公开(公告)号：US09346468B2

公开(公告)日：2016-05-24

申请号：US14499784

申请日：2014-09-29

Applicant: MAGNA ELECTRONICS INC.

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

IPC: G06F7/00 ,  B60W50/00 ,  B60W40/114 ,  B60T7/12 ,  B60W30/08 ,  B60W30/12 ,  H04N5/232 ,  H04N5/374 ,  B60T7/22 ,  G01J5/02 ,  G01J5/34 ,  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 having a forward field of view to the exterior of the vehicle through the vehicle windshield. 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 and receives vehicle data via a vehicle communication bus. The vehicle data includes a yaw rate sensed by a yaw rate sensor of the vehicle. 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 corrected yaw rate at least one of (i) when the vehicle is stationary and (ii) when the vehicle is moving straight. The control provides the corrected yaw rate to a driver assistance system of the vehicle.

Abstract translation: 车辆的视觉系统包括具有通过车辆挡风玻璃到车辆外部的前视野的照相机。 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。 控制器通过车辆通信总线连接和接收车辆数据。 车辆数据包括由车辆的偏航率传感器感测到的横摆率。 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到的车辆数据，控制确定校正的横摆率，以下（i）当车辆静止时和（ii）何时 车辆正在移动。 该控制向车辆的驾驶员辅助系统提供校正的偏航率。

公开(公告)号：US09090234B2

公开(公告)日：2015-07-28

申请号：US14082575

申请日：2013-11-18

Applicant: MAGNA ELECTRONICS INC.

Inventor： Nathaniel S. Johnson ,  William J. Chundrlik, Jr. ,  Paul A. VanOphem ,  Christopher L. Van Dan Elzen

IPC: G06F7/70 ,  B60T8/32 ,  B60T7/22 ,  B60W30/08

CPC classification number: B60T7/22 ,  B60T2201/022 ,  B60T2210/32 ,  B60W2030/082

Abstract: A braking control system for a vehicle includes at least one sensor having a field of view exterior of the vehicle. A control, after actuation of the vehicle brake system, determines the speed of the vehicle and relative speed of the vehicle to another vehicle or object, and, responsive to the speed of the vehicle and the relative speed, the control controls the vehicle brake system. Responsive to a determination that at least one of (i) a collision has occurred, (ii) the vehicle speed is greater than a threshold amount and (iii) the relative speed is greater than a threshold amount, the system determines if the vehicle driver is impaired, and, responsive to a determination that the driver is impaired, the control controls braking of the subject vehicle, and responsive to a determination that the driver is not impaired, the control allows the driver to override the system.

Abstract translation: 用于车辆的制动控制系统包括至少一个具有车辆外观的视场的传感器。 在车辆制动系统的致动之后，控制器确定车辆的速度和车辆对另一车辆或物体的相对速度，并且响应于车辆的速度和相对速度，控制器控制车辆制动系统 。 响应于确定（i）碰撞发生中的至少一个，（ii）车速大于阈值量，并且（iii）相对速度大于阈值量，则系统确定车辆驾驶员 受到损害，并且响应于确定驾驶员受损的控制，控制器控制本车辆的制动，并且响应于驾驶员不被损坏的确定，该控制允许驾驶员覆盖该系统。

公开(公告)号：US20140156157A1

公开(公告)日：2014-06-05

申请号：US14082575

申请日：2013-11-18

Applicant: MAGNA ELECTRONICS INC.

Inventor： Nathaniel S. Johnson ,  William J. Chundrlik, Jr. ,  Paul A. VanOphem ,  Christopher L. Van Dan Elzen

IPC: B60T7/22

CPC classification number: B60T7/22 ,  B60T2201/022 ,  B60T2210/32 ,  B60W2030/082

Abstract: A braking control system for a vehicle includes at least one sensor having a field of view exterior of the vehicle. A control, after actuation of the vehicle brake system, determines the speed of the vehicle and relative speed of the vehicle to another vehicle or object, and, responsive to the speed of the vehicle and the relative speed, the control controls the vehicle brake system. Responsive to a determination that at least one of (i) a collision has occurred, (ii) the vehicle speed is greater than a threshold amount and (iii) the relative speed is greater than a threshold amount, the system determines if the vehicle driver is impaired, and, responsive to a determination that the driver is impaired, the control controls braking of the subject vehicle, and responsive to a determination that the driver is not impaired, the control allows the driver to override the system.

Abstract translation: 用于车辆的制动控制系统包括至少一个具有车辆外观的视场的传感器。 在车辆制动系统的致动之后，控制器确定车辆的速度和车辆对另一车辆或物体的相对速度，并且响应于车辆的速度和相对速度，控制器控制车辆制动系统 。 响应于确定（i）碰撞发生中的至少一个，（ii）车速大于阈值量，并且（iii）相对速度大于阈值量，则系统确定车辆驾驶员 受到损害，并且响应于确定驾驶员受损的控制，控制器控制本车辆的制动，并且响应于驾驶员不被损坏的确定，该控制允许驾驶员覆盖该系统。

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。