Method for displaying video images for a vehicular vision system

• US 10,574,885 B2
• Filed: 08/20/2018
• Issued: 02/25/2020
• Est. Priority Date: 05/06/2013
• Status: Active Grant

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Inventors: Lu, Yuesheng, Shriner, Richard D.
• Primary Examiner(s): Chio, Tat C
• Application Number:
  US16/105,195
• Publication Number:
  US 20180352160A1
• Time in Patent Office: 554 Days
• CPC Class Codes: B32B 17/10 of synthetic resin
• CPC Class Codes: B32B 17/10005 laminated safety glass or glazing
• CPC Class Codes: B32B 17/10036 comprising two outer glass sheets
• CPC Class Codes: B32B 17/10477 thermochromic
• CPC Class Codes: B32B 17/10651 comprising colorants, e.g. dyes or pigments
• CPC Class Codes: B32B 17/10761 containing vinyl acetal
• CPC Class Codes: B32B 2367/00 Polyesters, e.g. PET, i.e. polyethylene terephthalate
• CPC Class Codes: B60R 1/00 Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
• CPC Class Codes: B60R 1/27 providing all-round vision, e.g. using omnidirectional cameras
• CPC Class Codes: B60R 2300/105 using multiple cameras
• CPC Class Codes: B60R 2300/303 using joined images, e.g. multiple camera images
• CPC Class Codes: B60R 2300/50 characterised by the display information being shared, e.g. external display, data transfer to other traffic participants or centralised traffic controller
• CPC Class Codes: B60R 2300/605 the adjustment being automatic
• CPC Class Codes: B60R 2300/607 from a bird's eye viewpoint
• CPC Class Codes: B60R 2300/70 characterised by an event-triggered choice to display a specific image among a selection of captured images
• CPC Class Codes: E06B 9/24 Screens or other constructions affording protection against light, especially against sunshine; Similar screens for privacy or appearance; Slat blindsoperating, guiding or securing devices or arrangements for roll-type closures E06B9/56; free-hanging flexible screens A47H23/00
• CPC Class Codes: G02F 1/009 Thermal properties
• CPC Class Codes: G02F 1/0147 based on thermo-optic effects G02F1/132 takes precedence
• CPC Class Codes: G06V 10/141 Control of illumination
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle
• CPC Class Codes: H04N 23/698 : for achieving an enlarged field of view, e.g. panoramic image capture
• CPC Class Codes: H04N 23/90 : Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums

Abstract

A method for displaying video images includes providing a plurality of cameras and an electronic control unit at the vehicle. One of the cameras functions as a master camera and other cameras function as slave cameras. During a forward driving maneuver of the vehicle, the forward viewing camera functions as the master camera and at least the driver-side sideward viewing and passenger-side sideward viewing cameras function as slave cameras, during a reversing maneuver of the vehicle, the rearward viewing camera functions as the master camera and at least the driver-side sideward viewing and passenger-side sideward viewing cameras function as slave cameras. Exposure, gain and white balance parameters of the master camera are used at least by the master camera and the slave cameras. A composite image is displayed, with adjacent image sections of the composite image appearing uniform in brightness and/or color at the borders of the image sections.

Claims

1. A method for displaying video images for a vehicular vision system, said method comprising:

providing a plurality of cameras at a vehicle so as to have respective fields of view exterior of the vehicle;

wherein the provided plurality of cameras comprises a forward viewing camera having at least a forward field of view forward of the vehicle, a rearward viewing camera having at least a rearward field of view rearward of the vehicle, a driver-side sideward viewing camera having at least a sideward field of view at a driver side of the vehicle and a passenger-side sideward viewing camera having at least a sideward field of view at a passenger side of the vehicle;

providing an electronic control unit at the vehicle;

wherein each of the provided plurality of cameras is operable to (i) automatically control its exposure, gain and white balance responsive to a first control signal received from the electronic control unit and (ii) disable automatic control of its exposure, gain and white balance responsive to a second control signal received from the electronic control unit;

wherein one of the provided plurality of cameras functions as a master camera and other cameras of the provided plurality of cameras function as slave cameras;

