Systems and methods for obstacle proximity detection

A method for assisting steering of a vehicle in response to detecting an object in a proximity of the vehicle, comprising:

• receiving an image of a lane indicator in front of the vehicle from an image capturing device, the lane indicator corresponding to a lane of travel of the vehicle;
• determining, based on the image, reference values corresponding to a position of the lane indicator relative to the vehicle within a first reference frame, wherein the position of the lane indicator is on a side of or behind the vehicle;
• associating each of the reference values to values within a second reference frame related to a direction the vehicle is traveling, wherein the values correspond to a position of the lane indicator on the side of or behind the vehicle that accounts for the direction the vehicle is traveling;
• receiving position information of an object in an environment external to the vehicle from a radar sensor;
• determining, based on the values and the position information, an assigned lane of the object;
• detecting an impending change of the lane of travel of the vehicle to the assigned lane of the object;
• generating a steering control value based on the impending change;
• and
• selectively controlling steering of the vehicle based on the steering control value.

A remote object detection system of a vehicle, comprising:

• a radar sensor configured to detect an object in an environment external to the vehicle;
• an image capturing device configured to capture an image representing an environment within a field of view of the image capturing device;
• a processor;
• and
• a memory that includes instructions that, when executed by the processor, cause the processor to:
• receive, from the image capturing device, the image, wherein the image is of a lane indicator in front of the vehicle, the lane indicator corresponding to a lane of travel of the vehicle;
• determine, based on the image, reference values corresponding to a position of the lane indicator relative to the vehicle within a first reference frame, wherein the position of the lane indicator is on a side of or behind the vehicle;
• associate each of the reference values to values within a second reference frame related to a direction the vehicle is traveling, wherein the values correspond to a position of the lane indicator on the side of or behind the vehicle that accounts for the direction the vehicle is traveling;
• receive, from the radar sensor, position information of the object;
• determine, based on the values and the position information, an assigned lane of the object;
• detect an impending change of the lane of travel of the vehicle to the assigned lane of the object;
• generate a steering control value based on the impending change;
• and
• selectively control steering of the vehicle based on the steering control value.