Vehicle vision system with dirt detection

• US 10,089,540 B2
• Filed: 09/12/2016
• Issued: 10/02/2018
• Est. Priority Date: 02/20/2013
• Status: Active Grant

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Inventors: May, Benjamin, May, Uwe
• Primary Examiner(s): Owens, Tsion B
• Application Number:
  US15/262,482
• Publication Number:
  US 20160379067A1
• Time in Patent Office: 750 Days
• CPC Class Codes: G06T 2207/30261 Obstacle
• CPC Class Codes: G06T 7/20 Analysis of motion motion estimation for coding, decoding, compressing or decompressing digital video signals H04N19/43, H04N19/51
• CPC Class Codes: G06T 7/70 Determining position or orientation of objects or cameras camera calibration G06T7/80
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: H04N 23/811 by dust removal, e.g. from surfaces of the image sensor or processing of the image signal output by the electronic image sensor
• CPC Class Codes: H04N 7/18 Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

Abstract

A vision system for a vehicle includes a camera having an image sensor and a lens, with the lens exposed to the environment exterior the vehicle. An image processor is operable to process multiple frames of image data captured by the camera and processes captured image data to detect a blob in a frame of captured image data. Responsive to processing a first frame of captured image data, and responsive to the image processor determining a first threshold likelihood that a detected blob is indicative of a contaminant, the image processor adjusts processing when processing subsequent frames of captured image data. Responsive to the image processor determining a second threshold likelihood that the detected blob is indicative of a contaminant when processing subsequent frames of captured image data, the image processor determines that the detected blob is representative of a contaminant at the lens of the camera.

Claims

1. A vision system for a vehicle, said vision system comprising:

a camera disposed at a vehicle equipped with said vision system, said camera comprising an image sensor and a lens, wherein, when said camera is disposed at the equipped vehicle, said lens is exposed to the environment exterior the equipped vehicle;

wherein said camera has an exterior field of view exterior the equipped vehicle and is operable to capture image data representative of a scene occurring in the field of view of said camera;

an image processor operable to process multiple frames of image data captured by said camera while the vehicle is moving;

wherein said image processor processes captured image data while the vehicle is moving to detect a blob in a first frame of captured image data;

wherein, responsive to detecting, via processing the first frame of captured image data, the blob in the first frame of captured image data, said vision system determines at a first confidence level that the blob detected in the first frame of captured image data is indicative of a contaminant;

wherein, responsive to said image processor determining, with the first confidence level being at least 80%, that the blob detected in the first frame of captured image data is indicative of a contaminant, said image processor adjusts processing when processing subsequent frames of captured image data;

wherein adjustment of processing when processing the subsequent frames of captured image data comprises detecting, in a second frame of captured image data, image data associated with the blob detected in the first frame of captured image data; and

wherein, responsive to said image processor determining, via processing of the second frame of captured image data, at a second confidence level of at least 80%, that the blob detected in the second frame of captured image data is indicative of a contaminant, said image processor determines that the blob detected in the second frame of captured image data is representative of a contaminant at said lens of said camera.

2. The vision system of claim 1, wherein said vision system, responsive to said image processor determining that the blob detected in the second frame of captured image data is representative of a contaminant at said lens, triggers a function.

3. The vision system of claim 2, wherein said function triggered by said vision system comprises cleaning of said lens of said camera.

4. The vision system of claim 2, wherein said function triggered by said vision system comprises an input for adjusting the processing of at least one consecutive or parallel algorithm.

5. The vision system of claim 1, wherein, responsive to determination that the detected blob is representative of a contaminant, and responsive to an exterior temperature sensor, said vision system is operable to control an HVAC system of the equipped vehicle.

6. The vision system of claim 1, wherein said first confidence level is less than said second confidence level.

7. The vision system of claim 1, wherein said image processor is operable to adapt image processing of captured image data responsive to a determination of an environment in which the vehicle is being driven.

8. The vision system of claim 1, wherein, after processing multiple frames of captured image data, said vision system compares a stored value to a contrast minimum value to determine if the blob detected in the second frame of captured image data is representative of a contaminant at said lens.

9. The vision system of claim 1, wherein, responsive to said image processor determining that the blob detected in the second frame of captured image data is representative of a contaminant at said lens, said vision system generates an alert.

10. The vision system of claim 1, wherein said contaminant comprises dirt at said lens of said camera.

11. The vision system of claim 1, wherein said first confidence level is generally the same as said second confidence level.

12. The vision system of claim 1, wherein said first and second confidence levels comprise preselected confidence parameters of said vision system.

13. The vision system of claim 1, wherein said camera is disposed at a rear exterior portion of the equipped vehicle and views at least rearward of the equipped vehicle.

