Vision system for vehicle

• US 10,640,040 B2
• Filed: 09/10/2018
• Issued: 05/05/2020
• Est. Priority Date: 11/28/2011
• Status: Active Grant

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Inventors: Ihlenburg, Joern, Koppe, Andreas, Gieseke, Achim, Mahmoud, Hossam, Diessner, Horst D.
• Primary Examiner(s): Jiang, Zaihan
• Application Number:
  US16/125,903
• Publication Number:
  US 20190001889A1
• Time in Patent Office: 603 Days
• Field of Search: 348118
• 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 2300/105 using multiple cameras
• CPC Class Codes: B60R 2300/303 using joined images, e.g. multiple camera images
• CPC Class Codes: B60R 2300/802 for monitoring and displaying vehicle exterior blind spot views
• CPC Class Codes: B60R 2300/806 for aiding parking
• CPC Class Codes: B60R 2300/8066 for monitoring rearward traffic
• CPC Class Codes: B60R 2300/8093 for obstacle warning
• CPC Class Codes: G02B 3/14 of variable focal length
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 7/246 using feature-based methods, e.g. the tracking of corners or segments
• 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 23/90 Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
• CPC Class Codes: H04N 7/18 Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

Abstract

A vehicular vision system includes front, rear, driver-side camera and passenger-side cameras each having a respective field of view exterior of the vehicle. Each of the cameras connects with a central video/image processor via a respective mono coaxial cable. Image data captured by the imaging sensor of each camera is carried as captured to the central video/image processor via said the respective mono coaxial cable as a Low Voltage Differential Signal (LVDS). The central video/image processor generates an output provided to a video display device of the vehicle, with the video display device having a video display screen viewable by a driver of the vehicle. The video display screen is operable to display a birds-eye view of an area around the vehicle. The birds-eye view of the area around the vehicle is derived, at least in part, from image data captured by the imaging sensors of the cameras.

Claims

1. A vehicular vision system, said vehicular vision system comprising:

a plurality of cameras disposed at a vehicle equipped with said vehicular vision system, each having a respective field of view exterior of the vehicle;

said plurality of cameras comprising a front camera disposed at a front portion of the equipped vehicle, said front camera comprising an imaging sensor comprising an array of a plurality of photosensor elements arranged in multiple columns and multiple rows, the imaging sensor of said front camera having a forward field of view exterior of the equipped vehicle and operable to capture image data;

said plurality of cameras comprising a rear camera disposed at a rear portion of the equipped vehicle, said rear camera comprising an imaging sensor comprising an array of a plurality of photosensor elements arranged in multiple columns and multiple rows, the imaging sensor of said rear camera having a rearward field of view exterior of the equipped vehicle and operable to capture image data;

said plurality of cameras comprising a driver-side camera disposed at a driver-side portion of the equipped vehicle, said driver-side camera comprising an imaging sensor comprising an array of a plurality of photosensor elements arranged in multiple columns and multiple rows, the imaging sensor of said driver-side camera having a sideward field of view exterior of the equipped vehicle and operable to capture image data;

said plurality of cameras comprising a passenger-side camera disposed at a passenger-side portion of the equipped vehicle, said passenger-side camera comprising an imaging sensor comprising an array of a plurality of photosensor elements arranged in multiple columns and multiple rows, the imaging sensor of said passenger-side camera having a sideward field of view exterior of the equipped vehicle and operable to capture image data;

a central video/image processor;

wherein said front camera connects with said central video/image processor via a first mono coaxial cable;

wherein said rear camera connects with said central video/image processor via a second mono coaxial cable;

wherein said driver-side camera connects with said central video/image processor via a third mono coaxial cable;

wherein said passenger-side camera connects with said central video/image processor via a fourth mono coaxial cable;

wherein image data captured by the imaging sensor of said front camera is carried as captured to said central video/image processor via said first mono coaxial cable as a Low Voltage Differential Signal (LVDS);

wherein image data captured by the imaging sensor of said rear camera is carried as captured to said central video/image processor via said second mono coaxial cable as an LVDS;

wherein image data captured by the imaging sensor of said driver-side camera is carried as captured to said central video/image processor via said third mono coaxial cable as an LVDS;

wherein image data captured by the imaging sensor of said passenger-side camera is carried as captured to said central video/image processor via said fourth mono coaxial cable as an LVDS;

wherein said first mono coaxial cable functions as a bidirectional channel carrying control data from said central video/image processor to said front camera and carrying image data captured by the imaging sensor of said front camera from said front camera to said central video/image processor;

wherein said second mono coaxial cable functions as a bidirectional channel carrying control data from said central video/image processor to said rear camera and carrying image data captured by the imaging sensor of said rear camera from said rear camera to said central video/image processor;

wherein said third mono coaxial cable functions as a bidirectional channel carrying control data from said central video/image processor to said driver-side camera and carrying image data captured by the imaging sensor of said driver-side camera from said driver-side camera to said central video/image processor;

wherein said fourth mono coaxial cable functions as a bidirectional channel carrying control data from said central video/image processor to said passenger-side camera and carrying image data captured by the imaging sensor of said passenger-side camera from said passenger-side camera to said central video/image processor;

wherein said central video/image processor generates an output provided to a video display device of the equipped vehicle, said video display device comprising a video display screen viewable by a driver of the equipped vehicle;

wherein said video display screen is operable to display a birds-eye view of an area around the equipped vehicle; and

wherein the birds-eye view of the area around the equipped vehicle is derived, at least in part, from image data captured by the imaging sensors of (i) said front camera, (ii) said rear camera, (iii) said driver-side camera and (iv) said passenger-side camera.

