최소 단어 이상 선택하여야 합니다.
최대 10 단어까지만 선택 가능합니다.
다음과 같은 기능을 한번의 로그인으로 사용 할 수 있습니다.
NTIS 바로가기다음과 같은 기능을 한번의 로그인으로 사용 할 수 있습니다.
DataON 바로가기다음과 같은 기능을 한번의 로그인으로 사용 할 수 있습니다.
Edison 바로가기다음과 같은 기능을 한번의 로그인으로 사용 할 수 있습니다.
Kafe 바로가기국가/구분 | United States(US) Patent 등록 |
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국제특허분류(IPC7판) |
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출원번호 | US-0830114 (2017-12-04) |
등록번호 | US-10118618 (2018-11-06) |
발명자 / 주소 |
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출원인 / 주소 |
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대리인 / 주소 |
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인용정보 | 피인용 횟수 : 0 인용 특허 : 987 |
A control system for a vehicle includes a plurality of cameras, at least one radar sensor, and a control having at least one processor. Captured image data and sensed radar data are provided to the control. The control processes captured image data to detect objects present exteriorly of the vehicle
A control system for a vehicle includes a plurality of cameras, at least one radar sensor, and a control having at least one processor. Captured image data and sensed radar data are provided to the control. The control processes captured image data to detect objects present exteriorly of the vehicle and is operable to determine whether a detected edge constitutes a portion of a vehicle. The control processes sensed radar data to detect objects present exteriorly of the vehicle. The control, based at least in part on processing of (i) captured image data and/or (ii) sensed radar data, detects another vehicle and determines distance from the equipped vehicle to the detected other vehicle. The control, based at least in part on determination of distance from the equipped vehicle to the detected other vehicle, may control a steering system operable to adjust a steering direction of the equipped vehicle.
1. A vehicular control system, said vehicular control system comprising: a plurality of cameras disposed at a vehicle equipped with said vehicular control system;said plurality of cameras at least comprising (i) a forward-viewing camera mounted at a front portion of the equipped vehicle and having a
1. A vehicular control system, said vehicular control system comprising: a plurality of cameras disposed at a vehicle equipped with said vehicular control system;said plurality of cameras at least comprising (i) a forward-viewing camera mounted at a front portion of the equipped vehicle and having a field of view at least forward of the equipped vehicle, said forward-viewing camera operable to capture image data, (ii) a driver side-viewing camera mounted at a driver-side portion of the equipped vehicle and having a field of view at least sideward and rearward of the equipped vehicle at the driver side of the equipped vehicle, said driver side-viewing camera operable to capture image data and (iii) a passenger side-viewing camera mounted at a passenger-side portion of the equipped vehicle and having a field of view at least sideward and rearward of the equipped vehicle at the passenger side of the equipped vehicle, said passenger side-viewing camera operable to capture image data;at least one radar sensor having a field of sensing exterior of the equipped vehicle and operable to sense radar data;a control comprising at least one processor;wherein image data captured by at least said forward-viewing camera, said driver side-viewing camera and said passenger side-viewing camera is provided to said control;wherein radar data sensed by said at least one radar sensor is provided to said control;wherein said control, based at least in part on processing of captured image data, determines curvature of a road being traveled by the equipped vehicle;wherein said control processes captured image data provided thereto via an edge detection algorithm to detect objects present exteriorly of the equipped vehicle and within the exterior field of view of at least one of said forward-viewing camera, said driver side-viewing camera and said passenger side-viewing camera;wherein said control is operable to determine whether a detected edge constitutes a portion of a vehicle;wherein said control processes sensed radar data provided thereto to detect objects present exteriorly of the equipped vehicle and within the exterior field of sensing of said at least one radar sensor;wherein said control receives data relevant to a geographic location of the equipped vehicle, and wherein the geographic location of the equipped vehicle is determined, at least in part, by a global positioning system (GPS);wherein said control, based at least in part on processing of at least one of (i) captured image data and (ii) sensed radar data, detects another vehicle that is present exterior of the equipped vehicle and determines distance from the equipped vehicle to the detected other vehicle that is present exterior of the equipped vehicle; andwherein said control, based at least in part on determination of distance from the equipped vehicle to the detected other vehicle, controls a steering system operable to adjust a steering direction of the equipped vehicle. 2. The vehicular control system of claim 1, wherein said vehicular control system is operable to wirelessly communicate information to a remote receiving device that is remote from the equipped vehicle, and wherein information wirelessly communicated to said remote receiving device relates to data received at said control relevant to the geographic location of the equipped vehicle. 