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    Vehicle vision system with yaw rate determination
    11.
    发明授权
    Vehicle vision system with yaw rate determination 有权
    具有偏航率确定的车辆视觉系统

    公开(公告)号：US08849495B2

    公开(公告)日：2014-09-30

    申请号：US14246495

    申请日：2014-04-07

    Applicant: Magna Electronics, Inc.

    Inventor： William J. Chundrik, Jr. ,  Nathaniel Johnson ,  Marc Wimmershoff

    IPC: G06F7/00 ,  B60W50/00 ,  G01J5/02 ,  G01J5/34 ,  B60T7/22 ,  G01J5/00

    CPC classification number: G07C5/02 ,  B60R1/00 ,  B60R2300/804 ,  B60T7/12 ,  B60T7/22 ,  B60W30/08 ,  B60W30/12 ,  B60W40/114 ,  B60W50/0098 ,  B60W2050/0049 ,  B60W2420/42 ,  B60W2520/10 ,  B60W2520/14 ,  G01J5/024 ,  G01J5/34 ,  G01J2005/0077 ,  G01P3/50 ,  G01P13/00 ,  G06K9/00798 ,  G07C5/08 ,  H04N5/23229 ,  H04N5/374 ,  H04N7/183

    Abstract: A vision system for a vehicle includes a camera disposed at or proximate to an in-cabin portion of a windshield of the vehicle. The camera has a forward field of view to the exterior of the vehicle through the windshield of the vehicle. The camera is operable to capture image data. A control includes an image processor that is operable to process captured image data to determine lane delimiters present in the field of view of the camera. The control connects to a vehicle communication bus of the vehicle and receives vehicle data via the vehicle communication bus. Responsive at least in part to processing of captured image data by the image processor and to vehicle data received via the vehicle communication bus, the control determines a yaw rate. The control provides the determined yaw rate to a driver assistance system of the vehicle.

    Abstract translation: 车辆的视觉系统包括设置在车辆的挡风玻璃的舱内部分处或附近的照相机。 相机具有通过车辆的挡风玻璃的车辆外部的前视场。 相机可操作以捕获图像数据。 控制器包括图像处理器，该图像处理器可操作以处理捕获的图像数据以确定存在于相机视野中的通道分隔符。 控制器连接到车辆的车辆通信总线，并且经由车辆通信总线接收车辆数据。 响应于至少部分地由图像处理器处理捕获的图像数据和经由车辆通信总线接收的车辆数据，控制确定横摆率。 该控制向车辆的驾驶员辅助系统提供所确定的横摆角速度。

    Vehicle yaw rate correction
    12.
    发明授权
    Vehicle yaw rate correction 有权
    车辆偏航率校正

    公开(公告)号：US08694224B2

    公开(公告)日：2014-04-08

    申请号：US13779881

    申请日：2013-02-28

    Applicant: Magna Electronics, Inc.

    Inventor： William J. Chundrlik, Jr. ,  Nathaniel Johnson ,  Marc Wimmershoff

    IPC: G05D1/00

    CPC classification number: G07C5/02 ,  B60R1/00 ,  B60R2300/804 ,  B60T7/12 ,  B60T7/22 ,  B60W30/08 ,  B60W30/12 ,  B60W40/114 ,  B60W50/0098 ,  B60W2050/0049 ,  B60W2420/42 ,  B60W2520/10 ,  B60W2520/14 ,  G01J5/024 ,  G01J5/34 ,  G01J2005/0077 ,  G01P3/50 ,  G01P13/00 ,  G06K9/00798 ,  G07C5/08 ,  H04N5/23229 ,  H04N5/374 ,  H04N7/183

    Abstract: A control system or method for a vehicle references a camera and sensors to determine when an offset of a yaw rate sensor may be updated. The sensors may include a longitudinal accelerometer, a transmission sensor, a vehicle speed sensor, and a steering angle sensor. The offset of the yaw rate sensor may be updated when the vehicle is determined to be stationary by referencing at least a derivative of an acceleration from the longitudinal accelerometer. The offset of the yaw rate sensor may be updated when the vehicle is determined to be moving straight by referencing at least image data captured by the camera. Lane delimiters may be detected in the captured image data and evaluated to determine a level of confidence in the straight movement. When the offset of the yaw rate sensor is to be updated, a ratio of new offset to old offset may be used.

    Abstract translation: 用于车辆的控制系统或方法参考相机和传感器以确定何时可以更新偏航率传感器的偏移。 传感器可以包括纵向加速度计，传动传感器，车速传感器和转向角传感器。 当通过至少参考来自纵向加速度计的加速度的导数来确定车辆是静止时，可以更新偏航率传感器的偏移。 至少通过参照由摄像机拍摄的图像数据来确定车辆被确定为直线移动时，可以更新偏航率传感器的偏移。 可以在捕获的图像数据中检测通道分隔符，并进行评估以确定直线运动的置信度。 当要改变偏航率传感器的偏移量时，可以使用新的偏移量与旧偏移量的比率。

    VEHICULAR SYSTEM FOR CONTROLLING VEHICLE
    13.
    发明申请
    VEHICULAR SYSTEM FOR CONTROLLING VEHICLE 有权

    公开(公告)号：US20220161721A1

    公开(公告)日：2022-05-26

    申请号：US17650883

    申请日：2022-02-14

    Applicant: Magna Electronics Inc.

    Inventor： William J. Chundrlik, JR. ,  Marc Wimmershoff

    IPC: B60R1/00 ,  G01S19/45 ,  G01S19/39 ,  G06V20/56

    Abstract: A vehicular vision system includes a camera disposed at an in-cabin side of a windshield of a vehicle. Responsive at least in part to processing of captured image data, the system determines a camera-derived path of travel of the vehicle along a road. Responsive at least in part to a geographic location of the vehicle, the system determines a geographic-derived path of travel of the vehicle along the road. Control of the vehicle along the road is based on diminished reliance on the determined geographic-derived path of travel when a geographic location reliability level of the determined geographic-derived path of travel is below a threshold geographic location reliability level. Control of the vehicle along the road is based on diminished reliance on the determined camera-derived path of travel of the vehicle when a camera reliability level of the determined camera-derived path of travel is below a threshold camera reliability level.

    Vehicle vision system with curvature estimation
    14.
    发明授权
    Vehicle vision system with curvature estimation 有权

    公开(公告)号：US10406981B2

    公开(公告)日：2019-09-10

    申请号：US14663502

    申请日：2015-03-20

    Applicant: MAGNA ELECTRONICS INC.

    Inventor： William J. Chundrlik, Jr. ,  Marc Wimmershoff

    IPC: B60R1/00 ,  G06K9/00 ,  G01S19/45 ,  G01S19/39

    Abstract: A vision system of a vehicle includes a camera disposed at a vehicle and having a field of view forward of the vehicle and operable to capture image data. A vehicle-based GPS system is operable to determine a geographical location of the vehicle. A control includes an image processor operable to process image data captured by the camera. Responsive at least in part to processing of captured image data by the image processor to determine lane markings and responsive at least in part to the GPS system and responsive at least in part to map data mapping the road along which the vehicle is traveling, the control is operable to determine an enhanced estimation of the path of travel of the vehicle. The enhanced estimation may be based on reliability levels or weighting factors of the determined lane markings and the map data.

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