Process for determining state of a vehicle

  • US 9,715,769 B2
  • Filed: 05/23/2016
  • Issued: 07/25/2017
  • Est. Priority Date: 03/01/2012
  • Status: Active Grant
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First Claim
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1. A process for robustly determining a stationary state of a vehicle equipped with a driver assistance system, said process comprising:

  • providing a camera comprising a lens and a photosensor array;

    said photosensor array comprising a plurality of photosensor elements arranged in a matrix that comprises multiple columns of photosensor elements and multiple rows of photosensor elements;

    disposing said camera at or proximate to an in-cabin portion of a windshield of an equipped vehicle;

    wherein said camera has a forward field of view to the exterior of the equipped vehicle through the windshield of the equipped vehicle;

    operating said camera to capture image data;

    providing a control comprising an image processor;

    providing image data captured by said camera to said image processor;

    operating said image processor to process captured image data to determine lane delimiters present in the field of view of said camera;

    connecting said control to a vehicle communication bus of the equipped vehicle;

    receiving vehicle data at said control via said vehicle communication bus;

    wherein vehicle data is provided to said control via said vehicle communication bus by an accelerometer of the equipped vehicle and by at least one of (i) a transmission sensor of the equipped vehicle and (ii) a speed sensor of the equipped vehicle;

    executing at said control a vehicle stationary detection routine wherein longitudinal acceleration of the equipped vehicle is provided by said accelerometer over a selected duration of time to said control;

    determining at said control a rate of change of acceleration of the equipped vehicle to establish a jerk value;

    at least one of (i) receiving at said control speed of the equipped vehicle as sensed by said speed sensor and (ii) receiving at said control transmission status of the equipped vehicle as sensed by said transmission sensor; and

    determining that the equipped vehicle is stationary when at least one of (i) said control determines a jerk value that is approximately zero for the selected duration of time and said control receives vehicle data indicating that the speed of the equipped vehicle was approximately zero kilometer/hour for the selected duration of time and (ii) said control determines a jerk value that is approximately zero for the selected duration of time and said control receives vehicle data indicating that the transmission of the equipped vehicle was in ‘

    Park’

    for the selected duration of time.

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