29/2018
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vehicular control system using cameras and radar sensor | ||
Patent #
US 10,351,135 B2
Filed 11/01/2018
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vehicular exterior electrically variable reflectance mirror reflective element assembly | ||
Patent #
US 10,363,875 B2
Filed 07/23/2018
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
System and method of providing recommendations to users of vehicles | ||
Patent #
US 10,372,129 B1
Filed 04/17/2017
|
Current Assignee
Waymo LLC
|
Original Assignee
Waymo LLC
|
Vehicular lane change system | ||
Patent #
US 10,406,980 B2
Filed 10/11/2018
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Predicting trajectories of objects based on contextual information | ||
Patent #
US 10,421,453 B1
Filed 11/03/2017
|
Current Assignee
Waymo LLC
|
Original Assignee
Waymo LLC
|
Rearview mirror assembly for vehicle | ||
Patent #
US 10,449,903 B2
Filed 12/20/2018
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Vehicle vision system with multi-paned view | ||
Patent #
US 10,457,209 B2
Filed 03/28/2013
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vehicular control system | ||
Patent #
US 10,462,426 B2
Filed 05/16/2019
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vehicular vision system with rear backup video display | ||
Patent #
US 10,486,597 B1
Filed 07/01/2019
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Multi-camera dynamic top view vision system | ||
Patent #
US 10,486,596 B2
Filed 01/14/2019
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vehicle camera system with image manipulation | ||
Patent #
US 10,493,916 B2
Filed 02/22/2013
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vehicular trailer backup assist system | ||
Patent #
US 10,493,917 B2
Filed 12/20/2018
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vehicular vision system | ||
Patent #
US 10,509,972 B2
Filed 04/09/2018
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Method of manufacturing variable reflectance mirror reflective element for exterior mirror assembly | ||
Patent #
US 10,538,202 B2
Filed 01/24/2018
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Vehicle vision system with customized display | ||
Patent #
US 10,542,244 B2
Filed 11/12/2018
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
System and method for predicting behaviors of detected objects through environment representation | ||
Patent #
US 10,564,639 B1
Filed 08/07/2017
|
Current Assignee
Waymo LLC
|
Original Assignee
Waymo LLC
|
Targetless vehicular camera calibration method | ||
Patent #
US 10,567,748 B2
Filed 05/21/2018
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Parking assist system | ||
Patent #
US 10,569,804 B2
Filed 01/15/2018
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Automatic control systems for vehicles | ||
Patent #
US 10,569,700 B2
Filed 05/20/2019
|
Current Assignee
Autosignal LLC
|
Original Assignee
Anita Au, Gerald Chan
|
System and method for evaluating the perception system of an autonomous vehicle | ||
Patent #
US 10,572,717 B1
Filed 02/27/2019
|
Current Assignee
Waymo LLC
|
Original Assignee
Waymo LLC
|
Interior mirror assembly with display | ||
Patent #
US 10,583,782 B2
Filed 11/07/2016
|
Current Assignee
Magna Mirrors of America Incorporated
|
Original Assignee
Magna Mirrors of America Incorporated
|
Obstacle detection system for a work vehicle | ||
Patent #
US 10,583,832 B2
Filed 05/02/2017
|
Current Assignee
CNH Industrial America LLC
|
Original Assignee
CNH Industrial America LLC
|
Vehicular control system with trailering assist function | ||
Patent #
US 10,586,119 B2
Filed 10/01/2018
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vehicular rear backup vision system with video display | ||
Patent #
US 10,589,678 B1
Filed 11/25/2019
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Video processor module for vehicle | ||
Patent #
US 10,611,306 B2
Filed 08/09/2018
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Imaging system for vehicle | ||
Patent #
US 10,616,507 B2
Filed 06/18/2018
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Driver assistance system for vehicle | ||
Patent #
US 10,623,704 B2
Filed 03/09/2015
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Change detection using curve alignment | ||
Patent #
US 10,627,816 B1
Filed 10/31/2017
|
Current Assignee
Waymo LLC
|
Original Assignee
Waymo LLC
|
Method for dynamically calibrating vehicular cameras | ||
Patent #
US 10,640,041 B2
Filed 02/04/2019
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vision system for vehicle | ||
Patent #
US 10,640,040 B2
Filed 09/10/2018
