Automotive lane change aid

• US 7,355,524 B2
• Filed: 04/16/2007
• Issued: 04/08/2008
• 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 20070188347A1
• Time in patent office: 358 Days
• Field of Search: 340/903, 340/435, 340/937, 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 object detection system comprising:

a central processor;

at least one image capture device operable to capture image data;

at least a first data processor operable to preprocess said image data;

at least one non-image sensor operable to capture non-image data;

at least a second data processor operable to process said non-image data;

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

said second data processor preprocessing said non-image data captured by said at least one non-image sensor to preprocessed second data having reduced bandwidth requirement relative to said non-image data captured by said at least one non-image sensor, said preprocessed second data being formatted into a standard data format and transmitted to said central processor via at least one of a wired link and a wireless link;

said central processor processing the transmitted preprocessed first data and the transmitted preprocessed second 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 subject vehicle, and (b) a stoplight or a sign in front of the subject vehicle; and

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 non-image data captured by said at least one non-image sensor comprises high resolution data and wherein said high resolution data is preprocessed by at least one of said first and second data processors in a manner that reduces bandwidth requirements.

2. The object detection system of claim 1, wherein said central processor develops a position history of the equipped vehicle at least as a function of movement information derived from said image data and said non-image data.

3. The object detection system of claim 2, wherein said central processor compares the detected presence of another vehicle with said position history and provides an indication when a lane change maneuver may affect the other vehicle.

4. The object detection system of claim 1, wherein said at least one image capture device comprises at least one forward-facing image capture device for capturing images of other vehicles, said central processor being operable to determine an imminent collision with another vehicle in response to said preprocessed first data.

5. The object detection system of claim 4, wherein said central processor is operable to transmit a safety warning to the other vehicle via a wireless transmission.

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

7. The object detection system of claim 6, wherein said central processor is operable to develop and maintain a lane position history of a space rearward of the subject vehicle.

8. The object detection system of claim 1, wherein said central processor includes a vehicle path history function where a detected object is selected and its presence is highlighted to the driver'"'"'s attention.

9. The object detection system of claim 8, wherein said detected object is highlighted via icons or indicia at at least one of a dashboard-mounted display and an interior mirror-mounted display.

10. The object detection system of claim 1, wherein said central processor comprises a digital signal processor microcomputer having a processing speed of at least about 5 MIPS.

11. The object detection system of claim 1, wherein said central processor comprises a digital signal processor microcomputer having a processing speed of at least about 12 MIPS.

12. The object detection system of claim 1, wherein said central processor comprises a digital signal processor microcomputer having a processing speed of at least about 30 MIPS.

13. The object detection system of claim 1, wherein said image data captured by said image capture device is formatted by said first data processor at or proximate to said image capture device.

14. The object detection system of claim 1, wherein said non-image data captured by said non-image sensor is formatted by said second processor at or proximate to said non-image sensor.

15. The object detection system of claim 1, wherein said at least one image capture device comprises at least one CMOS video camera.

16. The object detection system of claim 1, wherein said at least one non-image sensor comprises at least one of a radar sensor, an infrared sensor, a sonar sensor, and a laser sensor.

17. The object detection system of claim 1, wherein said non-image sensor comprises a Doppler radar sensor.

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

19. The object detection system of claim 1 further comprising an output device responsive to said output of said central processor, said output device alerting the driver about the environment external the vehicle.

20. The object detection system of claim 19, wherein the environment external the vehicle comprises at least one chosen from (i) an object at the side of the vehicle, (ii) a lane change by the vehicle, (iii) a possible collision with an oncoming object, and (iv) a presence of a traffic sign or signal.

21. The object detection system of claim 19, wherein said output device comprises a display at or adjacent to the exterior mirror assembly.

22. The object detection system of claim 21, wherein said display comprises an LED flashing light source.

23. The object detection system of claim 19, wherein said output device comprises a vibration transducer that tumbles or otherwise vibrates to tactilely inform the driver.