3. The vehicular control system of claim 1, wherein said vehicular control system is operable to wirelessly communicate information to a remote receiving device that is remote from the equipped vehicle, and wherein information wirelessly communicated to said remote receiving device relates to data received at said control relevant to a condition of the equipped vehicle. 4. The vehicular control system of claim 1, wherein said vehicular control system is operable to wirelessly communicate information to a remote receiving device that is remote from the equipped vehicle, and wherein information is wirelessly communicated to said remote receiving device in response to an input from a transmitter associated with said remote receiving device. 5. The vehicular control system of claim 4, wherein information is wirelessly communicated to said remote receiving device via a limited-range wireless communication. 6. The vehicular control system of claim 5, wherein said limited-range wireless communication comprises a Bluetooth limited-range wireless communication. 7. The vehicular control system of claim 1, wherein said vehicular control system is operable to wirelessly communicate information to a remote receiving device that is remote from the equipped vehicle, and wherein information wirelessly communicated to said remote receiving device comprises information derived, at least in part, from image data captured by at least one of said forward-viewing camera, said driver side-viewing camera and said passenger side-viewing camera. 8. The vehicular control system of claim 7, wherein information wirelessly communicated to said remote receiving device comprises data relevant to the geographic location of the equipped vehicle. 9. The vehicular control system of claim 1, wherein said control, responsive to determination, based at least in part on processing of captured image data at said control, that the equipped vehicle is unintentionally drifting out of a traffic lane that the equipped vehicle is currently travelling in, controls the steering system of the equipped vehicle to adjust steering of the equipped vehicle to mitigate such drift out of the traffic lane the equipped vehicle is travelling in. 10. The vehicular control system of claim 9, wherein said control processes image data captured by at least said forward-viewing camera to estimate distance from the equipped vehicle to a detected leading vehicle that is present exteriorly of the equipped vehicle and within the exterior field of view of said forward-viewing camera, and wherein, when the detected leading vehicle is determined by said control to be within a threshold distance from the equipped vehicle, speed of the equipped vehicle is reduced. 11. The vehicular control system of claim 10, wherein said forward-viewing camera is primary to said at least one radar sensor. 12. The vehicular control system of claim 10, wherein the steering system is manually controllable irrespective of said control. 13. The vehicular control system of claim 1, wherein, responsive at least in part to processing of captured image data at said control detecting a road condition on the road being traveled by the equipped vehicle, speed of the equipped vehicle is adjusted in accordance with the detected road condition. 14. The vehicular control system of claim 1, wherein, responsive at least in part to processing of captured image data at said control, speed of the equipped vehicle is adjusted in accordance with a traffic condition detected by said vehicular control system. 15. The vehicular control system of claim 1, wherein said forward-viewing camera is attached at a windshield of the equipped vehicle, and wherein said forward-viewing camera, when attached at the windshield, views through the windshield exteriorly of the equipped vehicle. 16. The vehicular control system of claim 15, wherein image data captured by at least said forward-viewing camera is processed at said control one way for a headlamp control system of the equipped vehicle and is processed at said control another way for a lane keeping system of the equipped vehicle. 17. The vehicular control system of claim 15, wherein said control, responsive to processing at said control of image data captured by at least said forward-viewing camera, detects headlights of oncoming vehicles within the exterior field of view of said forward-viewing camera when the equipped vehicle is operated under nighttime conditions. 18. The vehicular control system of claim 15, wherein said control, responsive to processing at said control of image data captured by at least said forward-viewing camera, detects taillights of leading vehicles within the exterior field of view of said forward-viewing camera when the equipped vehicle is operated under nighttime conditions. 19. The vehicular control system of claim 18, wherein said control, responsive to determination, based at least in part on processing of captured image data at said control, that the equipped vehicle is unintentionally drifting out of a traffic lane that the equipped vehicle is currently travelling in, controls the steering system of the equipped vehicle to adjust steering of the equipped vehicle to mitigate such drift out of the traffic lane the equipped vehicle is travelling in. 20. The vehicular control system of claim 19, wherein the steering system is manually controllable by a driver of the equipped vehicle irrespective of control by said control. 