Driver assistance system for vehicle

• US 7,616,781 B2
• Filed: 04/24/2009
• Issued: 11/10/2009
• Est. Priority Date: 04/15/2004
• Status: Active Grant

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Donnelly Corporation (Magna International Incorporated)
• Inventors: Schofield, Kenneth, Lynam, Niall R.
• Primary Examiner(s): AZARIAN, SEYED H
• Application Number:
  US12/429,605
• Publication Number:
  US 20090208058A1
• Time in Patent Office: 200 Days
• Field of Search: 382/103, 382/104, 382/105, 382/106, 382/107, 382/113, 382/122, 382/123, 382/154, 382/156, 382/162, 382/170, 382/178, 382/181, 382/194, 382/199, 382232-254, 382285-295, 382/305, 382/319, 382/203, 382/190, 382/172, 340/435, 340/815.4, 701/1, 701/38, 701/8, 348/168
• US Class Current: 382/104
• CPC Class Codes: B60K 2360/143 Touch sensitive instrument input devices
• CPC Class Codes: B60K 2360/148 Instrument input by voice
• CPC Class Codes: B60K 2360/21 using cameras
• CPC Class Codes: B60K 2360/27 using semi-transparent optical elements
• CPC Class Codes: B60K 2360/331 Electroluminescent elements
• CPC Class Codes: B60K 2360/334 Projection means
• CPC Class Codes: B60K 2360/34 Backlit symbols
• CPC Class Codes: B60K 2360/589 Wireless data transfers
• CPC Class Codes: B60K 2360/777 on or in sun visors
• CPC Class Codes: B60K 2370/143 Touch sensitive input devices
• CPC Class Codes: B60K 2370/148 Input by voice
• CPC Class Codes: B60K 2370/152 Displays
• CPC Class Codes: B60K 2370/21 using cameras
• CPC Class Codes: B60K 2370/27 using semi-transparent optical elements
• CPC Class Codes: B60K 2370/331 Electroluminescent elements
• CPC Class Codes: B60K 2370/334 Projection means
• CPC Class Codes: B60K 2370/34 Backlit symbols
• CPC Class Codes: B60K 2370/52 Control of displays
• CPC Class Codes: B60K 2370/589 Wireless
• CPC Class Codes: B60K 2370/777 on or in sun visors
• CPC Class Codes: B60K 35/10 : Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
• CPC Class Codes: B60K 35/22 : Display screens
• CPC Class Codes: B60K 35/60 : Instruments characterised by their location or relative disposition in or on vehicles arrangements of lighting devices on dashboards B60Q3/10
• CPC Class Codes: B60K 35/81 : for controlling displays
• CPC Class Codes: B60K 35/85 : Arrangements for transferring vehicle- or driver-related data
• CPC Class Codes: B60Q 1/08 : automatically
• CPC Class Codes: B60Q 2300/42 : oncoming vehicle
• CPC Class Codes: B60Q 9/008 : for anti-collision purposes
• CPC Class Codes: B60R 1/001 : integrated in the windows, e.g. Fresnel lenses
• CPC Class Codes: B60R 1/04 : mounted inside vehicle B60R1/025, B60R1/08 take precedence
• CPC Class Codes: B60R 1/12 : Mirror assemblies combined with other articles, e.g. clocks
• CPC Class Codes: B60R 1/24 : in front of the vehicle
• CPC Class Codes: B60R 1/26 : to the rear of the vehicle
• CPC Class Codes: B60R 11/04 : Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
• CPC Class Codes: B60R 2001/1215 : with information displays
• CPC Class Codes: B60R 2001/1253 : with cameras, video cameras or video screens
• CPC Class Codes: B60R 2011/0026 : Windows, e.g. windscreen
• CPC Class Codes: B60R 2300/205 : using a head-up display
• CPC Class Codes: B60R 2300/207 : using multi-purpose displays, e.g. camera image and navigation or video on same display
• CPC Class Codes: B60R 2300/30 : characterised by the type of image processing
• CPC Class Codes: B60R 2300/301 : combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
• CPC Class Codes: B60R 2300/302 : combining image information with GPS information or vehicle data, e.g. vehicle speed, gyro, steering angle data
• CPC Class Codes: B60R 2300/804 : for lane monitoring
• CPC Class Codes: B60R 2300/8093 : for obstacle warning
• CPC Class Codes: B60W 2050/143 : Alarm means
• CPC Class Codes: B60W 2050/146 : Display means
• CPC Class Codes: B60W 30/143 : Speed control B60W30/16 takes precedence
• CPC Class Codes: B60W 30/18 : Propelling the vehicle
• CPC Class Codes: B60W 50/14 : Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: B60W 50/16 : Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
• CPC Class Codes: G06T 7/20 : Analysis of motion motion estimation for coding, decoding, compressing or decompressing digital video signals H04N19/43, H04N19/51
• CPC Class Codes: G06V 10/147 : Details of sensors, e.g. sensor lenses fingerprint or palmprint sensors G06V40/13; vascular sensors G06V40/145; eye sensors G06V40/19
• CPC Class Codes: G06V 20/58 : Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G06V 20/582 : of traffic signs
• CPC Class Codes: G06V 20/584 : of vehicle lights or traffic lights
• CPC Class Codes: G06V 20/588 : Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
• CPC Class Codes: G08G 1/166 : for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 : Driving aids for lane monitoring, lane changing, e.g. blind spot detection
• CPC Class Codes: H04N 23/54 : Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
• CPC Class Codes: H04N 7/18 : Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
• CPC Class Codes: H04N 7/183 : for receiving images from a single remote source