14. The vision system of claim 13, wherein image data captured by said camera is processed by said image processor to detect objects at or near the equipped vehicle to assist a driver of the equipped vehicle in maneuvering the equipped vehicle in a rearward direction.

15. The vision system of claim 14, wherein processing of captured image data by said image processor comprises detection and analysis of moving vectors representative of objects detected present in the field of view of said camera in order to determine which detected objects are objects of interest to the driver of the vehicle.

16. A vision system for a vehicle, said vision system comprising:

a camera disposed at a vehicle equipped with said vision system, said camera comprising an image sensor and a lens, wherein, when said camera is disposed at the equipped vehicle, said lens is exposed to the environment exterior the equipped vehicle;

wherein said camera has an exterior field of view exterior the equipped vehicle and is operable to capture image data representative of a scene occurring in the field of view of said camera;

an image processor operable to process multiple frames of image data captured by said camera while the vehicle is moving;

wherein said image processor processes captured image data while the vehicle is moving to detect a blob in a first frame of captured image data;

wherein, responsive to detecting, via processing the first frame of captured image data, the blob in the first frame of captured image data, said vision system determines at a first confidence level that the blob detected in the first frame of captured image data is indicative of a contaminant;

wherein, responsive to said image processor determining, with the first confidence level being at least 80%, that the blob detected in the first frame of captured image data is indicative of a contaminant, said image processor adjusts processing when processing subsequent frames of captured image data;

wherein adjustment of processing when processing the subsequent frames of captured image data comprises detecting, in a second frame of captured image data, image data associated with the blob detected in the first frame of captured image data;

wherein, responsive to said image processor determining, via processing of the second frame of captured image data, with a second confidence level of at least 80%, that the blob detected in the second frame of captured image data is indicative of a contaminant, said image processor determines that the blob detected in the second frame of captured image data is representative of a contaminant at said lens of said camera;

wherein said vision system, responsive to said image processor determining that the blob detected in the second frame of captured image data is representative of a contaminant at said lens, triggers a function;

wherein said function triggered by said vision system comprises cleaning of said lens of said camera; and

wherein said camera is disposed at a rear exterior portion of the equipped vehicle and views at least rearward of the equipped vehicle.

17. The vision system of claim 16, wherein image data captured by said camera is processed by said image processor to detect objects at or near the equipped vehicle to assist a driver of the equipped vehicle in maneuvering the equipped vehicle in a rearward direction.

18. The vision system of claim 17, wherein processing of captured image data by said image processor comprises detection and analysis of moving vectors representative of objects detected present in the field of view of said camera in order to determine which detected objects are objects of interest to the driver of the vehicle.

19. A vision system for a vehicle, said vision system comprising:

a camera disposed at a vehicle equipped with said vision system, said camera comprising an image sensor and a lens, wherein, when said camera is disposed at the equipped vehicle, said lens is exposed to the environment exterior the equipped vehicle;

wherein said camera has an exterior field of view exterior the equipped vehicle and is operable to capture image data representative of a scene occurring in the field of view of said camera;

an image processor operable to process multiple frames of image data captured by said camera while the vehicle is moving;

wherein said image processor processes captured image data while the vehicle is moving to detect a blob in a first frame of captured image data;

wherein, responsive to detecting, via processing the first frame of captured image data, the blob in the first frame of captured image data, said vision system determines at a first confidence level that the blob detected in the first frame of captured image data is indicative of a contaminant;

wherein, responsive to said image processor determining, with the first confidence level being at least 80%, that the blob detected in the first frame of captured image data is indicative of a contaminant, said image processor adjusts processing when processing subsequent frames of captured image data;

wherein adjustment of processing when processing the subsequent frames of captured image data comprises detecting, in a second frame of captured image data, image data associated with the blob detected in the first frame of captured image data;

wherein, responsive to said image processor determining, via processing of the second frame of captured image data, with a second confidence level of at least 80%, that the blob detected in the second frame of captured image data is indicative of a contaminant, said image processor determines that the blob detected in the second frame of captured image data is representative of a contaminant at said lens of said camera;

wherein, responsive to said image processor determining that the blob detected in the second frame of captured image data is representative of a contaminant at said lens, said vision system generates an alert; and

wherein said camera is disposed at a rear exterior portion of the equipped vehicle and views at least rearward of the equipped vehicle.

20. The vision system of claim 19, wherein said vision system, responsive to said image processor determining that the blob detected in the second frame of captured image data is representative of a contaminant at said lens, triggers a function, and wherein said function triggered by said vision system comprises cleaning of said lens of said camera.