US7038577B2 — Object detection system for vehicle

Claim 1

Independent Claim 275 words

An imaging system for a vehicle comprising: an imaging array sensor comprising a plurality of photo-sensing pixels, said imaging array sensor being positioned at the vehicle and having a field of view exteriorly of the vehicle, said imaging array sensor being operable to capture an image of a scene occuring exteriorly of the vehicle, wherein said imaging system comprises a lane departure warning system with said imaging array being directed forwardly relative to the subject vehicle; a control for processing said captured image, said captures image comprising an image data set representative of the exterior scene, said control including a microprocessor comprising an edge detection algorithm, said control applying said edge detection algorithm to a reduced image data set of said image data set, said reduced image data set being representative of a target zone of said captured image, said control being operable to process said reduced image data set more than other image data, which are representative of areas of said captured image outside of said target zone, to detect edges of objects present exteriorly of the vehicle and within said target zone; and said lane departure warning system being operable to provide a warning indication to a driver of the subject vehicle in response to at least two conditions detected by said imaging system, wherein said lane departure warning system provides a first warning in response to a detection that the subject vehicle is on course to leave the road surface and travel onto the shoulder of the road and a second warning in response to a detection that the subject vehicle is on course to leave the shoulder and the road surface.

Claim 2

Dependent Claim 275 words

An imaging system for a vehicle comprising: an imaging array sensor comprising a plurality of photo-sensing pixels, said imaging array sensor being positioned at the vehicle and having a field of view exteriorly of the vehicle, said imaging array sensor being operable to capture an image of a scene occuring exteriorly of the vehicle, wherein said imaging system comprises a lane departure warning system with said imaging array being directed forwardly relative to the subject vehicle; a control for processing said captured image, said captures image comprising an image data set representative of the exterior scene, said control including a microprocessor comprising an edge detection algorithm, said control applying said edge detection algorithm to a reduced image data set of said image data set, said reduced image data set being representative of a target zone of said captured image, said control being operable to process said reduced image data set more than other image data, which are representative of areas of said captured image outside of said target zone, to detect edges of objects present exteriorly of the vehicle and within said target zone; and said lane departure warning system being operable to provide a warning indication to a driver of the subject vehicle in response to at least two conditions detected by said imaging system, wherein said lane departure warning system provides a first warning in response to a detection that the subject vehicle is on course to leave the road surface and travel onto the shoulder of the road and a second warning in response to a detection that the subject vehicle is on course to leave the shoulder and the road surface.

Claim 3

Dependent Claim 191 words

An imaging system for a vehicle comprising: an imaging array sensor comprising a plurality of photo-sensing pixels, said imaging array sensor being positioned at the vehicle and having a field of view exteriorly of the vehicle, said imaging array sensor being operable to capture an image of a scene occuring exteriorly of the vehicle; and a control for processing said captured image, said captured image comprising an image data set representative of the exterior scene, said control including a microprocessor comprising an edge detection algorithm, said control applying said edge detection algorithm to a reduced image data set of said image data set, said reduced image data set being representative of a target zone of said captured image, said control being operable to process said reduced image data set more than other image data, which are representative of areas of said captured image outside of said target zone, to detect edges of objects present exteriorly of the vehicle and within said target zone, wherein said control is operable to process horizontal detected edges and substantially limit processing of vertical detected edges and reduce the amount of data to be processed downstream.

Claim 4

Dependent Claim 191 words

An imaging system for a vehicle comprising: an imaging array sensor comprising a plurality of photo-sensing pixels, said imaging array sensor being positioned at the vehicle and having a field of view exteriorly of the vehicle, said imaging array sensor being operable to capture an image of a scene occuring exteriorly of the vehicle; and a control for processing said captured image, said captured image comprising an image data set representative of the exterior scene, said control including a microprocessor comprising an edge detection algorithm, said control applying said edge detection algorithm to a reduced image data set of said image data set, said reduced image data set being representative of a target zone of said captured image, said control being operable to process said reduced image data set more than other image data, which are representative of areas of said captured image outside of said target zone, to detect edges of objects present exteriorly of the vehicle and within said target zone, wherein said control is operable to process horizontal detected edges and substantially limit processing of vertical detected edges and reduce the amount of data to be processed downstream.