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Method and system for dynamically ascertaining alignment of vehicular cameras | ||
Patent #
US 10,654,423 B2
Filed 12/04/2017
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vehicular exterior electrically variable reflectance mirror reflective element assembly | ||
Patent #
US 10,661,716 B2
Filed 07/29/2019
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Forward sensing system for vehicle | ||
Patent #
US 10,670,713 B2
Filed 10/22/2018
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vehicular driving assist system using forward-viewing camera | ||
Patent #
US 10,683,008 B2
Filed 07/15/2019
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vehicular imaging system with blockage determination and misalignment correction | ||
Patent #
US 10,726,578 B2
Filed 05/14/2018
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vehicular control system with traffic lane detection | ||
Patent #
US 10,735,695 B2
Filed 10/28/2019
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Methods and apparatus to facilitate environmental visibility determination | ||
Patent #
US 10,748,012 B2
Filed 02/13/2018
|
Current Assignee
Ford Global Technologies LLC
|
Original Assignee
Ford Global Technologies LLC
|
Imaging system for vehicle | ||
Patent #
US 10,766,417 B2
Filed 10/23/2017
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Method for stitching images captured by multiple vehicular cameras | ||
Patent #
US 10,780,827 B2
Filed 11/25/2019
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Method for determining misalignment of a vehicular camera | ||
Patent #
US 10,780,826 B2
Filed 04/22/2019
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Adaptive forward lighting system for vehicle comprising a control that adjusts the headlamp beam in response to processing of image data captured by a camera | ||
Patent #
US 10,787,116 B2
Filed 09/10/2018
|
Current Assignee
Magna Mirrors of America Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Imaging system for vehicle | ||
Patent #
US 10,793,067 B2
Filed 07/25/2012
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Trailer driving assist system | ||
Patent #
US 10,800,332 B2
Filed 05/16/2019
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vehicular imaging system with controlled illumination device and camera | ||
Patent #
US 10,805,550 B2
Filed 09/10/2018
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vehicular adaptive headlighting system | ||
Patent #
US 10,807,515 B2
Filed 10/01/2018
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vehicular rear backup vision system with video display | ||
Patent #
US 10,814,785 B2
Filed 03/16/2020
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Rearview mirror assembly for vehicle | ||
Patent #
US 10,829,052 B2
Filed 10/21/2019
|
Current Assignee
Donnelly Corporation
|
Original Assignee
Donnelly Corporation
|
Vehicular control system | ||
Patent #
US 10,839,233 B2
Filed 03/05/2018
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Trailering assist system with trailer angle detection | ||
Patent #
US 10,858,042 B2
Filed 04/23/2018
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Method for determining alignment of vehicular cameras | ||
Patent #
US 10,868,974 B2
Filed 02/19/2018
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vehicular vision system | ||
Patent #
US 10,875,455 B2
Filed 05/16/2019
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Vehicular vision system | ||
Patent #
US 10,875,526 B2
Filed 10/22/2018
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
Forward sensing system for vehicle | ||
Patent #
US 10,877,147 B2
Filed 06/01/2020
|
Current Assignee
Magna Electronics Incorporated
|
Original Assignee
Magna Electronics Incorporated
|
System and method for calculating movement direction and position of an unmanned vehicle | ||
Patent #
US 4,819,169 A
Filed 09/24/1987
|
Current Assignee
Nissan Motor Co. Ltd.
|
Original Assignee
Nissan Motor Co. Ltd.
|
Method and apparatus for detecting traveling position and/or direction of an unmanned vehicle | ||
Patent #
US 4,847,774 A
Filed 09/12/1986
|
Current Assignee
Tsubakimoto Chain Company
|
Original Assignee
Tsubakimoto Chain Company
|
Apparatus for guiding movement of an unmanned moving body | ||
Patent #
US 4,862,047 A
Filed 01/20/1988
|
Current Assignee
Kabushiki Kaisha Komatsu Seisakusho
|
Original Assignee
Kabushiki Kaisha Komatsu Seisakusho
|
Boundary detecting method and apparatus for automatic working vehicle | ||
Patent #
US 4,868,752 A
Filed 09/10/1987
|
Current Assignee
Kubota Corporation
|
Original Assignee
Kubota Corporation
|
Visually guided vehicle | ||
Patent #
US 4,566,032 A
Filed 11/10/1983
|
Current Assignee
Nippon Yusoki Company Limited, DAC ENGINEERING CO. LTD.