wherein, during a forward driving maneuver of the vehicle, the forward viewing camera functions as the master camera and at least the driver-side sideward viewing camera and the passenger-side sideward viewing camera function as slave cameras;

during the forward driving maneuver of the vehicle with the forward viewing camera functioning as the master camera, (i) enabling, via the first signal from the electronic control unit, automatic control of exposure, gain and white balance of the forward viewing camera, (ii) disabling, via respective second signals from the electronic control unit, automatic control of exposure, gain and white balance of at least the driver-side sideward viewing camera and the passenger-side sideward viewing camera, and (iii) controlling, via the electronic control unit, exposure, gain and white balance of at least the driver-side sideward viewing camera and the passenger-side sideward viewing camera in accordance with the enabled automatic control of the forward viewing camera;

wherein, during a reversing maneuver of the vehicle, the rearward viewing camera functions as the master camera and at least the driver-side sideward viewing camera and the passenger-side sideward viewing camera function as slave cameras;

during the reversing maneuver of the vehicle with the rearward viewing camera functioning as the master camera, (i) enabling, via the first signal from the electronic control unit, automatic control of exposure, gain and white balance of the rearward viewing camera, (ii) disabling, via respective second signals from the electronic control unit, automatic control of exposure, gain and white balance of at least the driver-side sideward viewing camera and the passenger-side sideward viewing camera, and (iii) controlling, via the electronic control unit, exposure, gain and white balance of at least the driver-side sideward viewing camera and the passenger-side sideward viewing camera in accordance with the enabled automatic control of the rearward viewing camera;

processing image data captured by the provided plurality of cameras;

responsive to processing of captured image data, synthesizing a composite image derived from image data captured by at least the master camera and the slave cameras;

wherein the composite image comprises a bird'"'"'s eye view image derived from image data captured by at least the master camera and the slave cameras;

wherein exposure, gain and white balance parameters of the master camera are used at least by the master camera and the slave cameras;

wherein exposure, gain and white balance parameters of the master camera are carried between the master camera and the electronic control unit;

sending, via the electronic control unit, exposure, gain and white balance parameters carried between the master camera and the electronic control unit to at least the slave cameras; and

displaying the composite image at a display device of the vehicle for viewing by a driver of the vehicle, wherein borders of adjacent image sections of the composite image, when displayed at the display device of the vehicle for viewing by the driver of the vehicle, appear uniform in at least one of (i) brightness at the borders of the image sections and (ii) color at the borders of the image sections.

2. The method of claim 1, wherein, responsive to the electronic control unit making a viewing mode change, selecting, via the electronic control unit, which of the provided plurality of cameras that will comprise the master camera, and sending configuration commands to the provided plurality of cameras to re-configure them to suitable master and slave modes.

3. The method of claim 1, comprising sending, via the electronic control unit, exposure, gain and white balance parameters of the master camera to slave cameras so slave cameras operate with a same set of exposure, gain and white balance parameters as used by the master camera.

4. The method of claim 1, comprising sending, via the electronic control unit, exposure, gain and white balance parameters carried between the master camera and the electronic control unit to slave cameras so that the borders of the adjacent image sections of the composite image, when displayed to at the display device of the vehicle for viewing by the driver of the vehicle, appear uniform in brightness at the borders of the image sections.

5. The method of claim 1, comprising sending, via the electronic control unit, exposure, gain and white balance parameters carried between the master camera and the electronic control unit to slave cameras so that the borders of the adjacent image sections of the composite image, when displayed at the display device of the vehicle for viewing by the driver of the vehicle, appear uniform in color at the borders of the image sections.

6. The method of claim 1, wherein the composite image comprises a bird'"'"'s eye view image derived from image data captured by the rearward viewing camera, the driver-side sideward viewing camera, the forward viewing camera and the passenger-side sideward viewing camera.

7. The method of claim 1, comprising disabling, during the forward driving maneuver of the vehicle, automatic control of exposure, gain and white balance of the rearward viewing camera.

8. The method of claim 1, comprising disabling, during the reversing maneuver of the vehicle, automatic control of exposure, gain and white balance of the forward viewing camera.