21. The vehicular control system of claim 1, wherein said driver side-viewing camera is mounted at a driver-side exterior mirror assembly of the equipped vehicle, and wherein said passenger side-viewing camera is mounted at a passenger-side exterior mirror assembly of the equipped vehicle. 22. The vehicular control system of claim 21, wherein said control receives image data captured by a rear-viewing camera mounted at a rear portion of the equipped vehicle and having a field of view at least rearward of the equipped vehicle. 23. The vehicular control system of claim 22, wherein image data captured by said rear-viewing camera at the rear portion of the equipped vehicle and by one or more of said driver side-viewing camera at the driver-side exterior mirror assembly of the equipped vehicle and said passenger side-viewing camera at the passenger-side exterior mirror assembly of the equipped vehicle is provided to a panoramic vision system of the equipped vehicle. 24. The vehicular control system of claim 1, wherein said control, responsive at least in part to processing of captured image data at said control, controls an adaptive cruise control system of the equipped vehicle. 25. The vehicular control system of claim 1, wherein said control processes image data captured by at least said forward-viewing camera for stop light recognition. 26. The vehicular control system of claim 1, wherein said control processes image data captured by at least said forward-viewing camera for traffic sign recognition. 27. The vehicular control system of claim 1, wherein, responsive at least in part to processing at said control of captured image data detecting a curve in the road ahead of the equipped vehicle, speed of the equipped vehicle is reduced to an appropriate speed for traveling around the detected curve, and wherein speed of the equipped vehicle increases after travelling around the detected curve to a speed appropriate for travelling along a generally straight section of road that comes after the curve. 28. The vehicular control system of claim 1, wherein, when the detected other vehicle that is present exterior of the equipped vehicle is determined by said control to be within a threshold distance from the equipped vehicle, speed of the equipped vehicle is reduced. 29. The vehicular control system of claim 1, wherein said control processes captured image data and sensed radar data for an adaptive cruise control system of the equipped vehicle, and wherein, during operation of said adaptive cruise control system, captured image data is primary to sensed radar data. 30. The vehicular control system of claim 1, wherein said control processes captured image data and sensed radar data for an adaptive cruise control system of the equipped vehicle, and wherein, during operation of said adaptive cruise control system, captured image data is secondary to sensed radar data. 31. The vehicular control system of claim 1, wherein said at least one radar sensor having a field of sensing exterior of the equipped vehicle comprises a driver side-sensing radar sensor mounted at a driver-side portion of the equipped vehicle, said driver side-sensing radar sensor having a field of sensing at least sideward and rearward of the equipped vehicle, and wherein said at least one radar sensor having a field of sensing exterior of the equipped vehicle comprises a passenger side-sensing radar sensor mounted at a passenger-side portion of the equipped vehicle, said passenger side-sensing radar sensor having a field of sensing at least sideward and rearward of the equipped vehicle. 32. The vehicular control system of claim 31, wherein said at least one radar sensor having a field of sensing exterior of the equipped vehicle comprises a forward-sensing radar sensor mounted at a front portion of the equipped vehicle, said forward-sensing radar sensor having a field of sensing at least forward of the equipped vehicle. 33. The vehicular control system of claim 32, wherein said control, responsive at least in part to processing at said control of radar sensor data sensed by at least said forward-sensing radar sensor, controls an adaptive cruise control system of the equipped vehicle, and wherein said control, based at least in part on processing at said control of radar sensor data sensed by at least said forward-sensing radar sensor, detects the other vehicle that is present exterior of and ahead of the equipped and determines distance from the equipped vehicle to the detected other vehicle that is present exterior of and ahead of the equipped vehicle. 34. The vehicular control system of claim 33, wherein said control, based at least in part on processing of captured image data, detects the other vehicle that is present exterior of and ahead of the equipped vehicle. 35. The vehicular control system of claim 1, wherein said at least one radar sensor comprises a Doppler radar sensor. 