Abstract

A driver assistance system for a vehicle includes an imaging device and an image processor operable to process image data captured by the imaging device. The driver assistance system may display information including the speed limit for the road along which the equipped vehicle is traveling and at least one of the speed of the equipped vehicle and a difference between the speed of the equipped vehicle and the speed limit, An adaptive speed control system may adjust the speed of the equipped vehicle responsive to at least one of (a) a speed limit for the road along which the equipped vehicle is traveling, (b) recognition of a warning sign at least in part by processing image data by the image processor and (c) detection of a curve in the road ahead of the equipped vehicle at least in part by processing image data by the image processor.

Claims

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

an imaging device having a field of view forward of a vehicle equipped with said driver assistance system and in a direction of travel of the equipped vehicle, wherein said imaging device is operable to capture image data;

an image processor operable to process image data captured by said imaging device;

a global positioning system operable to determine a geographical location of the equipped vehicle;

an information display disposed at a location in the interior cabin of the vehicle and viewable by a driver of the equipped vehicle when the driver is normally operating the equipped vehicle;

speed sensing for determining a speed of the equipped vehicle;

wherein said driver assistance system determines a speed limit for the road along which the equipped vehicle is traveling based at least in part on image data and on the geographical location of the equipped vehicle;

wherein said driver assistance system determines a difference between the speed of the equipped vehicle and the speed limit for the road along which equipped vehicle is traveling;

wherein said information display displays information for viewing by the driver of the equipped vehicle when the driver is normally operating the equipped vehicle, and wherein the displayed information comprises the speed limit for the road along which the equipped vehicle is traveling and at least one of (a) the speed of the equipped vehicle and (b) a difference between the speed of the equipped vehicle and the speed limit for the road along which the equipped vehicle is traveling;

wherein said driver assistance system generates an alert when a difference between the speed of the equipped vehicle and the speed limit reaches a threshold amount, and wherein said threshold amount is selectable by a driver of the equipped vehicle; and

wherein said alert comprises one of (a) a change in intensity of displayed information, (b) a flashing of displayed information, (c) a change in color of displayed information, (d) highlighting of displayed information, (e) an audible alert, (f) a tactile alert and (g) a haptic alert.

2. The driver assistance system of claim 1, wherein said processing of captured image data by said image processor comprises recognition of a speed limit sign and character recognition of characters on the recognized speed limit sign.

3. The driver assistance system of claim 1, wherein said information display displays the speed of the equipped vehicle at or near the speed limit for viewing by the driver of the equipped vehicle.

4. The driver assistance system of claim 1, wherein said driver assistance system generates a first alert when the difference is at or above a first threshold amount and a second alert when the difference is at or above a second threshold amount, and wherein said second threshold amount is greater than said first threshold amount.

5. The driver assistance system of claim 1, wherein said threshold amount is selected by the driver to be dynamic and responsive to the speed limit for the road along which the equipped vehicle is traveling.

6. The driver assistance system of claim 1, wherein said driver assistance system generates an alert when said driver assistance system determines a change in the speed limit for the road along which the equipped vehicle is traveling.

7. The driver assistance system of claim 1, wherein said driver assistance system detects a warning sign ahead of the equipped vehicle that indicates that the equipped vehicle is approaching at least one of (i) a curve in the road and (ii) a turn in the road.

8. The driver assistance system of claim 7, wherein said driver assistance system generates an alert to the driver of the equipped vehicle responsive to detection of said warning sign.

9. The driver assistance system of claim 8, wherein said driver assistance system determines a safe speed of travel of the equipped vehicle around the at least one of (i) a curve in the road and (ii) a turn in the road.

10. The driver assistance system of claim 9, wherein said driver assistance system generates an alert indicative of the determined safe speed of travel.