|
Original Assignee
Nippon Yusoki Company Limited, DAC ENGINEERING CO. LTD.
|
Automatic running work vehicle | ||
Patent #
US 4,573,547 A
Filed 12/13/1983
|
Current Assignee
Kubota Corporation
|
Original Assignee
Kubota Corporation
|
10 Claims
-
1. In an automotive vehicle having a computer vision system and an associated camera for viewing a scene ahead of the vehicle, a method of detecting lane markers on a roadway comprising the steps of:
-
obtaining an image of the scene and digitizing the image, normalizing the image, defining a search area in the image, searching for lane markers in the search area of the image to locate lane marker positions, estimating the position of any missing lane marker from said located lane marker positions, and defining lane boundaries from the said located lane marker positions and the estimated position of the missing lane marker. - View Dependent Claims (2, 5, 6, 7, 8)
-
-
3. In an automotive vehicle having a computer vision system and an associated camera for viewing a scene ahead of the vehicle and obtaining a series of images of the scene, a method of locating lane boundaries on a roadway comprising for each image the steps of:
-
digitizing the image and normalizing the image, dynamically defining a search area in the image based on the lane boundaries located in a previous image, searching for lane markers in the search area of the image to locate lane marker positions, estimating the position of any missing lane marker based on information selected from the current image and previous images, and defining lane boundaries from the said located lane marker positions and the estimated position of the missing lane marker. - View Dependent Claims (4)
-
-
9. In an automotive vehicle having a computer vision system and an associated camera for viewing a scene ahead of the vehicle and obtaining a series of images of the scene, a method of locating lane boundaries and close obstacles on a roadway comprising for each image the steps of:
-
digitizing the image and normalizing the image, generating edge data from the image, determining an edge pixel count by counting edge pixels between lane boundaries defined in the previous image ad in the image portion representing space close to the vehicle, comparing the edge pixel count to a threshold value and issuing an obstacle warning when the count is above the threshold value, when the edge pixel count is below the threshold value, dynamically defining a search area in the image based on the lane boundaries located in said previous image, searching for lane markers in the search area of the image to locate lane marker positions, estimating the position of any missing lane marker based on information selected from the current image and previous images, and defining lane boundaries from the said located lane marker positions and the estimated position of the missing lane marker. - View Dependent Claims (10)
-
1 Specification
This invention relates to a vision method of detecting lane boundaries and obstacles close to a vehicle within the lane boundaries, and particularly to such a method employing image processing techniques and which is operative for moderately marked roads.
The use of an on-board video camera and image processing of the roadway scenes allows useful information to be gathered for vehicle control. Detecting lane boundaries is a core capability for advanced automotive functions such as collision warning, collision avoidance and automatic vehicle guidance. If the lane boundaries and thus the road path can be detected several other functions can be implemented. Lane control uses the boundary information and vehicle dynamics knowledge to derive steering and braking commands for keeping the vehicle in the lane. Headway control uses a laser or radar system to track the vehicle ahead and keeps a safe driving distance. The lane boundary information can be used to prevent the detection of a vehicle in an adjacent lane on a curved road. Then the sensor beam can be directed to points within the lane. To monitor driving performance, the behavior of the driver is tracked and evaluated using the estimated position of the vehicle with respect to the lane boundaries.
Lane boundary detection for guiding vehicles along roadways has been reported in the paper by Dickmanns, E. D. and Zapp, A , "A Curvature-based Scheme for Improving Road Vehicle Guidance by Computer Vision," Proc. SPIE on Mobile Robots, Vol. 727, October 1986, which is incorporated herein by reference. Contour correlation and high order world models are the basic elements of that method, realized on a special multi-processor computer system. Perspective projection and dynamical models (Kalman filter) are used in an integrated approach for the design of the visual feedback control system. That system requires good lane markings and thus is limited to only those roads having good lane markings. It is of course desirable to extend the benefits of the computer vision system to roads with less good markings and to incorporate other features such as obstacle detection.
