Vehicle vision system with enhanced lane tracking
A driver assistance system for a vehicle includes a camera disposed at a vehicle and having a field of view forward of the vehicle. A control includes an image processor that is operable to process image data captured by the camera. Responsive to processing by the image processor of image data captured by the camera, the image processor is operable to determine lane markings demarcating the lane in which the vehicle is traveling. Responsive to processing by the image processor of captured image data and responsive to at least one of (i) a map input and (ii) a location input, the control estimates a path of travel for the vehicle to maintain the vehicle in the lane in which the vehicle is traveling in situations where the lane markings demarcating the lane in which the vehicle is traveling are not readily determinable.
1. A driver assistance system for a vehicle, said driver assistance system comprising:
a camera disposed at a vehicle and having a field of view forward of the vehicle;
a control comprising an image processor that is operable to process image data captured by said camera;
wherein, responsive to processing by said image processor of image data captured by said camera, said image processor is operable to determine lane markings demarcating the lane in which the vehicle is traveling;
wherein, responsive to processing by said image processor of image data captured by said camera and responsive to at least one of (i) a map input from a digital map to said control and (ii) a location input from a global positioning system to said control, said control estimates a path of travel for the vehicle to maintain the vehicle in the lane in which the vehicle is traveling in situations where the lane markings demarcating the lane in which the vehicle is traveling are not readily determinable;
wherein said control estimates the path of travel for the vehicle responsive to vehicle information, and wherein the vehicle information comprises at least one of (i) vehicle speed, (ii) vehicle differential wheel speeds and (iii) vehicle yaw rate;
wherein said driver assistance system maneuvers the vehicle along the estimated path of travel; and
wherein said driver assistance system updates the estimated path of travel ahead of the vehicle even when no lane markings are present on the road ahead of the vehicle.
2. The driver assistance system of claim 1 , wherein, responsive to processing by said image processor of image data captured by said camera and responsive to at least one of (i) a map input from a digital map to said control and (ii) a location input from a global positioning system to said control, said control estimates the path of travel for the vehicle to maintain the vehicle in the lane in which the vehicle is traveling in situations where the lane markings demarcating the lane in which the vehicle is traveling are lost by said camera for a period of time.
3. The driver assistance system of claim 1 , wherein, responsive to processing by said image processor of image data captured by said camera and responsive to at least one of (i) a map input from a digital map to said control and (ii) a location input from a global positioning system to said control, said control estimates the path of travel for the vehicle to maintain the vehicle in the lane in which the vehicle is traveling in situations where the lane markings demarcating the lane in which the vehicle is traveling are lost by said camera as the vehicle crosses an intersection.
4. The driver assistance system of claim 1 , wherein, responsive to processing by said image processor of image data captured by said camera and responsive to at least one of (i) a map input from a digital map to said control and (ii) a location input from a global positioning system to said control, said control estimates the path of travel for the vehicle to maintain the vehicle in the lane in which the vehicle is traveling in situations where lane markings are erroneously determined by processing by said image processor of captured image data alone.
5. The driver assistance system of claim 1 , wherein, responsive to processing by said image processor of image data captured by said camera and responsive to at least one of (i) a map input from a digital map to said control and (ii) a location input from a global positioning system to said control, said control estimates the path of travel for the vehicle to maintain the vehicle in the lane in which the vehicle is traveling in situations where processing by said image processor of image data alone determines lane markings that are not demarcating the lane in which the vehicle is traveling.
6. The driver assistance system of claim 1 , wherein said control estimates the path of travel for the vehicle responsive to a location input from a global positioning system to said control that provides the vehicle's current geographical location information from the global positioning system of the vehicle.
7. The driver assistance system of claim 1 , wherein said control estimates the path of travel for the vehicle responsive to a map input from a digital map to said control that provides road information pertaining to the road along which the vehicle is traveling.
8. The driver assistance system of claim 1 , wherein, responsive to processing by said image processor of image data captured by said camera and responsive to a map input from a digital map to said control, said control estimates the path of travel for the vehicle to maintain the vehicle in the lane in which the vehicle is traveling in situations where the lane markings demarcating the lane in which the vehicle is traveling are not readily determinable.
9. The driver assistance system of claim 1 , wherein, responsive to processing by said image processor of image data captured by said camera and responsive to a location input from a global positioning system to said control, said control estimates the path of travel for the vehicle to maintain the vehicle in the lane in which the vehicle is traveling in situations where the lane markings demarcating the lane in which the vehicle is traveling are not readily determinable.