36. A vehicular control system, said vehicular control system comprising: a plurality of cameras disposed at a vehicle equipped with said vehicular control system;said plurality of cameras at least comprising (i) a forward-viewing camera mounted at a front portion of the equipped vehicle and having a field of view at least forward of the equipped vehicle, said forward-viewing camera operable to capture image data, (ii) a driver side-viewing camera mounted at a driver-side portion of the equipped vehicle and having a field of view at least sideward and rearward of the equipped vehicle at the driver side of the equipped vehicle, said driver side-viewing camera operable to capture image data and (iii) a passenger side-viewing camera mounted at a passenger-side portion of the equipped vehicle and having a field of view at least sideward and rearward of the equipped vehicle at the passenger side of the equipped vehicle, said passenger side-viewing camera operable to capture image data;wherein said forward-viewing camera is attached at a windshield of the equipped vehicle, and wherein said forward-viewing camera, when attached at the windshield, views through the windshield exteriorly of the equipped vehicle;at least one radar sensor having a field of sensing exterior of the equipped vehicle and operable to sense radar data;wherein said at least one radar sensor having a field of sensing exterior of the equipped vehicle comprises a driver side-sensing radar sensor mounted at a driver-side portion of the equipped vehicle, said driver side-sensing radar sensor having a field of sensing at least sideward and rearward of the equipped vehicle;wherein said at least one radar sensor having a field of sensing exterior of the equipped vehicle comprises a passenger side-sensing radar sensor mounted at a passenger-side portion of the equipped vehicle, said passenger side-sensing radar sensor having a field of sensing at least sideward and rearward of the equipped vehicle;wherein said at least one radar sensor having a field of sensing exterior of the equipped vehicle comprises a forward-sensing radar sensor mounted at a front portion of the equipped vehicle, said forward-sensing radar sensor having a field of sensing at least forward of the equipped vehicle;a control comprising at least one processor;wherein image data captured by at least said forward-viewing camera, said driver side-viewing camera and said passenger side-viewing camera is provided to said control;wherein radar data sensed by at least said driver side-sensing radar sensor, said passenger side-sensing radar sensor and said forward-sensing radar sensor is provided to said control;wherein said control, responsive to processing at said control of image data captured at least by said forward-viewing camera, detects lane markers within the exterior field of view of at least said forward-viewing camera on a road being traveled by the equipped vehicle;wherein said control processes captured image data provided thereto via an edge detection algorithm to detect objects present exteriorly of the equipped vehicle and within the exterior field of view of at least one of said forward-viewing camera, said driver side-viewing camera and said passenger side-viewing camera;wherein said control processes sensed radar data provided thereto to detect objects present exteriorly of the equipped vehicle and within the exterior field of sensing of said at least one radar sensor;wherein said control receives data relevant to a geographic location of the equipped vehicle, and wherein the geographic location of the equipped vehicle is determined, at least in part, by a global positioning system (GPS);wherein said control, based at least in part on processing of at least one of (i) captured image data and (ii) sensed radar data, detects another vehicle that is present exterior of the equipped vehicle and determines distance from the equipped vehicle to the detected other vehicle that is present exterior of the equipped vehicle;wherein said control, based at least in part on processing of at least one of (i) captured image data and (ii) sensed radar data, controls a steering system of the equipped vehicle; andwherein the steering system is manually controllable irrespective of said control. 37. The vehicular control system of claim 36, wherein said control, responsive to determination, based at least in part on processing of captured image data at said control, that the equipped vehicle is unintentionally drifting out of a traffic lane that the equipped vehicle is currently travelling in, controls the steering system of the equipped vehicle to adjust steering of the equipped vehicle to mitigate such drift out of the traffic lane the equipped vehicle is travelling in. 38. The vehicular control system of claim 37, wherein said control, based at least in part on said detection of the other vehicle present exterior of the equipped vehicle and said determination of distance from the equipped vehicle to the detected other vehicle, determines whether it is safe for the equipped vehicle to execute a lane change maneuver. 39. The vehicular control system of claim 38, wherein said control, responsive to processing at said control of image data captured by at least said forward-viewing camera, detects taillights of leading vehicles within the exterior field of view of said forward-viewing camera when the equipped vehicle is operated under nighttime conditions. 