It is therefore an object of the invention to provide a computer vision method of lane boundary detection operable on roads having moderate markings and even with some markers missing. It is a further object to provide such a method with obstacle detection capability.
The invention is carried out in an automotive vehicle having a computer vision system and an associated camera for viewing the scene ahead of the vehicle, by a method of detecting lane markers on a roadway comprising the steps of: obtaining an image of the scene and digitizing the image, normalizing the image, defining a search area in the image, searching for lane markers in the search area of the image, estimating the position of any missing lane marker, and defining lane boundaries from the position of the lane markers.
The above and other advantages of the invention will become more apparent from the following description taken in conjunction with the accompanying drawings wherein like references refer to like parts and wherein:
FIG. 1 is a block diagram of a computer vision system for carrying out the method of the invention,
FIG. 2 is an illustration of a roadway scene in a camera image plane,
FIG. 3 is an illustration of a roadway scene in a camera image plane, the scene having an obstacle in the roadway,
FIGS. 4a and 4b together comprise a flow chart of an embodiment of the method of the invention employing template matching,
FIG. 5 is a flow chart of the dynamic search area definition method used in the FIG. 4 method.
FIGS. 6a and 6b together comprise a flow chart of another embodiment of the method of the invention employing a Hough transform, and
FIGS. 7a and 7b are an image plane view of a line and a Hough space representation of the same line, respectively.
As shown in FIG. 1, the hardware used to implement the method of the invention comprises a black and white CCD video camera 10 mounted in a vehicle, say at the upper center of the windshield to capture the driver'"'"'s view of the road ahead, an analog-to-digital converter 12 for coupling the camera output to a computer 14, and output devices driven by the computer including a display 16, an obstacle warning alarm 18 and a utilization circuit 20 which may be any device using the lane boundary information for vehicle guidance, performance monitoring or headway control, for example.
The computer is programmed with algorithms for processing the images sensed by the camera. Two main algorithms for processing the image are disclosed herein. One uses a Hough transform and the other uses template matching. Both algorithms, however, dynamically define the search area for lane markers based on the lane boundaries of the previous frame, and provide estimates of the position of missing markers on the basis of current frame and previous frame information.Also in both cases preprocessing procedures detect obstacles in the lane within about 50 feet of the vehicle and give a warning via the alarm 18.
FIG. 2 is an example of a typical image as projected on the camera image plane and includes the vehicle hood 22 and broken or solid stripes or lane markers 24 painted on the road and terminating at the horizon 26. Since the image spaces above the horizon and below the hood line do not contain useful lane boundary information those regions are ignored by the image processing algorithms. A special calibration procedure enables range estimation, based on known characteristics of the road and the camera. It assumes flat roads with parallel markers at known look-ahead distances. The calibration determines the relationships between the positions of the actual markers and the images of these markers. This process defines a set of "reference markers" which are used as an initial set of lane boundaries seen by the vehicle when it is in the middle of the lane.The reference markers are also used when consistency of width is violated or when the two estimated lane boundaries cross each other.
The broken line boxes 28 around the markers 24 define the area to be searched for detecting markers and is determined by the position of the lane boundaries in the previous image frame. In reality many other objects are in the image such as trees, other vehicles, overpasses and signs. The defined search area helps eliminate much of them from the processed image as well as to minimize the processing time. FIG. 3 illustrates the presence of a vehicle 30 or other obstacle in the roadway of FIG. 2. If the other vehicle is close, say, within 50 feet of the trailing vehicle, it tends to obscure the lane markers 24 to such an extent that there is insufficient information to determine the boundaries. In that case an obstacle warning is given and no further image processing is done on that frame. When the obstacle 30 is more than 50 feet away the image is processed but the obstacle is effectively erased from the image by removing horizontal and vertical lines, thereby making the subsequent processing steps simpler.
