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Vehicle vision system with image processing

  • US 10,210,399 B2
  • Filed: 12/16/2014
  • Issued: 02/19/2019
  • Est. Priority Date: 12/20/2013
  • Status: Active Grant
First Claim
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1. A vision system of a vehicle, said vision system comprising:

  • a camera disposed at a vehicle and having a field of view exterior of the vehicle;

    wherein said camera, when disposed at the vehicle, is at a known height relative to a ground surface at which the vehicle is located;

    an image processor operable to process image data captured by said camera;

    wherein said image processor, using a kinematics model of the vehicle, processes two or more frames of captured image data to determine a path of travel of the vehicle;

    wherein said system uses ground points segmentation and the kinematics model of the vehicle to determine distance traveled by the vehicle between two or more frames of captured image data;

    wherein said system identifies as ground points image data points that travel the same distance as the vehicle but in a direction opposite to that of the vehicle, and wherein said system identifies other image data points as points of a three dimensional object;

    wherein said system monitors the determined points of a three dimensional object to determine their movement, while not monitoring the determined ground points;

    wherein, responsive to processing of captured image data by said image processor and monitoring the determined points of a three dimensional object, said image processor determines presence of a pedestrian in the field of view of said camera;

    wherein, responsive to processing of captured image data by said image processor, said vision system determines a distal portion of the determined pedestrian relative to the vehicle and determines a ground location at which the determined distal portion of the determined pedestrian is located;

    wherein, responsive to the determined ground location of the determined distal portion of the determined pedestrian and responsive to the known height of said camera relative to the ground surface, said vision system determines a distance to the determined pedestrian; and

    wherein, at least in part responsive to the determined pedestrian being within a threshold distance to the vehicle, and at least in part responsive to the determined pedestrian being in the determined path of the vehicle, said vision system generates an alert to a driver of the vehicle.

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