Claim 5

Dependent Claim 19 words

The imaging system of claim 2 , wherein said control is operable to substantially discount said other image data.

Claim 6

Dependent Claim 31 words

The imaging system of claim 2 , wherein said imaging system comprises a lane change assist system with said imaging array being directed sidewardly and rearwardly relative to the subject vehicle.

Claim 7

Dependent Claim 42 words

The imaging system of claim 4 , wherein said control is in communication with a forward facing imaging system, said forward facing imaging system communicating at least one of oncoming traffic information, leading traffic information and lane marking information to said control.

Claim 8

Dependent Claim 31 words

The imaging system of claim 5 , wherein said control is operable to adjust said reduced image data set and said target zone in response to said forward facing imaging system.

Claim 9

Dependent Claim 29 words

The imaging system of claim 2 , wherein said imaging system comprises a lane departure warning system with said imaging array being directed forwardly relative to the subject vehicle.

Claim 10

Dependent Claim 39 words

The imaging system of claim 7 , wherein said lane departure warning system is operable to provide a warning indication to a driver of the subject vehicle in response to at least two conditions detected by said imaging system.

Claim 11

Dependent Claim 46 words

The imaging system of claim 7 , wherein said imaging system is in communication with a passive steering system operable to adjust a steering direction of the vehicle in response to a detection by said imaging system of the vehicle drifting or leaving its occupied lane.

Claim 12

Dependent Claim 41 words

The imaging system of claim 7 , wherein said imaging system is in communication with an adaptive speed control operable to adjust a cruise control setting of the vehicle in response to road or traffic conditions detected by said imaging system.

Claim 13

Dependent Claim 28 words

The imaging system of claim 2 , wherein said imaging system is selectably operable to provide image data to a remote device which is remote from the vehicle.

Claim 14

Dependent Claim 24 words

The imaging system of claim 11 , wherein said imaging system provides said image data to indicate a location and/or condition of the vehicle.

Claim 15

Dependent Claim 29 words

The imaging system of claim 11 , wherein said remote device comprises at least one of a personal display system, a security display system and an emergency display system.

Claim 16

Dependent Claim 29 words

The imaging system of claim 2 , wherein said control is operable to adjust said reduced image data set and said target zone in response to various threshold criterion.

Claim 17

Dependent Claim 33 words

The imaging system of claim 2 , wherein said imaging array sensor is directed partially downwardly such that an upper portion of the captured image is directed generally at or along the horizon.

Claim 18

Dependent Claim 29 words

The imaging system of claim 2 , wherein said control is operable to substantially limit processing of detected edges having an intensity which is less than a threshold intensity.

Claim 19

Dependent Claim 45 words

The imaging system of claim 2 , wherein said control is operable to primarily process detected edges or substantially limit processing of detected edges in response to at least one of a size, location, intensity and distance of said detected edges relative to the vehicle.

Claim 20

Dependent Claim 37 words

The imaging system of claim 2 , wherein said control is operable to substantially limit processing of edges with a measured change in brightness or color across the edge which is less than a threshold change amount.

Claim 21

Dependent Claim 203 words

An imaging system for a vehicle comprising: an imaging array sensor comprising a plurality of photo-sensing pixels, said imaging array sensor being positioned at the vehicle and having a field of view exteriorly of the vehicle, said imaging array sensor being operable to capture an image of a scene occurring exteriorly of the vehicle; and a control for processing said captured image, said captured image comprising an image data set representative of the exterior scene, said control including a microprocessor comprising an edge detection algorithm, said control applying said edge detection algorithm to a reduced image data set of said image data set, said reduced image data set being representative of a target zone of said captured image, said control being operable to process said reduced image data set more than other image data, which are representative of areas of said captured image outside of said target zone, to detect edges of objects present exteriorly of the vehicle and within said target zone, wherein said control is operable to process detected edges which have a concentration of edges in a second reduced image data set which is representative of a particular reduced area or zone of said target zone of said captured image.