The template matching algorithm is widely used in image recognition and computer vision applications. In this algorithm, a template or window of desired intensity and shape is correlated with the image to create a correlation matrix. The elements of this correlation matrix indicate the quality of the match between the template and the image at all locations, according to some metric. Here, the absolute difference metric is used as the correlation measure. Other types of measures such as normalized correlation can also be used. The matching can also be done in the image-edge domain obtained by filtering the raw image with a Sobel filter. The advantage of edge matching is its insensitivity to light variations; however, with this method, potholes, streaks, road texture and shadows may generate false objects. The template matching algorithm described below uses both image data and edge data.
FIGS. 4a and 4c comprise a flow chart of an image processing method which uses a template matching algorithm. The figures are joined at nodes A and B. Numerals in the text marked by angle brackets <> refer to reference numerals on the flow chart boxes. The raw image is digitized <40> into a 512×512×8 image. The processing area is reduced in the vertical and horizontal directions. In the vertical direction, it is limited by the horizon line 26 and by the hood 22. These limits are obtained from the camera geometry and the calibration image. Then the gray level distribution of the processing area is contrast expanded or normalized <42> to have standard statistics (e.g., a gray level distribution with mean=100 and standard deviation=20; the gray level range is 0 to 255 with 0 being full black and 255 being full white). Next, a 3×3 Sobel filter is used <44> to generate edge data 124×512 pixels in size.
An obstacle in the lane ahead will give rise to strong edges in addition to those presented by the roadway. The presence of obstacles is detected by counting the number of strong edge points within the area defined by the lane boundaries of the previous frame <46> and comparing to a threshold <48> for a given look-ahead distance. For example, the number of pixels within 50 feet of the vehicle having a gray level greater than 150 are counted and compared to a threshold. If an obstacle is detected within 50 feet, then a warning to the driver is given <50> and the control returns back to the first step for a new frame. The location of lane boundaries is not updated since the presence of the obstacle obscures them. The obstacle distance is determined by the ground level obstacle image since the image plane calibration does not take into account the vertical height of an object. As seen in FIG. 3, the top of the vehicle 30 appears to be beyond the horizon as seen in the image plane although the vehicle 30 is actually close as is realistically shown near ground level. Thus for obstacle detection, only the bottom of the vehicle 30 image is scanned since it is in the near portion of the image plane.
Obstacles detected at distances greater than 50 feet (in the far field portion of the image) are effectively deleted from both the image and the edge data <52> to facilitate the execution of the following steps. For this purpose it is assumed that the obstacle has a high content of vertical and horizontal lines whereas the lane markers to be detected comprise diagonal lines. The obstacles are deleted from the image using the following criteria: lines to be deleted must be either vertical or horizontal, their length must exceed 40 pixels, and their intensity must exceed 150.
After the obstacle deletion step the search area is defined dynamically <54>. Given the previous lane boundaries, a truncated triangular search region is defined for each marker location such that the search region for the two sides of the lane do not overlap.Moreover, the search area changes with marker position MP, and increases in size if the marker was not found in the search of the previous frame. This limits the search space in which the markers can move from one frame to another and shortens the processing time.
The dynamic search method is shown separately in FIG. 5. The search is conducted one row at a time and the search field is selected for each row. It begins by defining an increment for a given row as one fifth of the distance between the right and left lane coordinates for that row <54a>. It is then decided <54b> whether either a lane marker was not found or an old marker was used in the previous image. If so, the increment is increased by 20 pixels to enlarge the search area <54c>. Then the right bound BR and the left bound BL (for each search area) is found <54d> by adding and subtracting the increment from the marker position MP for that line. Next a correlation procedure <56> is followed for the defined search field in the current line and if all the rows have not been processed <57> the search continues in another row <58> and the search field is redefined for that row.
When the search area is defined a template matching operation begins <56>. For the defined search area, a window of size 5×5 pixels with constant gray level of 240 is correlated with the image. The correlation measure is based on the absolute difference of the window'"'"'s gray level and the image'"'"'s gray level. The window is moved horizontally across the image pixel by pixel to obtain a correlation measure at every point in the traverse and is then indexed vertically to make another horizontal traverse. To reduce computations, the window may be indexed vertically by more than one line so that strips of the search area are sampled rather then the complete search area. Using the absolute difference metric, a perfect match will yield a zero element in the correlation matrix. The correlation matrix is therefore searched for its minimum values. Elements with values under some threshold are selected to represent the marker positions.