9. The method of claim 1, comprising, when the driving maneuver of the vehicle comprises a forward driving maneuver, (i) selecting the forward viewing camera as the master camera, (ii) selecting the rearward viewing camera, the driver-side sideward viewing camera and the passenger-side sideward viewing camera as slave cameras, and (iii) sending, via the electronic control unit, exposure, gain and white balance parameters carried between the master camera and the electronic control unit to the rearward viewing camera, the driver-side sideward viewing camera and the passenger-side sideward viewing camera.

10. The method of claim 1, comprising, when the driving maneuver of the vehicle comprises a reversing maneuver, (i) selecting the rearward viewing camera as the master camera, (ii) selecting the forward viewing camera, the driver-side sideward viewing camera and the passenger-side sideward viewing camera as slave cameras, and (iii) sending, via the electronic control unit, exposure, gain and white balance parameters carried between the master camera and the electronic control unit to the forward viewing camera, the driver-side sideward viewing camera and the passenger-side sideward viewing camera.

11. A method for displaying video images for a vehicular vision system, said method comprising:

providing a plurality of cameras at a vehicle so as to have respective fields of view exterior of the vehicle;

wherein the provided plurality of cameras comprises a forward viewing camera having at least a forward field of view forward of the vehicle, a rearward viewing camera having at least a rearward field of view rearward of the vehicle, a driver-side sideward viewing camera having at least a sideward field of view at a driver side of the vehicle and a passenger-side sideward viewing camera having at least a sideward field of view at a passenger side of the vehicle;

providing an electronic control unit at the vehicle;

wherein each of the provided plurality of cameras is operable to (i) automatically control its exposure, gain and white balance responsive to a first control signal received from the electronic control unit and (ii) disable automatic control of its exposure, gain and white balance responsive to a second control signal received from the electronic control unit;

wherein one of the provided plurality of cameras functions as a master camera and other cameras of the provided plurality of cameras function as slave cameras;

during a forward driving maneuver, (i) selecting the forward viewing camera as the master camera and (ii) selecting at least the driver-side sideward viewing camera and the passenger-side sideward viewing camera as slave cameras;

during a reversing maneuver, (i) selecting the rearward viewing camera as the master camera, (ii) selecting at least the driver-side sideward viewing camera and the passenger-side sideward viewing camera as slave cameras;

during the forward driving maneuver or the reversing maneuver, (i) enabling, via the first signal from the electronic control unit, automatic control of exposure, gain and white balance of the master camera, (ii) disabling, via respective second signals from the electronic control unit, automatic control of exposure, gain and white balance of the slave cameras, (iii) sending, via the electronic control unit, exposure, gain and white balance parameters carried between the master camera and the electronic control unit to the slave cameras, and (iv) controlling, via the electronic control unit, exposure, gain and white balance of at least the slave cameras in accordance with the enabled automatic control of the master;

processing image data captured by the provided plurality of cameras;

responsive to processing of captured image data, synthesizing a composite image derived from image data captured by at least the master camera and the slave cameras;

wherein the composite image comprises a bird'"'"'s eye view image derived from image data captured by at least the master camera and the slave cameras; and

displaying the composite image at a display device of the vehicle for viewing by a driver of the vehicle, wherein borders of adjacent image sections of the composite image, when displayed at the display device of the vehicle for viewing by the driver of the vehicle, appear uniform in at least one of (i) brightness at the borders of the image sections and (ii) color at the borders of the image sections.

12. The method of claim 11, wherein the borders of the adjacent image sections of the composite image, when displayed at the display device of the vehicle for viewing by the driver of the vehicle, appear uniform in brightness at the borders of the image sections.

13. The method of claim 11, wherein the borders of the adjacent image sections of the composite image, when displayed at the display device of the vehicle for viewing by the driver of the vehicle, appear uniform in color at the borders of the image sections.

14. The method of claim 11, wherein the composite image comprises a bird'"'"'s eye view image derived from image data captured by the rearward viewing camera, the driver-side sideward viewing camera, the forward viewing camera and the passenger-side sideward viewing camera.