Claim 22

Dependent Claim 203 words

An imaging system for a vehicle comprising: an imaging array sensor comprising a plurality of photo-sensing pixels, said imaging array sensor being positioned at the vehicle and having a field of view exteriorly of the vehicle, said imaging array sensor being operable to capture an image of a scene occurring exteriorly of the vehicle; and a control for processing said captured image, said captured image comprising an image data set representative of the exterior scene, said control including a microprocessor comprising an edge detection algorithm, said control applying said edge detection algorithm to a reduced image data set of said image data set, said reduced image data set being representative of a target zone of said captured image, said control being operable to process said reduced image data set more than other image data, which are representative of areas of said captured image outside of said target zone, to detect edges of objects present exteriorly of the vehicle and within said target zone, wherein said control is operable to process detected edges which have a concentration of edges in a second reduced image data set which is representative of a particular reduced area or zone of said target zone of said captured image.

Claim 23

Dependent Claim 28 words

The imaging system of claim 19 , wherein said control is operable to determine whether said detected edges constitute a portion of a vehicle in an adjacent lane.

Claim 24

Dependent Claim 53 words

The imaging system of claim 17 , wherein said control is operable to determine that said detected edges may constitute a portion of a vehicle in response to a determination that said detected edges are associated with an ellipse or partial ellipse, said ellipse or partial ellipse being indicative of a vehicle tire.

Claim 25

Dependent Claim 37 words

The imaging system of claim 19 , wherein said control is operable to track at least one of said detected edges between subsequent frames captured by said imaging array sensor to identify some of said detected edges.

Claim 26

Dependent Claim 36 words

The imaging system of claim 19 , wherein said control is operable to identify lane or road markings in said captured images to determine road curvature of the road section that the vehicle is traveling along.

Claim 27

Dependent Claim 35 words

The imaging system of claim 23 , wherein said control is operable to adjust said reduced image data set and said target zone in response to an identification of a curve in the road section.

Claim 28

Dependent Claim 199 words

An imaging system for a vehicle comprising: an imaging array sensor comprising a plurality of photo-sensing pixels, said imaging array sensor being positioned at the vehicle and having a field of view exteriorly of the vehicle, said imaging array sensor being operable to capture an image of a scene occurring exteriorly of the vehicle; and a control for processing said captured image, said captured image comprising an image data set representative of the exterior scene, said control including a microprocessor comprising an edge detection algorithm, said control applying said edge detection algorithm to a reduced image data set of said image data set, said reduced image data set being representative of a target zone of said captured image, said control being operable to process said reduced image data set more than other image data, which are representative of areas of said captured image outside of said target zone, to detect edges of objects present exteriorly of the vehicle and within said target zone, wherein said control is operable to adjust said reduced image data set and said target zone between a daytime zone and a nighttime zone in response to a daytime or nighttime driving condition for the vehicle.

Claim 29

Dependent Claim 199 words

An imaging system for a vehicle comprising: an imaging array sensor comprising a plurality of photo-sensing pixels, said imaging array sensor being positioned at the vehicle and having a field of view exteriorly of the vehicle, said imaging array sensor being operable to capture an image of a scene occurring exteriorly of the vehicle; and a control for processing said captured image, said captured image comprising an image data set representative of the exterior scene, said control including a microprocessor comprising an edge detection algorithm, said control applying said edge detection algorithm to a reduced image data set of said image data set, said reduced image data set being representative of a target zone of said captured image, said control being operable to process said reduced image data set more than other image data, which are representative of areas of said captured image outside of said target zone, to detect edges of objects present exteriorly of the vehicle and within said target zone, wherein said control is operable to adjust said reduced image data set and said target zone between a daytime zone and a nighttime zone in response to a daytime or nighttime driving condition for the vehicle.

