Abstract: Methods and systems for determining road surface information in a vehicle. In one embodiment, the method includes: determining at least one condition assessment value based on steering data; determining a feature set to include at least one of self-aligning torque (SAT), slip angle, SAT variance, steering rate, and lateral acceleration based on the condition assessment value; processing steering data obtained during a steering maneuver and associated with the feature set using a pattern classification technique; and determining a surface type based on the processing.

Abstract: A method of displaying a captured image on a display device. A real image is captured by an image capture device. The image capture device uses a field-of-view lens that distorts the real image. A camera model is applied to the captured real image. The camera model maps objects in the captured real image to an image sensor plane of the image capture device to generate a virtual image. The image sensor plane is reconfigurable to virtually alter a shape of the image sensor plane to a non-planar surface. The virtual image formed on the non-planar image surface of the image sensor is projected to the display device.

Abstract: A method of detecting and tracking objects using multiple radar sensors. Objects relative to a host vehicle are detected from radar data generated by a sensing device. The radar data includes Doppler measurement data. Clusters are formed, by a processor, as a function of the radar data. Each cluster represents a respective object. Each respective object is classified, by the processor, as stationary or non-stationary based on the Doppler measurement data of each object and a vehicle speed of the host vehicle. Target tracking is applied, by the processor, on an object using Doppler measurement data over time in response to the object classified as a non-stationary object; otherwise, updating an occupancy grid in response to classifying the object as a stationary object.

Abstract: A system and method for correcting the calibration of a plurality of cameras on a mobile platform such as in a surround-view camera system on a vehicle based on changes in vehicle dynamics. The method includes reading measurement values from one or more sensors on the vehicle that identify a change in vehicle dynamics and defining the plurality of cameras and a vehicle body as a single reference coordinate system. The method also includes identifying the measured values as a rotation matrix and a translation vector in the coordinate system, and integrating the rotation matrix and the translation vector into a relationship between a vehicle coordinate system and a camera coordinate system to provide the calibration correction of the cameras.

Abstract: A system and method for estimating dynamics of a mobile platform by matching feature points in overlapping images from cameras on the platform, such as cameras in a surround-view camera system on a vehicle. The method includes identifying overlap image areas for any two cameras in the surround-view camera system, identifying common feature points in the overlap image areas, and determining that the common feature points in the overlap image areas are not at the same location. The method also includes estimating three-degree of freedom vehicle dynamic parameters from the matching between the common feature points, and estimating vehicle dynamics of one or more of pitch, roll and height variation using the vehicle dynamic parameters.

Abstract: A method of detecting and tracking objects using multiple radar sensors. Objects relative to a host vehicle are detected from radar data generated by a sensing device. The radar data includes Doppler measurement data. Clusters are formed, by a processor, as a function of the radar data. Each cluster represents a respective object. Each respective object is classified, by the processor, as stationary or non-stationary based on the Doppler measurement data of each object and a vehicle speed of the host vehicle. Target tracking is applied, by the processor, on an object using Doppler measurement data over time in response to the object classified as a non-stationary object; otherwise, updating an occupancy grid in response to classifying the object as a stationary object.

Abstract: A method of displaying a captured image on a display device of a driven vehicle. A scene exterior of the driven vehicle is captured by an at least one vision-based imaging and at least one sensing device. A time-to-collision is determined for each object detected. A comprehensive time-to-collision is determined for each object as a function of each of the determined time-to-collisions for each object. An image of the captured scene is generated by a processor. The image is dynamically expanded to include sensed objects in the image. Sensed objects are highlighted in the dynamically expanded image. The highlighted objects identifies objects proximate to the driven vehicle that are potential collisions to the driven vehicle. The dynamically expanded image with highlighted objects and associated collective time-to-collisions are displayed for each highlighted object in the display device that is determined as a potential collision.

Abstract: A method and system for localizing a vehicle in a digital map includes generating GPS coordinates of the vehicle on the traveled road and retrieving from a database a digital map of a region traveled by the vehicle based on the location of the GPS coordinates. The digital map includes a geographic mapping of a traveled road and registered roadside objects. The registered roadside objects are positionally identified in the digital map by longitudinal and lateral coordinates. Roadside objects in the region traveled are sensed by the vehicle. The sensed roadside objects are identified on the digital map. A vehicle position on the traveled road is determined utilizing coordinates of the sensed roadside objects identified in the digital map. The position of the vehicle is localized in the road as a function of the GPS coordinates and the determined vehicle position utilizing the coordinates of the sensed roadside objects.

Abstract: A method of displaying a captured image on a display device of a driven vehicle. A scene exterior of the driven vehicle is captured by an at least one vision-based imaging device mounted on the driven vehicle. Objects in a vicinity of the driven vehicle are sensed. An image of the captured scene is generated by a processor. The image is dynamically expanded to include sensed objects in the image. The sensed objects are highlighted in the dynamically expanded image. The highlighted objects identify vehicles proximate to the driven vehicle that are potential collisions to the driven vehicle. The dynamically expanded image is displayed with highlighted objects in the display device.

Abstract: A vehicle warning system includes a vehicle having first and second outer zones and a passenger compartment. A first active safety system monitors the first outer zone and generates first warning signals. A second active safety system monitors the second outer zone and generates second warning signals. A vehicle audio output device includes a plurality of speakers that are located in the vehicle passenger compartment. The first warning signals are output to a one or more of said speakers of the vehicle audio output device at a first frequency. The second warning signals are output one or more of said speakers of the vehicle output audio device at a second frequency.

Abstract: A vehicle warning system includes a vehicle having first and second outer zones and a passenger compartment. A first active safety system monitors the first outer zone and generates first warning signals. A second active safety system monitors the second outer zone and generates second warning signals. A vehicle audio output device includes a plurality of speakers that are located in the vehicle passenger compartment. The first warning signals are output to a one or more of said speakers of the vehicle audio output device at a first frequency. The second warning signals are output one or more of said speakers of the vehicle output audio device at a second frequency.