This correlation procedure will not yield any match for yellow or faded white lane markers. If such markers are present or markers are missing altogether, there will be only a few match points. The match points are counted <59> and if there are too few, say, 6 points out of a possible 100, the correlation is repeated with the edge data <60>. Then if the marker is found <62> or there were sufficient match points <59>, the centroid of each marker is calculated <64>. If the marker is not found <62> and the marker position on the opposite side of the lane is known <66>, the missing marker position is calculated based on the opposite marker position and the lane width <68> and its centroid is calculated <64>. When the marker position on the opposite side of the lane is not known <66> the lane boundary from the previous frame is used <70>. After the centroid of each marker is calculated <64>, if the markers are not found where expected <72> based on the previously detected lane geometry, the marker locations from the previous frame are used <74>.
The determination of expected marker position <72> involves comparing the position of each marker centroid with that of the previous frame. If the change is more than nine pixels a flag is set. Then a check is made for the presence of a second marker in each search area as may occur, for example, when an exit lane is sensed. The distance between two such markers is computed and if it is above a threshold for some distance (15 rows of the image) the outside marker (i.e., the right-most marker in the right search area) is rejected and a flag is set. Then for each row, if a marker is not found the previous marker is used, provided no flag has been set. If a flag is set, only new marker locations are used. The result of this procedure is a set of x,y coordinates specifying lane markers. Then a least-squares line fit is performed to generate the lane boundary <76>.
To validate the estimated lane boundaries they are checked for consistency of angles and width <78>. If the angle between the present lane boundary and the previous lane boundary is greater than 35°, then the present lane boundary is rejected. It is then estimated from the other lane boundary based on lane width. Similarly, the width of the lane is checked at two different look-ahead distances for upper and lower bounds.
The algorithm also checks for lane changes by determining if the lower end of a lane boundary is near the middle of the image <80>. If it is a lane change, warning is given <82> and depending on the lane change direction (left or right), the markers are exchanged, i.e., for a left lane change, the left boundary is redefined as the right boundary and a new left boundary is predicted based on the road/camera geometry.
The estimated lane boundaries are used to compute the vanishing point (where the left and right boundaries intersect) and the intersection of the right marker at a fixed distance. These points and the vehicle dynamics information are then used by a Kalman filter for estimating the road curvature, the lateral shift from the center of the lane, and the heading error as disclosed in the Dickmanns et al paper, supra. These estimates determine a coordinate transformation which determines the look-ahead path required for autonomous vehicle control <86>. For display purposes the lane boundaries are overlaid on the image <88>.
FIGS. 6a and 6b comprise a flow chart showing an image processing algorithm using a Hough transform. The two figures are joined at node A. The process starts by digitization of the camera signals <100>, contrast expansion <102> and edge detection by a Sobel filter <104> as described for the previous method. The image area between the vehicle hood and the horizon is the only area operated upon. A thresholding operation <106> generates a binary image by setting all gray levels above 150 to one and the rest to zero. Noise cleaning and boundary tracing <108> removes isolated, single pixels and traces the boundaries of the lane and road markers. The boundary tracing algorithm saves connected or adjacent pixels and follows the contour of a lane marker or a road edge in all directions. This is done by dividing the image into three equal segments representing the left, center and right portions of the image. For each segment, the left and right edges of the lane or road markers are searched for at least two adjacent edge pixels. After marking the edge pixels, the boundaries of the lane markers are traced until either the top of the image is reached or until no edge pixels are found. The resulting boundary traced image has clean lane markers and road edges. Then obstacle detection is performed by counting edge pixels within the lane boundaries and within 50 feet of the vehicle <110> and comparing the count to a threshold <112>. If the count is greater than the threshold an obstacle is detected and an obstacle warning is given to the driver <114> and the program returns to START. If no obstacle is detected a line Hough transform is performed <116>.