11. The driver assistance system of claim 1, wherein said driver assistance system is operable to detect one of (a) a railroad crossing sign and wherein said driver assistance system determines when the railroad crossing sign is activated, and wherein said driver assistance system generates an alert to the driver of the equipped vehicle responsive to a determination that said railroad crossing sign is activated, (b) a school bus stopping signal and wherein said driver assistance system generates an alert to the driver of the equipped vehicle responsive to a detection of an activated school bus stopping signal, and (c) a pedestrian road crossing signal and wherein said driver assistance system generates an alert to the driver of the equipped vehicle responsive to a detection of an activated pedestrian road crossing signal.

12. The driver assistance system of claim 1, wherein the equipped vehicle comprises an adaptive speed control system for establishing a speed of the equipped vehicle at least in part responsive to a cruise control speed setting of said adaptive speed control system, and wherein said driver assistance system is cooperatively operable with said adaptive speed control system.

13. The driver assistance system of claim 12, wherein said adaptive speed control system adjusts the speed of the equipped vehicle at least in part responsive to a difference between the speed of the equipped vehicle and at least one of (a) the speed limit for the road along which the equipped vehicle is traveling, (b) a reduced speed determined at least in part by recognition of a warning sign and (c) a reduced speed determined at least in part by detection of a curve or turn in the road ahead of the equipped vehicle.

14. The driver assistance system of claim 13, wherein said adaptive speed control system reduces the speed of the equipped vehicle responsive to said driver assistance system detecting at least one of (a) a curve in the road ahead of the equipped vehicle and (b) a sign indicative of a curve in the road ahead of the equipped vehicle.

15. The driver assistance system of claim 14, wherein said adaptive speed control system reduces the speed of the equipped vehicle responsive to said driver assistance system detecting a warning sign indicative of a curve in the road ahead of the equipped vehicle, and wherein said adaptive speed control system reduces the speed of the equipped vehicle to a speed level indicated on the warning sign detected by said driver assistance system.

16. The driver assistance system of claim 14, wherein the speed of the equipped vehicle resumes said cruise control speed setting when the equipped vehicle is traveling along a straighter section of road after the curve in the road.

17. The driver assistance system of claim 1, wherein said driver assistance system, responsive to a detection of an exit sign, generates an alert to the driver of the equipped vehicle that the equipped vehicle is approaching an exit.

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

an imaging device having a field of view forward of a vehicle equipped with said driver assistance system and in a direction of travel of the equipped vehicle, wherein said imaging device is operable to capture image data;

an image processor operable to process image data captured by said imaging device;

speed sensing for determining a speed of the equipped vehicle;

an adaptive speed control system for establishing a speed of the equipped vehicle at least in part responsive to a cruise control speed setting of said adaptive speed control system;

wherein said processing of captured image data by said image processor comprises recognition of a sign;

wherein said driver assistance system determines a speed limit for the road along which the equipped vehicle is traveling based at least in part on processing image data;

wherein said adaptive speed control system at least one of (a) adjusts the cruise control speed setting responsive to a speed limit for the road along which the equipped vehicle is traveling as determined at least in part by processing image data by said image processor, (b) reduces the current speed of the equipped vehicle responsive to recognition of a warning sign at least in part by processing image data by said image processor, and (c) reduces the current speed of the equipped vehicle responsive to detection of a curve in the road ahead of the equipped vehicle at least in part by processing image data by said image processor.

19. The driver assistance system of claim 18, wherein the speed of the equipped vehicle resumes said cruise control speed setting when the equipped vehicle is traveling along a straighter section of road after the curve in the road.

20. The driver assistance system of claim 18, wherein said adaptive speed control system reduces the speed of the equipped vehicle responsive to recognition of a warning sign indicative of a curve in the road ahead of the equipped vehicle, and wherein said adaptive speed control system reduces the speed of the equipped vehicle to a speed level indicated on the sign detected by said driver assistance system.

21. The driver assistance system of claim 18, wherein said driver assistance system, responsive to a detection of an exit sigh, generates an alert to the driver of the equipped vehicle that the equipped vehicle is approaching an exit.

22. The driver assistance system of claim 18 further comprising a global positioning system operable to determine a geographical location of the equipped vehicle, wherein said driver assistance system determines a speed limit for the road along which the equipped vehicle is traveling based at least in part on the geographical location of the equipped vehicle.

23. The driver assistance system of claim 18 further comprising an information display disposed at a location in the interior cabin of the vehicle and viewable by a driver of the equipped vehicle when the driver is normally operating the equipped vehicle, wherein said information display displays information for viewing by the driver of the equipped vehicle when the driver is normally operating the equipped vehicle, and wherein the displayed information comprises a speed limit for the road along which the equipped vehicle is traveling and at least one of (a) the speed of the equipped vehicle and (b) a difference between the speed of the equipped vehicle and the speed limit for the road along which the equipped vehicle is traveling.

