Automotive lane change aid

• US 7,205,904 B2
• Filed: 04/18/2005
• Issued: 04/17/2007
• Est. Priority Date: 07/31/2001
• Status: Active Grant

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Donnelly Corporation (Magna International Incorporated)
• Inventors: Schofield, Kenneth
• Primary Examiner(s): SWARTHOUT, BRENT
• APPLICATION: US 20050179527A1
• Time in patent office: 729 Days
• Field of Search: 340/937, 340/435, 340/903, 348/119, 348/120
• US Class Current: 340/903
• CPC Class Codes: B60Q 1/346 with automatic actuation
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: B60R 1/00 Optical viewing arrangements house mirrors and spies A47G1/00; antiglare equipment, e.g. polarising, for windscreens or windows B60J3/00; visual aids for tractors B62D49/0614; devices per se G02B
• CPC Class Codes: B60R 11/04 Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
• CPC Class Codes: B60R 2300/804 for lane monitoring
• CPC Class Codes: B60T 2201/08 Lane monitoring; Lane Keeping Systems
• CPC Class Codes: B60T 2201/089 using optical detection
• CPC Class Codes: B62D 15/029 Steering assistants using warnings or proposing actions to the driver without influencing the steering system parking aids B62D15/027, determination or calculation of trajectory of land vehicles G05D1/021, B60W60/0027, image processing G06T
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/9315 Monitoring blind spots
• CPC Class Codes: G01S 2013/9316 combined with communication equipment with other vehicles or with base stations
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/9323 Alternative operation using light waves
• CPC Class Codes: G01S 2013/9324 Alternative operation using ultrasonic waves
• CPC Class Codes: G01S 2013/9325 for inter-vehicle distance regulation, e.g. navigating in platoons
• CPC Class Codes: G01S 2013/93274 on the side of the vehicles
• CPC Class Codes: G06K 9/00798 Recognition of lanes or road borders, e.g. of lane markings, or recognition of driver's driving pattern in relation to lanes perceived from the vehicle; Analysis of car trajectory relative to detected road determination of trajectories G06T7/20
• CPC Class Codes: G06K 9/00805 Detecting potential obstacles recognising people G06K9/00362
• CPC Class Codes: G06K 9/6267 Classification techniques
• CPC Class Codes: G08G 1/163 involving continuous checking
• CPC Class Codes: G08G 1/167 : Driving aids for lane monitoring, lane changing, e.g. blind spot detection
• CPC Class Codes: H04N 5/247 : Arrangements of television cameras constructional details of cameras H04N5/2251

Abstract

A vehicle lane change aid system includes a detector that is operative to detect the presence of an other vehicle adjacent the vehicle, an indicator for providing an indication that a lane change maneuver of the vehicle may affect the other vehicle and a control receiving movement information of the vehicle. The control develops a position history of the vehicle at least as a function of the movement information. The control compares the detected presence of the other vehicle with the position history and provides an indication when a lane change maneuver may affect the other vehicle.

Claims

1. An object detection system suitable for use in a vehicle, said system comprising:

a central processor at a first location in or on a vehicle;

at least one image capture device at a second location in or on the vehicle, said second location at a distance from said first location, said at least one image capture device comprising an image data processor;

at least one radar sensor at a third location in or on the vehicle, said third location at a distance from said first location, said at least one radar sensor comprising a radar data processor;

image data captured by said at least one image capture device preprocessed by said image data processor at said at least one image capture device to image data having reduced bandwidth requirement relative to the image data captured by said at least one image capture device and formatted into a standard data format and transmitted by at least one of a wired link and a wireless link to said central processor;

radar data captured by said at least one radar device preprocessed by said radar data processor said at least one radar device to radar data having reduced bandwidth requirement relative to the radar data captured by said at least one radar sensor and formatted into a standard data format and transmitted by at least one of a wired link and a wireless link to said central processor;

said central processor processing the transmitted image data and the transmitted radar data and generating an output indicative of an object external the vehicle, said object comprising at least one of;

(a) another vehicle in front of, to the side or to the rear of the vehicle having said image capture device and said radar sensor, and (b) a stoplight or a sign in front of the vehicle having said image capture device and said radar sensor;

said standard data format comprising a format that is operational on a vehicle bus network, wherein at least one chosen from (i) said image data captured by said image capture device and (ii) said radar data captured by said at least one radar device comprises high resolution data and wherein said high resolution data is preprocessed by at least one chosen from said image data processor and said radar data processor in a manner that reduces bandwidth requirements.

2. The object detection system of claim 1 wherein said image data captured by said image capture device is formatted by a first local processor at or proximate to said image capture device at said second location.

3. The object detection system of claim 1 wherein said data captured by said radar device is formatted by a second local processor at or proximate to said radar sensor at said third location.

4. The object detection system of claim 1 wherein said image capture device comprises a CMOS video camera.

5. The object detection system of claim 1 wherein said radar device comprises a Doppler radar sensor.

6. The object detection system of claim 1 including a lane marker recognition algorithm or capability.

7. The object detection system of claim 1 wherein said image capture device comprises at least one chosen from a side-looking camera and a forward-looking camera.