40. The vehicular control system of claim 39, wherein said control processes captured image data and sensed radar data for an adaptive cruise control system of the equipped vehicle. 41. The vehicular control system of claim 40, wherein, responsive at least in part to processing at said control of captured image data detecting a curve in the road ahead of the equipped vehicle, speed of the equipped vehicle is reduced to an appropriate speed for traveling around the detected curve, and wherein speed of the equipped vehicle increases after travelling around the detected curve to a speed appropriate for travelling along a generally straight section of road that comes after the curve. 42. The vehicular control system of claim 36, wherein said driver side-viewing camera is mounted at a driver-side exterior mirror assembly of the equipped vehicle, and wherein said passenger side-viewing camera is mounted at a passenger-side exterior mirror assembly of the equipped vehicle, and wherein said control receives image data captured by a rear-viewing camera mounted at a rear portion of the equipped vehicle and having a field of view at least rearward of the equipped vehicle, and wherein image data captured by said rear-viewing camera at the rear portion of the equipped vehicle and by one or more of said driver side-viewing camera at the driver-side exterior mirror assembly of the equipped vehicle and said passenger side-viewing camera at the passenger-side exterior mirror assembly of the equipped vehicle is provided to a panoramic vision system of the equipped vehicle. 43. The vehicular control system of claim 36, wherein said vehicular control system is operable to wirelessly communicate information to a remote receiving device that is remote from the equipped vehicle, and wherein information wirelessly communicated to said remote receiving device comprises information derived, at least in part, from image data captured by at least one of said forward-viewing camera, said driver side-viewing camera and said passenger side-viewing camera. 44. The vehicular control system of claim 43, wherein information wirelessly communicated to said remote receiving device comprises data relevant to the geographic location of the equipped vehicle. 45. The vehicular control system of claim 36, wherein objects present exteriorly of the equipped vehicle comprise a vehicle, and wherein said control determines that an edge detected via the edge detection algorithm constitutes a portion of the vehicle present exteriorly of the equipped vehicle and tracks the detected edge over multiple frames of captured image data. 46. A vehicular control system, said vehicular control system comprising: a plurality of cameras disposed at a vehicle equipped with said vehicular control system;said plurality of cameras at least comprising (i) a forward-viewing camera mounted at a front portion of the equipped vehicle and having a field of view at least forward of the equipped vehicle, said forward-viewing camera operable to capture image data, (ii) a driver side-viewing camera mounted at a driver-side portion of the equipped vehicle and having a field of view at least sideward and rearward of the equipped vehicle at the driver side of the equipped vehicle, said driver side-viewing camera operable to capture image data and (iii) a passenger side-viewing camera mounted at a passenger-side portion of the equipped vehicle and having a field of view at least sideward and rearward of the equipped vehicle at the passenger side of the equipped vehicle, said passenger side-viewing camera operable to capture image data;wherein said forward-viewing camera is attached at a windshield of the equipped vehicle, and wherein said forward-viewing camera, when attached at the windshield, views through the windshield exteriorly of the equipped vehicle;at least one radar sensor having a field of sensing exterior of the equipped vehicle and operable to sense radar data;a control comprising at least one processor;wherein image data captured by at least said forward-viewing camera, said driver side-viewing camera and said passenger side-viewing camera is provided to said control;wherein radar data sensed by said at least one radar sensor is provided to said control;wherein said control processes captured image data provided thereto via an edge detection algorithm to detect objects present exteriorly of the equipped vehicle and within the exterior field of view of at least one of said forward-viewing camera, said driver side-viewing camera and said passenger side-viewing camera;wherein said control is operable to determine whether a detected edge constitutes a portion of a vehicle;wherein said control processes sensed radar data provided thereto to detect objects present exteriorly of the equipped vehicle and within the exterior field of sensing of said at least one radar sensor;wherein said control receives data relevant to a geographic location of the equipped vehicle, and wherein the geographic location of the equipped vehicle is determined, at least in part, by a global positioning system (GPS);wherein said control, based at least in part on processing of at least one of (i) captured image data and (ii) sensed radar data, detects another vehicle that is present exterior of the equipped vehicle;wherein said vehicular control system is operable to wirelessly communicate information to a remote receiving device that is remote from the equipped vehicle; andwherein information wirelessly communicated to said remote receiving device comprises information derived, at least in part, from image data captured by at least said forward-viewing camera. 