15. The method of claim 11, comprising disabling, during the forward driving maneuver of the vehicle, automatic control of exposure, gain and white balance of the rearward viewing camera.

16. The method of claim 11, comprising disabling, during the reversing maneuver of the vehicle, automatic control of exposure, gain and white balance of the forward viewing camera.

17. A method for displaying video images for a vehicular vision system, said method comprising:

providing a plurality of cameras at a vehicle so as to have respective fields of view exterior of the vehicle;

wherein the provided plurality of cameras comprises a forward viewing camera having at least a forward field of view forward of the vehicle, a rearward viewing camera having at least a rearward field of view rearward of the vehicle, a driver-side sideward viewing camera having at least a sideward field of view at a driver side of the vehicle and a passenger-side sideward viewing camera having at least a sideward field of view at a passenger side of the vehicle;

providing an electronic control unit at the vehicle;

wherein each of the provided plurality of cameras is operable to (i) automatically control its exposure, gain and white balance responsive to a first control signal received from the electronic control unit and (ii) disable automatic control of its exposure, gain and white balance responsive to a second control signal received from the electronic control unit;

wherein one of the provided plurality of cameras functions as a master camera and other cameras of the provided plurality of cameras function as slave cameras;

wherein, during a forward driving maneuver of the vehicle, the forward viewing camera functions as the master camera and the rearward viewing camera, the driver-side sideward viewing camera and the passenger-side sideward viewing camera function as slave cameras;

wherein, during a reversing maneuver of the vehicle, the rearward viewing camera functions as the master camera and the forward viewing camera, the driver-side sideward viewing camera and the passenger-side sideward viewing camera function as slave cameras;

during the forward driving maneuver of the vehicle or the reversing maneuver, (i) enabling, via the first signal from the electronic control unit, automatic control of exposure, gain and white balance of the master camera, (ii) disabling, via respective second signals from the electronic control unit, automatic control of exposure, gain and white balance of the slave cameras, (iii) carrying exposure, gain and white balance parameters of the master camera between the master camera and the electronic control unit, (iv) sending, via the electronic control unit, exposure, gain and white balance parameters carried between the master camera and the electronic control unit to at least the slave cameras, and (v) controlling, via the electronic control unit, exposure, gain and white balance of the slave cameras in accordance with the exposure, gain and white balance parameters of the master camera;

processing image data captured by the provided plurality of cameras;

responsive to processing of captured image data, synthesizing a composite image derived from image data captured by at least the master camera and the slave cameras;

wherein the composite image comprises a bird'"'"'s eye view image derived from image data captured by at least the master camera and the slave cameras; and

displaying the composite image at a display device of the vehicle for viewing by a driver of the vehicle, wherein borders of adjacent image sections of the composite image, when displayed at the display device of the vehicle for viewing by the driver of the vehicle, appear uniform in at least one of (i) brightness at the borders of the image sections and (ii) color at the borders of the image sections.

18. The method of claim 17, wherein, responsive to the electronic control unit making a viewing mode change, selecting, via the electronic control unit, which of the provided plurality of cameras that will comprise the master camera, and sending configuration commands to the provided plurality of cameras to re-configure them to suitable master and slave modes.

19. The method of claim 17, comprising, when the driving maneuver of the vehicle comprises a forward driving maneuver, (i) selecting the forward viewing camera as the master camera, (ii) selecting the rearward viewing camera, the driver-side sideward viewing camera and the passenger-side sideward viewing camera as slave cameras, and (iii) sending, via the electronic control unit, exposure, gain and white balance parameters carried between the forward viewing camera and the electronic control unit to the rearward viewing camera, the driver-side sideward viewing camera and the passenger-side sideward viewing camera.

20. The method of claim 17, comprising, when the driving maneuver of the vehicle comprises a reversing maneuver, (i) selecting the rearward viewing camera as the master camera, (ii) selecting the forward viewing camera, the driver-side sideward viewing camera and the passenger-side sideward viewing camera as slave cameras, and (iii) sending, via the electronic control unit, exposure, gain and white balance parameters carried between the rearward viewing camera and the electronic control unit to the forward viewing camera, the driver-side sideward viewing camera and the passenger-side sideward viewing camera.