24. The object detection system of claim 19, wherein said output device comprises a heads-up display.

25. The object detection system of claim 19, wherein said output device comprises voice commands.

26. The object detection system of claim 1 further comprising an alert device for warning the driver of another vehicle of a possible collision.

27. The object detection system of claim 26, wherein said alert device is operable to at least one of (a) flash the headlights of the subject vehicle, (b) sound a horn of the subject vehicle, and (c) broadcast an alert via a wireless communication system.

28. The object detection system of claim 26, wherein said alert device is activated when said central processor detects a stoplight or sign and determines that the subject vehicle is not going to stop based on current speed and deceleration.

29. The object detection system of claim 28, wherein operation of said alert device dynamically varies depending on detected road surface conditions.

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

an image capture device operable to capture image data and a first data processor operable to preprocess said image data, said first data processor being at or near said image capture device;

a non-image sensor operable to capture non-image data and a second data processor operable to process said non-image data, said second data processor being at or near said non-image sensor;

a central processor, said central processor being remote from at least one of said first and second data processors;

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

said second data processor preprocessing said non-image data captured by said non-image sensor to preprocessed second data having reduced bandwidth requirement relative to said non-image data captured by said non-image sensor, said preprocessed second data being formatted into a standard data format and transmitted to said central processor via at least one of a wired link and a wireless link;

said central processor processing the transmitted preprocessed first data and the transmitted preprocessed second 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 subject vehicle, and (b) a stoplight or a sign in front of the subject vehicle; and

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 non-image data captured by said non-image sensor comprises high resolution data and wherein said high resolution data is preprocessed by at least one of said first and second data processors in a manner that reduces bandwidth requirements.

31. The object detection system of claim 30, wherein said image capture device comprises a forward-facing image capture device for capturing images of other vehicles, said central processor being operable to determine an imminent collision with another vehicle in response to said preprocessed first data.

32. The object detection system of claim 30 further comprising a lane marker recognition algorithm or capability.

33. The object detection system of claim 30, wherein said central processor includes a vehicle path history function where a detected object is selected and its presence is highlighted to the driver'"'"'s attention.

34. The object detection system of claim 30, wherein said image capture device comprises at least one CMOS video camera.

35. The object detection system of claim 30, wherein said non-image sensor comprises one of a radar sensor, an infrared sensor, a sonar sensor, and a laser sensor.

36. The object detection system of claim 30 further comprising an alert device responsive to said output of said central processor, said alert device alerting the driver about the environment external the vehicle.

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

a central processor;

at least one image capture device operable to capture image data, said at least one image capture device comprising at least one CMOS video camera;

at least a first data processor operable to preprocess said image data;

at least one non-image sensor operable to capture non-image data, said at least one non-image sensor comprising at least one of (i) at least one radar sensor, (ii) at least one infrared sensor, (iv) at least one sonar sensor, and (v) at least one laser sensor;

at least a second data processor operable to process said non-image data;

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

said second data processor preprocessing said non-image data captured by said at least one non-image sensor to preprocessed second data having reduced bandwidth requirement relative to said non-image data captured by said at least one non-image sensor, said preprocessed second data being formatted into a standard data format and transmitted to said central processor via at least one of a wired link and a wireless link;

said central processor processing the transmitted preprocessed first data and the transmitted preprocessed second 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 subject vehicle, and (b) a stoplight or a sign in front of the subject vehicle; and

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 non-image data captured by said at least one non-image sensor comprises high resolution data and wherein said high resolution data is preprocessed by at least one of said first and second data processors in a manner that reduces bandwidth requirements.

38. The object detection system of claim 37, wherein said at least one image capture device comprises a forward-facing image capture device for capturing images of other vehicles, said central processor being operable to determine an imminent collision with another vehicle in response to said preprocessed first data.

39. The object detection system of claim 37 further comprising a lane marker recognition algorithm or capability.

40. The object detection system of claim 37, wherein said central processor includes a vehicle path history function where a detected object is selected and its presence is highlighted to the driver'"'"'s attention.