47. The vehicular control system of claim 46, wherein information wirelessly communicated to said remote receiving device comprises data relevant to the geographic location of the equipped vehicle. 48. The vehicular control system of claim 47, wherein said control tracks edges detected via said edge detection algorithm over multiple frames of captured image data. 49. The vehicular control system of claim 47, wherein said driver side-viewing camera is mounted at a driver-side exterior mirror assembly of the equipped vehicle, and wherein said passenger side-viewing camera is mounted at a passenger-side exterior mirror assembly of the equipped vehicle, and wherein said control receives image data captured by a rear-viewing camera mounted at a rear portion of the equipped vehicle and having a field of view at least rearward of the equipped vehicle, and wherein image data captured by said rear-viewing camera at the rear portion of the equipped vehicle and by one or more of said driver side-viewing camera at the driver-side exterior mirror assembly of the equipped vehicle and said passenger side-viewing camera at the passenger-side exterior mirror assembly of the equipped vehicle is provided to a panoramic vision system of the equipped vehicle. 50. The vehicular control system of claim 49, wherein said control processes captured image data and sensed radar data for an adaptive cruise control system of the equipped vehicle. 51. The vehicular control system of claim 50, wherein, responsive at least in part to processing at said control of captured image data detecting a curve in a road ahead of the equipped vehicle, speed of the equipped vehicle is reduced to an appropriate speed for traveling around the detected curve, and wherein speed of the equipped vehicle increases after travelling around the detected curve to a speed appropriate for travelling along a generally straight section of road that comes after the curve. 52. The vehicular control system of claim 50, wherein said control, responsive to determination, based at least in part on processing of captured image data at said control, that the equipped vehicle is unintentionally drifting out of a traffic lane that the equipped vehicle is currently travelling in, controls a steering system of the equipped vehicle to adjust steering of the equipped vehicle to mitigate such drift out of the traffic lane the equipped vehicle is travelling in. 53. The vehicular control system of claim 50, wherein said control, based at least in part on said detection of the other vehicle present exterior of the equipped vehicle and said determination of distance from the equipped vehicle to the detected other vehicle, determines whether it is safe for the equipped vehicle to execute a lane change maneuver. 54. The vehicular control system of claim 53, wherein the steering system is manually controllable irrespective of said control. 55. The vehicular control system of claim 47, wherein said at least one radar sensor having a field of sensing exterior of the equipped vehicle comprises a passenger side-sensing radar sensor mounted at a passenger-side portion of the equipped vehicle, said passenger side-sensing radar sensor having a field of sensing at least sideward and rearward of the equipped vehicle, and wherein said at least one radar sensor having a field of sensing exterior of the equipped vehicle comprises a forward-sensing radar sensor mounted at a front portion of the equipped vehicle, said forward-sensing radar sensor having a field of sensing at least forward of the equipped vehicle. 56. The vehicular control system of claim 46, wherein, responsive at least in part to processing of captured image data at said control detecting a road condition on a road being traveled by the equipped vehicle, speed of the equipped vehicle is adjusted in accordance with the detected road condition. 57. The vehicular control system of claim 46, wherein, responsive at least in part to processing of captured image data at said control, speed of the equipped vehicle is adjusted in accordance with a traffic condition detected by said vehicular control system. 58. The vehicular control system of claim 46, wherein said control, responsive to processing at said control of image data captured at least by said forward-viewing camera, detects lane markers within the exterior field of view of at least said forward-viewing camera on a road being traveled by the equipped vehicle. 59. The vehicular control system of claim 58, wherein said control, responsive to processing at said control of image data captured at least by said forward-viewing camera, detects road edges within the exterior field of view of at least said forward-viewing camera on the road being traveled by the equipped vehicle. 60. The vehicular control system of claim 58, wherein said control, based at least in part on processing of captured image data and sensed radar data, detects the other vehicle that is present exterior of the equipped vehicle.
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