The Hough algorithm uses the boundary traced lane markers to estimate the location of the lane boundaries. The Hough transform has been used extensively for image processing applications. By knowing the desired shape a priori, the transform maps complex shapes, whether lines or curves, into simple ones in the Hough domain. The simplest transform in terms of computational burden is a line transform.Accordingly the lane boundaries are approximated by several straight lines. FIGS. 7a and 7b show a line in the image plane and the Hough transform of the same line. The normal parameterization of a straight line is given by R x cosA+y sinA where R is the shortest distance from the origin to the line, and A is the angle between the normal to the line and the x axis. Each pixel in the Hough domain represents a potential line in the image space. After a line Hough transform is performed on the boundary traced image <116> a search area is defined around the previous boundary position <118> in Hough space as indicated by the box 32 in FIG. 7b.
The intensity of each pixel in the Hough domain corresponds to the strength of a line in the image space or the number of edge elements contributing to that line. To select the n strongest lines in the image, one needs to identify the n pixels with the highest intensity in the Hough domain. The following criteria are used to select the correct lines: (a) the intensity of the selected pixels should have local maxima, (b) the separation of the selected pixels should exceed a certain threshold, and (c) the intensity of the selected pixels should exceed 20% of the maximum intensity. The selection algorithm is implemented by identifying the maximum pixel intensity and deleting those that are less than 20% of that maximum intensity <119>. Then the Hough domain is filtered with an 11×11 non-maximum suppression filter <120>, i.e., for a given pixel, if the other 120 pixels around it were higher in intensity, then the intensity of the subject pixel is set to zero. After filtering, only one local maximum pixel for each 11×11 neighborhood could survive in the Hough domain but some points can still be close together. The number of Hough pixels is further reduced by deleting pixels which would generate near horizontal or vertical lines (A=0°, A=90°, A=180°) <122>. Additional pixels are removed if the distance between two pixels is less than 34 <124>. Finally the pixels are sorted based on intensity or the number of contributing edge elements and the top four pixels are chosen <126>.
In a typical application, the roadway may include discernible lane markers defining two lanes, and road edges may also be visible even if not painted. In this case four edges will be searched for to define the road and the vehicle relationship to the road. When the Hough transform is performed about 300 points may be present in Hough space which represent minor edges, major edges including the ones of interest, and noise. Each operation reduces the number of remaining edges. For example, the deletion of those less than 20% of maximum intensity may eliminate all but 50 points. The non-maximum filter may leave 10 points, and the deletion of pairs that are close together and of those representing horizontal and vertical lines may remove a few more points. Finally the strongest four pixels of the remainder are selected as the lane markers and road edges.
These pixels represent the lane boundaries. The pixels are checked to determine if any lane boundary parameters are missing <128>. If they are, the average of the last two frames parameters are used
If the parameters are not missing they are validated by comparison with parameters of previous frames <132> and if they are within 10% they are considered to be valid. If not, the average parameters of the last two frames is used <130>. Then lane change is detected <134> and the look-ahead path is estimated <136> using the Kalman filter as described for the previous method, and an inverse Hough transform generates lane boundaries <138> in the image space which are overlaid on the image for display purposes <140>.
The Hough domain is quantized to a 256×256 space for this implementation. Since pixels are selected based on a distance of 34, it is evident that the quantized space can easily be reduced to 128×256 for decreasing the processing time. For real time applications, systolic array chips could be used for fast calculations of the Hough transform. The image could be divided into several sub-images with several systolic chips working in parallel, mapping the results into several Hough domains. Since the Hough transform operation is linear for the continuous case, the final transform can be obtained by summing the partial Hough results. Another advantage of the transform is that a priori knowledge about lane and road boundaries can easily be embedded in the algorithm.
The method of the invention performed by either algorithm, template matching or Hough transform, has several advantages:
(a) The method works well with missing and discontinuous markers, both yellow and white.
(b) The search area in both algorithms is defined dynamically and adapts to the location of the lane markers, which saves processing time.
(c) This method estimates road boundaries with low radius of curvature (e.g., entrance and exit highway ramps).
(d) This method detects lane changes and warns the driver when lanes are crossed.
(e) This method can detect certain obstacles in the lane.
The description of a preferred embodiment of the invention for the purpose of illustrating the invention is not to be considered as limiting the invention since many modifications may be made by the exercise of skill in the art without departing from the scope of the invention.