Claim 30

Dependent Claim 25 words

The imaging system of claim 25 , wherein said control is operable to process horizontal detected edges and substantially limit processing of vertical detected edges.

Claim 31

Dependent Claim 54 words

The imaging system of claim 25 , wherein said control is operable to adjust a height input of said imaging array sensor such that said daytime zone is representative of an area generally along the road surface and said nighttime zone is representative of an area generally at a height of headlamps of vehicles.

Claim 32

Dependent Claim 188 words

An imaging system for a vehicle comprising: an imaging array sensor comprising a plurality of photo-sensing pixels, said imaging array sensor being positioned at the vehicle and having a field of view exteriorly or the vehicle, said imaging array sensor being operable to capture an image of a scene occurring exteriorly of the vehicle; and a control for processing said captured image, said captured image comprising an image data set representative of the exterior scene, said control including a microprocessor comprising an edge detection algorithm, said control applying said edge detection algorithm to a reduced image data set of said image data set, said reduced image data set being representative of a target zone of said captured image, said control being operable to process said reduced image data set more than other image data, which are representative of areas of said captured image outside of said target zone, to detect edges of objects present exteriorly of the vehicle and within said target zone, wherein said control is operable to adjust said reduced image data set and said target zone in response to a distance to a detected edge.

Claim 33

Dependent Claim 188 words

An imaging system for a vehicle comprising: an imaging array sensor comprising a plurality of photo-sensing pixels, said imaging array sensor being positioned at the vehicle and having a field of view exteriorly or the vehicle, said imaging array sensor being operable to capture an image of a scene occurring exteriorly of the vehicle; and a control for processing said captured image, said captured image comprising an image data set representative of the exterior scene, said control including a microprocessor comprising an edge detection algorithm, said control applying said edge detection algorithm to a reduced image data set of said image data set, said reduced image data set being representative of a target zone of said captured image, said control being operable to process said reduced image data set more than other image data, which are representative of areas of said captured image outside of said target zone, to detect edges of objects present exteriorly of the vehicle and within said target zone, wherein said control is operable to adjust said reduced image data set and said target zone in response to a distance to a detected edge.

Claim 34

Dependent Claim 194 words

An imaging system for a vehicle comprising: an imaging array sensor comprising a plurality of photo-sensing pixels, said imaging array sensor being positioned at the vehicle and having a field of view exteriorly of the vehicle, said imaging array sensor being operable to capture an image of a scene occurring exteriorly of the vehicle; and a control for processing said captured image, said captured image comprising an image data set representative of the exterior scene, said control including a microprocessor comprising an edge detection algorithm, said control applying said edge detection algorithm to a reduced image data set of said image data set, said reduced image data set being representative of a target zone of said captured image, said control being operable to process said reduced image data set more than other image data, which are representative of areas of said captured image outside of said target zone, to detect edges of objects present exteriorly of the vehicle and within said target zone, wherein said control is operable to approximate a distance to a portion of some of said detected edges in response to a pixel location of the portion in said captured image.

Claim 35

Dependent Claim 194 words

An imaging system for a vehicle comprising: an imaging array sensor comprising a plurality of photo-sensing pixels, said imaging array sensor being positioned at the vehicle and having a field of view exteriorly of the vehicle, said imaging array sensor being operable to capture an image of a scene occurring exteriorly of the vehicle; and a control for processing said captured image, said captured image comprising an image data set representative of the exterior scene, said control including a microprocessor comprising an edge detection algorithm, said control applying said edge detection algorithm to a reduced image data set of said image data set, said reduced image data set being representative of a target zone of said captured image, said control being operable to process said reduced image data set more than other image data, which are representative of areas of said captured image outside of said target zone, to detect edges of objects present exteriorly of the vehicle and within said target zone, wherein said control is operable to approximate a distance to a portion of some of said detected edges in response to a pixel location of the portion in said captured image.

