Lane keeping system and lane centering system

  • US 9,758,163 B2
  • Filed: 11/09/2015
  • Issued: 09/12/2017
  • Est. Priority Date: 11/19/2010
  • Status: Active Grant
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First Claim
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1. A lane centering system for use in a vehicle driving in a lane on a road, the lane centering system comprising:

  • a lane delimiter detection device;

    the lane delimiter detection device comprising a camera disposed behind a windshield of the vehicle and having a field of view through the windshield and forward of the vehicle that encompasses the road ahead of the vehicle and being travelled on by the vehicle;

    the camera capturing image data;

    a controller;

    the controller comprising a processor that algorithmically processes captured image data to detect lane delimiters on the road ahead of the vehicle;

    wherein, based on processing of captured image data by the processor, the controller determines the position of a left lane delimiter on the road on a left side of the vehicle and the position of a right lane delimiter on the road on a right side of the vehicle;

    the controller operable to control a steering system that is configured to steer the vehicle;

    wherein the controller is operable to establish a target path for the vehicle based on processing of captured image data by the processor;

    wherein the target path maintains the longitudinal centerline of the vehicle generally centered between the left lane delimiter and the right lane delimiter;

    the controller receiving an input indicative of the speed of the vehicle;

    wherein the controller is automatically activated to control steering the vehicle along the target path when the speed of the vehicle is at or above a first speed level;

    wherein, when having activated control of steering, the controller automatically deactivates control of steering when the speed of the vehicle falls to at or below a second speed level; and

    wherein the second speed level is smaller than the first speed level.

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