A forward-facing vision system for a vehicle includes a forward-facing camera disposed in a windshield electronics module attached at a windshield of the vehicle and viewing through the windshield. A control includes a processor that, responsive to processing of captured image data, detects taillights of leading vehicles during nighttime conditions and, responsive to processing of captured image data, detects lane markers on a road being traveled by the vehicle. The control, responsive to lane marker detection and a determination that the vehicle is drifting out of a traffic lane, may control a steering system of the vehicle to mitigate such drifting, with the steering system manually controllable by a driver of the vehicle irrespective of control by the control. The processor, based at least in part on detection of lane markers via processing of captured image data, determines curvature of the road being traveled by the vehicle.

Vision system for vehicle

A vehicular vision system includes a camera having a lens and a CMOS photosensor array having a plurality of photosensor elements. The camera is disposed at an interior portion of a vehicle equipped with the vehicular vision system. The camera one of (i) views exterior of the equipped vehicle through the windshield of the equipped vehicle and forward of the equipped vehicle and (ii) views from the windshield of the equipped vehicle into the interior cabin of the equipped vehicle. A control includes an image processor that processes image data captured by the photosensor array. The image processor processes captured image data to detect an object viewed by the camera. The photosensor array is operable at a plurality of exposure periods and at least one exposure period of the plurality of exposure periods is dynamically variable.

Vehicular vision system

We describe the functional and architectural breakdown of a monocular pedestrian detection system. We describe in detail our approach for single-frame classification based on a novel scheme of breaking down the class variability by repeatedly training a set of relatively simple classifiers on clusters of the training set. Single-frame classification performance results and system level performance figures for daytime conditions are presented with a discussion about the remaining gap to meet a daytime normal weather condition production system.

/pdf/pedestrian-detection-for-driving-assistance-systems-single-414hip7aga.pdf

Pedestrian detection for driving assistance systems: single-frame classification and system level performance

A driver assistance system for a vehicle includes an imaging device having a field of view forward of a vehicle and in a direction of travel of the equipped vehicle, an image processor operable to process image data captured by the imaging device, and a global positioning system operable to determine a geographical location of the vehicle. The equipped vehicle includes an adaptive speed control system for controlling the speed of the equipped vehicle. The adaptive speed control system may reduce the speed of the equipped vehicle responsive at least in part to a detection of a curve in the road ahead of the equipped vehicle via processing by the image processor of image data captured by the imaging device.

Driver assistance system for vehicle

A method of estimating a time to collision (TTC) of a vehicle with an object comprising: acquiring a plurality of images of the object; and determining a TTC from the images that is responsive to a relative velocity and relative acceleration between the vehicle and the object.

Collision warning system

The large number of rear end collisions due to driver inattention has been identified as a major automotive safety issue. Even a short advance warning can significantly reduce the number and severity of the collisions. This paper describes a vision based forward collision warning (FCW) system for highway safety. The algorithm described in this paper computes time to contact (TTC) and possible collision course directly from the size and position of the vehicles in the image - which are the natural measurements for a vision based system - without having to compute a 3D representation of the scene. The use of a single low cost image sensor results in an affordable system which is simple to install. The system has been implemented on real-time hardware and has been test driven on highways. Collision avoidance tests have also been performed on test tracks.

/pdf/forward-collision-warning-with-a-single-camera-2395kwqqt7.pdf

E. Dagan

Papers

Forward collision warning with a single camera