Claim 36

Dependent Claim 34 words

The imaging system of claim 29 , wherein said pixel location is determined relative to a target pixel which is directed generally at the horizon and along the direction of travel of the vehicle.

Claim 37

Dependent Claim 35 words

The imaging system of claim 29 , wherein said control is operable to approximate said distance in response to a pixel size, a pixel resolution and a field of view of said imaging array sensor.

Claim 38

Dependent Claim 42 words

The imaging system of claim 29 , wherein said control accesses an information array which provides a calculated distance representative of a distance to an object or portion of an object detected by each pixel associated with said reduced image data set.

Claim 39

Dependent Claim 148 words

A lane change assist system for a vehicle comprising: an imaging sensor positioned at the vehicle and having a field of view directed generally sidewardly from the vehicle, said imaging sensor being operable to capture an image of a scene occuring toward the side of the vehicle; and a control operable to process said image captured by said imaging array sensor to detect objects present sidewardly of the vehicle, said captured image comprising an image data set representative of the exterior scenes, said control being operable to process a reduced image data set of said image data set more than other image data of said image data set, said reduced image data set being representative of a target zone of said captured image, wherein said control is operable to adjust said reduced image data set and said target zone in response to a distance to a detected object.

Claim 40

Dependent Claim 148 words

A lane change assist system for a vehicle comprising: an imaging sensor positioned at the vehicle and having a field of view directed generally sidewardly from the vehicle, said imaging sensor being operable to capture an image of a scene occuring toward the side of the vehicle; and a control operable to process said image captured by said imaging array sensor to detect objects present sidewardly of the vehicle, said captured image comprising an image data set representative of the exterior scenes, said control being operable to process a reduced image data set of said image data set more than other image data of said image data set, said reduced image data set being representative of a target zone of said captured image, wherein said control is operable to adjust said reduced image data set and said target zone in response to a distance to a detected object.

Claim 41

Dependent Claim 164 words

A lane change assist system for a vehicle comprising: an imaging sensor positioned at the vehicle and having a field of view directed generally sidewardly from the vehicle, said imaging sensor being operable to capture an image of a scene occuring toward the side of the vehicle; and a control operable to process said image captured by said imaging array sensor to detect objects present sidewardly of the vehicle, said captured image comprising an image data set representative of the exterior scenes, said control being operable to process a reduced image data set of said image data set more than other image data of said image data set, said reduced image data set being representative of a target zone of said captured image, wherein said control is operable to primarily process image data or substantially limit processing of image data in response to at least one of a size, location, intensity and distance of detected objects of said image data relative to the vehicle.

Claim 42

Dependent Claim 164 words

A lane change assist system for a vehicle comprising: an imaging sensor positioned at the vehicle and having a field of view directed generally sidewardly from the vehicle, said imaging sensor being operable to capture an image of a scene occuring toward the side of the vehicle; and a control operable to process said image captured by said imaging array sensor to detect objects present sidewardly of the vehicle, said captured image comprising an image data set representative of the exterior scenes, said control being operable to process a reduced image data set of said image data set more than other image data of said image data set, said reduced image data set being representative of a target zone of said captured image, wherein said control is operable to primarily process image data or substantially limit processing of image data in response to at least one of a size, location, intensity and distance of detected objects of said image data relative to the vehicle.

Claim 43

Dependent Claim 31 words

The lane change assist system of claim 34 , wherein said control is operable to adjust said reduced image data set and said target zone in response to an adjustment input.

Claim 44

Dependent Claim 32 words

The lane change assist system of claim 35 , wherein said adjustment input comprises an output from one of an ambient light sensor, a headlamp control and a manual control or input.

