US 11,753,007 B2
Vehicular lane centering system
Christopher L. Van Dan Elzen, Rochester, MI (US); Ka Chai Cheok, Waterford, MI (US); and Micho Radovnikovich, Shelby Township, MI (US)
Assigned to MAGNA ELECTRONICS INC., Auburn Hills, MI (US)
Filed by MAGNA ELECTRONICS INC., Auburn Hills, MI (US)
Filed on Dec. 13, 2021, as Appl. No. 17/643,870.
Application 17/643,870 is a continuation of application No. 16/587,106, filed on Sep. 30, 2019, granted, now 11,198,434.
Application 16/587,106 is a continuation of application No. 15/700,272, filed on Sep. 11, 2017, granted, now 10,427,679, issued on Oct. 1, 2019.
Application 15/700,272 is a continuation of application No. 14/935,700, filed on Nov. 9, 2015, granted, now 9,758,163, issued on Sep. 12, 2017.
Application 14/935,700 is a continuation of application No. 13/884,752, granted, now 9,180,908, issued on Nov. 10, 2015, previously published as PCT/US2011/061124, filed on Nov. 17, 2011.
Claims priority of provisional application 61/454,702, filed on Mar. 21, 2011.
Claims priority of provisional application 61/415,409, filed on Nov. 19, 2010.
Prior Publication US 2022/0097696 A1, Mar. 31, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. B60W 30/12 (2020.01); B60W 50/14 (2020.01); B60W 50/16 (2020.01); B62D 15/02 (2006.01); B62D 6/00 (2006.01); B60W 10/04 (2006.01); B60W 10/20 (2006.01); B60W 30/16 (2020.01); B60W 50/00 (2006.01)
CPC B60W 30/12 (2013.01) [B60W 10/04 (2013.01); B60W 10/20 (2013.01); B60W 30/16 (2013.01); B60W 50/14 (2013.01); B60W 50/16 (2013.01); B62D 6/00 (2013.01); B62D 15/025 (2013.01); B60W 2050/0008 (2013.01); B60W 2050/0037 (2013.01); B60W 2050/0071 (2013.01); B60W 2050/0073 (2013.01); B60W 2420/42 (2013.01)] 35 Claims
OG exemplary drawing
 
1. A vehicular lane centering system, the vehicular lane centering system comprising:
a camera disposed behind a windshield of a vehicle equipped with the vehicular lane centering system, the camera viewing through the windshield forward of the vehicle;
wherein, when the equipped vehicle is traveling along a traffic lane of a road, the camera views lane delimiters of the traffic lane ahead of the equipped vehicle;
wherein the camera captures image data as the vehicle travels along the traffic lane of the road;
a processor that processes image data captured by the camera to detect the lane delimiters of the traffic lane of the road that is being travelled along by the vehicle;
wherein the vehicular lane centering system is enabled responsive to speed of the vehicle exceeding a threshold speed;
wherein, with the vehicular lane centering system enabled, and based on processing by the processor of image data captured by the camera, the vehicular lane centering system determines position of a left lane delimiter on the road on a left side of the vehicle and position of a right lane delimiter on the road on a right side of the vehicle;
wherein, with the vehicular lane centering system enabled, the vehicular lane centering system establishes a left safe zone delimiter based on the determined position of the left lane delimiter and a right safe zone delimiter based on the determined position of the right lane delimiter;
wherein, with the vehicular lane centering system enabled, the vehicular lane centering system takes corrective action responsive to the vehicular lane centering system determining that the vehicle is at risk of unintentionally crossing the left safe zone delimiter or the right safe zone delimiter, and wherein the corrective action comprises at least one selected from the group consisting of (i) notifying a driver of the vehicle that the vehicle is at risk of unintentionally crossing the left safe zone delimiter or the right safe zone delimiter and (ii) applying a steering correction to the vehicle to avoid the vehicle unintentionally crossing the left safe zone delimiter or the right safe zone delimiter; and
wherein, with the vehicular lane centering system enabled, and responsive to the vehicular lane centering system not determining position of the left lane delimiter or the right lane delimiter for a first period of time, corrective action taken by the vehicular lane centering system is reduced compared to corrective action that would otherwise be taken when the vehicular lane centering system determines position of both the left lane delimiter and the right lane delimiter.