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

an imaging device having a field of view forward of a vehicle equipped with said driver assistance system and in a direction of travel of the equipped vehicle, wherein said imaging device is operable to capture image data;

an image processor operable to process image data captured by said imaging device;

speed sensing for determining a speed of the equipped vehicle;

an adaptive speed control system for establishing a speed of the equipped vehicle at least in part responsive to a cruise control speed setting of said adaptive speed control system;

wherein said processing of image data by said image processor comprises recognition of a sign;

wherein said driver assistance system determines a speed limit for the road along which the equipped vehicle is traveling based at least in part on image data;

wherein said adaptive speed control system adjusts the speed of the equipped vehicle responsive to recognition of a warning sign at least in part by said processing of image data by said image processor; and

wherein said adaptive speed control system reduces the speed of the equipped vehicle to a speed level indicated on the recognized warning sign.

25. The driver assistance system of claim 24, wherein said processing of image data by said image processor comprises character recognition of characters on a recognized sign.

26. The driver assistance system of claim 24, wherein said adaptive speed control system reduces the speed of the equipped vehicle responsive to detection of a curve in the road ahead of the equipped vehicle.

27. The driver assistance system of claim 26, wherein the speed of the equipped vehicle resumes said cruise control speed setting when the equipped vehicle is traveling along a straighter section of road after the curve in the road.

28. The driver assistance system of claim 24, wherein said driver assistance system, responsive to a detection of an exit sign, generates an alert to the driver of the equipped vehicle that the equipped vehicle is approaching an exit.

29. The driver assistance system of claim 24 further comprising a global positioning system operable to determine a geographical location of the equipped vehicle, wherein said driver assistance system determines the speed limit for the road along which the equipped vehicle is traveling based at least in part on the geographical location of the equipped vehicle.

30. The driver assistance system of claim 24 further comprising an information display disposed at a location in the interior cabin of the vehicle and viewable by a driver of the equipped vehicle when the driver is normally operating the equipped vehicle, wherein said information display displays information for viewing by the driver of the equipped vehicle when the driver is normally operating the equipped vehicle, and wherein the displayed information comprises a speed limit for the road along which the equipped vehicle is traveling and at least one of (a) the speed of the equipped vehicle and (b) a difference between the speed of the equipped vehicle and the speed limit for the road along which the equipped vehicle is traveling.

37. The driver assistance system of claim 24, wherein said adaptive speed control system adjusts the speed of the equipped vehicle responsive at least in part to a speed limit for the road along which the equipped vehicle is traveling determined at least in part by said processing of image data by said image processor.

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

an imaging device having a field of view forward of a vehicle equipped with said driver assistance system and in a direction of travel of the equipped vehicle, wherein said imaging device is operable to capture image data;

an image processor operable to process image data captured by said imaging device;

wherein said processing of image data by said image processor comprises at least one of (a) recognition of a sign and (b) recognition of characters on a sign;

speed sensing for determining a speed of the equipped vehicle;

an adaptive speed control system for establishing a speed of the equipped vehicle at least in part responsive to cruise control speed setting of said adaptive speed control system;

wherein said adaptive speed control system reduces the speed of the equipped vehicle at least responsive to recognition of a warning sign indicative of a curve in the road ahead of the equipped vehicle at least in part by said processing of image data by said image processor, and wherein said adaptive speed control system reduces the speed of the equipped vehicle responsive to detection of a curve in the road ahead of the equipped vehicle; and

wherein the speed of equipped vehicle resumes said cruise control speed setting when the equipped vehicle is traveling along a straighter section of road after the curve in the road.

32. The driver assistance system of claim 31, wherein said processing of image data by said image processor comprises (a) recognition of a sign and (b) recognition of characters on a sign.

33. The driver assistance system of claim 32, wherein said speed control system reduces the speed of the equipped vehicle to a speed level indicated on a sign.

34. The driver assistance system of claim 31, wherein said driver assistance system, responsive to a detection of an exit sign, generates an alert to the driver of the equipped vehicle that the equipped vehicle is approaching an exit.

35. The driver assistance system of claim 31 further comprising a global positioning system operable to determine a geographical location of the equipped vehicle, wherein said driver assistance system determines a speed limit for the road along which the equipped vehicle is traveling based at least in part on the geographical location of the equipped vehicle.

36. The driver assistance system of claim 31 further comprising an information display disposed at a location in the interior cabin of the vehicle and viewable by a driver of the equipped vehicle when the driver is normally operating the equipped vehicle, wherein said information display displays information for viewing by the driver of the equipped vehicle when the driver is normally operating the equipped vehicle, and wherein the displayed information comprises a speed limit for the road along which the equipped vehicle is traveling and at least one of (a) the speed of the equipped vehicle and (b) a difference between the speed of the equipped vehicle and the speed limit for the road along which the equipped vehicle is traveling.