Claim 45

Dependent Claim 38 words

The lane change assist system of claim 36 , wherein said control is operable to adjust said reduced image data set and said target zone between a daytime zone and a nighttime zone in response to said output.

Claim 46

Dependent Claim 48 words

The lane change assist system of claim 37 , wherein said control is operable to adjust a height input of said imaging array sensor such that said daytime zone is generally along the road surface and said nighttime zone is generally at a height of headlamps of vehicles.

Claim 47

Dependent Claim 40 words

The lane change assist system of claim 35 , wherein said control is operable to adjust said reduced image data set and said target zone in response to detection of the subject vehicle traveling through a curved section of road.

Claim 48

Dependent Claim 22 words

The lane change assist system of claim 35 , wherein said adjustment input comprises an output from a forward facing imaging system.

Claim 49

Dependent Claim 48 words

The lane change assist system of claim 34 , wherein said control comprises an edge detection algorithm and is operable to detect edges of objects sidewardly of the vehicle, said control being operable to determine whether said detected edges are indicative of a significant object or other vehicle.

Claim 50

Dependent Claim 33 words

The lane change assist system of claim 34 , wherein said imaging sensor is directed partially downwardly such that an upper portion of the captured image is generally at or along the horizon.

Claim 51

Dependent Claim 41 words

The lane change assist system of claim 34 , wherein said control is operable to determine that said detected objects constitute a portion or a vehicle via a determination that said detected objects are associated with an ellipse or partial ellipse.

Claim 52

Dependent Claim 155 words

A lane change assist system for a vehicle comprising: an imaging sensor positioned at the vehicle and having a field of view directed generally sidewardly from the vehicle, said imaging sensor being operable to capture an image of a scene occuring toward the side of the vehicle; and a control operable to process said image captured by said imaging array sensor to detect objects present sidewardly of the vehicle, said captured image comprising an image data set representative of the exterior scenes, said control being operable to process a reduced image data set of said image data set more than other image data of said image data set, said reduced image data set being representative of a target zone of said captured image, wherein said control is operable to approximate a distance to a detected object in response to a location of a pixel capturing a portion of the detected object in said captured image.

Claim 53

Dependent Claim 155 words

A lane change assist system for a vehicle comprising: an imaging sensor positioned at the vehicle and having a field of view directed generally sidewardly from the vehicle, said imaging sensor being operable to capture an image of a scene occuring toward the side of the vehicle; and a control operable to process said image captured by said imaging array sensor to detect objects present sidewardly of the vehicle, said captured image comprising an image data set representative of the exterior scenes, said control being operable to process a reduced image data set of said image data set more than other image data of said image data set, said reduced image data set being representative of a target zone of said captured image, wherein said control is operable to approximate a distance to a detected object in response to a location of a pixel capturing a portion of the detected object in said captured image.

Claim 54

Dependent Claim 36 words

The lane change assist system of claim 44 , wherein said pixel location is determined relative to a target pixel which is directed generally at the horizon and along the direction of travel of the vehicle.

Claim 55

Dependent Claim 42 words

The lane change assist system of claim 44 , wherein said control is operable to approximate said distance using spherical trigonometry in response to said pixel location, a pixel size, a pixel resolution and a field of view of said imaging sensor.

Claim 56

Dependent Claim 47 words

The lane change assist system of claim 44 , wherein said control accesses an information array which provides a calculated distance for substantially each pixel associated with said reduced image data set and said target zone to approximate said distance to the portion of the detected object.

Annuity Stage	Window Opens	Payment Deadline	Surcharge Period Until	Estimated Fee	Status
3.5 Years (Year 4)	2009-05-01	2009-10-31	2010-05-02	$2000.00	Window Closed / Lapsed
7.5 Years (Year 8)	2013-05-01	2013-10-31	2014-05-02	$3760.00	Window Closed / Lapsed
11.5 Years (Year 12)	2017-05-01	2017-10-31	2018-05-02	$7700.00	Window Closed / Lapsed

Object detection system for vehicle

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