8. An object detection system suitable for use in a vehicle, said system comprising:

a central processor at a first location in or on a vehicle;

at least one image capture device at a second location in the vehicle, said second location at a distance from said first location, said at least one image capture device comprising an image data processor;

at least one radar sensor at a third location in or on the vehicle, said third location at a distance from said first location, said at least one radar sensor comprising a radar data processor;

image data captured by said at least one image capture device preprocessed by said image data processor at said at least one image capture device to image data having reduced bandwidth requirement relative to the image data captured by said at least one image capture device and formatted into a standard data format and transmitted by at least one of a wired link and a wireless link to said central processor;

radar data captured by said at least one radar device preprocessed by said radar data processor at said at least one radar device to radar data having reduced bandwidth requirement relative to the radar data captured by said at least one radar sensor and formatted into a standard data format and transmitted by at least one of a wired link and a wireless link to said central processor;

said central processor processing the transmitted image data and the transmitted radar data and generating an output indicative of an object external the vehicle, said object comprising at least one of;

(a) another vehicle in front of, to the side or to the rear of the vehicle having said image capture device and said radar sensor, and (b) a stoplight or a sign in front of the vehicle having said image capture device and said radar sensor;

said standard data format comprising a format that is operational on a vehicle bus network, wherein at least one chosen from (i) said image data captured by said image capture device and (ii) said radar data captured by said at least one radar device comprises high resolution data and wherein said high resolution data is preprocessed by at least one chosen from said image data processor and said radar data processor in a manner that reduces bandwidth requirements; and

an output device responsive to said output, said output device alerting the driver about the environment external the vehicle.

9. The object detection system of claim 8 wherein said image data captured by said image capture device is formatted by a first local processor at or proximate to said image capture device at said second location.

10. The object detection system of claim 8 wherein said data captured by said radar device is formatted by a second local processor at or proximate to said radar sensor at said third location.

11. The object detection system of claim 8 wherein the environment external the vehicle comprises at least one chosen from (i) an object at the side of the vehicle, (ii) lane change by the vehicle, (iii) possible collision with an oncoming object, and (iv) presence of a traffic sign or signal.

12. The object detection system of claim 8 wherein said output device comprises a display at or adjacent to the exterior mirror assembly.

13. The object detection system of claim 12 wherein said display comprises an LED flashing light source.

14. The object detection system of claim 8 wherein said output device comprises a vibration transducer that tumbles or otherwise vibrates to tactilely inform the driver.

15. The object detection system of claim 8 wherein said output device comprises a heads-up display.

16. The object detection system of claim 8 wherein said output device comprises voice commands.

17. The object detection system of claim 8 wherein said image capture device comprises a CMOS video camera.

18. The object detection system of claim 8 wherein said radar device comprises a Doppler radar sensor.

19. The object detection system of claim 8 including a lane marker recognition algorithm or capability.

20. The object detection system of claim 8 wherein said image capture device comprises at least one chosen from a side-looking camera and a forward-looking camera.

21. An object detection system suitable for use in a vehicle, said system comprising:

a central processor at a first location in or on a vehicle;

at least one image capture device at a second location in or on the vehicle, said second location at a distance from said first location;

an image data processor at or proximate to said image capture device at said second location;

at least one radar sensor at a third location in or on the vehicle, said third location at a distance from said first location;

a radar data processor at or proximate to said radar sensor at said third location;

image data captured by said at least one image capture device preprocessed by said image data processor at said at least one image capture device to image data having reduced bandwidth requirement relative to the image data captured by said at least one image capture device and formatted into a standard data format and transmitted by at least one of a wired link and a wireless link from said first local processor to said central processor;

radar data captured by said at least one radar device preprocessed by said radar data processor at said at least one radar device to radar data having reduced bandwidth requirement relative to the image data captured by said at least one image capture device and formatted into a standard data format and transmitted by at least one of a wired link and a wireless link from said second local processor to said central processor;

said central processor processing the transmitted image data and the transmitted radar data and generating an output indicative of an object external the vehicle, said object comprising at least one of;

(a) another vehicle in front of, to the side or to the rear of the vehicle having said image capture device and said radar sensor, and (b) a stoplight or a sign in front of the vehicle having said image capture device and said radar sensor;

said standard data format comprising a format that is operational on a vehicle bus network, wherein at least one chosen from (i) said image data captured by said image capture device and (ii) said radar data captured by said at least one radar device comprises high resolution data and wherein said high resolution data is preprocessed by at least one chosen from said image data processor and said radar data processor in a manner that reduces bandwidth requirements.

22. The object detection system of claim 21 wherein said image capture device comprises a CMOS video camera.

23. The object detection system of claim 21 wherein said radar device comprises a Doppler radar sensor.

24. The object detection system of claim 21 including a lane marker recognition algorithm or capability.

25. The object detection system of claim 21 wherein said image capture device comprises at least one chosen from a side-looking camera and a forward-looking camera.