2. The vision system of claim 1, wherein image data captured by at least said rear camera of said plurality of cameras is processed at said central video/image processor to detect an object to the rear of the equipped vehicle.

3. The vision system of claim 2, wherein, responsive to said processing at said central video/image processor, said vision system determines movement vectors, and wherein, responsive to determination of movement vectors, said vision system determines an object of interest in the field of view of at least said rear camera.

4. The vision system of claim 1, wherein said central video/image processor is operable to process input from at least one of an ultrasound sensor, a radar sensor, an infrared sensor, a Lidar sensor and a Laser sensor.

5. The vision system of claim 1, wherein said central video/image processor receives input from at least one non-permanently mounted device.

6. The vision system of claim 5, wherein at least one of (i) said non-permanently mounted device is plugged into a port attached to a bus architecture of the vehicle, (ii) said non-permanently mounted device is wirelessly connected to a bus architecture of the vehicle, (iii) said non-permanently mounted device comprises a mobile phone device and (iv) said non-permanently mounted device comprises a camera.

7. The vision system of claim 5, wherein said non-permanently mounted device comprises a camera that is wirelessly linked to the equipped vehicle.

8. The vision system of claim 1, wherein, responsive at least in part to processing of image data at said central video/image processor detecting presence of a hazardous object exterior of the equipped vehicle, an alert is provided to the driver of the vehicle.

9. The vision system of claim 1, wherein each camera of said plurality of cameras comprises a wafer level camera.

10. The vision system of claim 1, wherein each camera of said plurality of cameras comprises an LVDS chip.

11. The vision system of claim 1, wherein said driver-side camera disposed at the driver-side portion of the equipped vehicle is part of a driver-side exterior mirror assembly of the equipped vehicle, and wherein said passenger-side camera disposed at the passenger-side portion of the equipped vehicle is part of a passenger-side exterior mirror assembly of the equipped vehicle.

12. The vision system of claim 1, wherein said central video/image processor is disposed at a head unit of the equipped vehicle.

13. The vision system of claim 1, wherein said central video/image processor comprises a graphic engine.

14. The vision system of claim 1, wherein said rear camera comprises a rear backup camera of the equipped vehicle.

15. A vehicular vision system, said vehicular vision system comprising:

a plurality of cameras disposed at a vehicle equipped with said vehicular vision system, each having a respective field of view exterior of the vehicle;

said plurality of cameras comprising a front camera disposed at a front portion of the equipped vehicle, said front camera comprising an imaging sensor comprising an array of a plurality of photosensor elements arranged in multiple columns and multiple rows, the imaging sensor of said front camera having a forward field of view exterior of the equipped vehicle and operable to capture image data;

said plurality of cameras comprising a rear camera disposed at a rear portion of the equipped vehicle, said rear camera comprising an imaging sensor comprising an array of a plurality of photosensor elements arranged in multiple columns and multiple rows, the imaging sensor of said rear camera having a rearward field of view exterior of the equipped vehicle and operable to capture image data;

said plurality of cameras comprising a driver-side camera disposed at a driver-side portion of the equipped vehicle, said driver-side camera comprising an imaging sensor comprising an array of a plurality of photosensor elements arranged in multiple columns and multiple rows, the imaging sensor of said driver-side camera having a sideward field of view exterior of the equipped vehicle and operable to capture image data;

wherein said driver-side camera disposed at the driver-side portion of the equipped vehicle is part of a driver-side exterior mirror assembly of the equipped vehicle;

said plurality of cameras comprising a passenger-side camera disposed at a passenger-side portion of the equipped vehicle, said passenger-side camera comprising an imaging sensor comprising an array of a plurality of photosensor elements arranged in multiple columns and multiple rows, the imaging sensor of said passenger-side camera having a sideward field of view exterior of the equipped vehicle and operable to capture image data;

wherein said passenger-side camera disposed at the passenger-side portion of the equipped vehicle is part of a passenger-side exterior mirror assembly of the equipped vehicle;

a central video/image processor;

wherein said front camera connects with said central video/image processor via a first mono coaxial cable;

wherein said rear camera connects with said central video/image processor via a second mono coaxial cable;

wherein said driver-side camera connects with said central video/image processor via a third mono coaxial cable;

wherein said passenger-side camera connects with said central video/image processor via a fourth mono coaxial cable;

wherein image data captured by the imaging sensor of said front camera is carried as captured to said central video/image processor via said first mono coaxial cable as a Low Voltage Differential Signal (LVDS);

wherein image data captured by the imaging sensor of said rear camera is carried as captured to said central video/image processor via said second mono coaxial cable as an LVDS;

wherein image data captured by the imaging sensor of said driver-side camera is carried as captured to said central video/image processor via said third mono coaxial cable as an LVDS;

wherein image data captured by the imaging sensor of said passenger-side camera is carried as captured to said central video/image processor via said fourth mono coaxial cable as an LVDS;

wherein said first mono coaxial cable functions as a bidirectional channel carrying control data from said central video/image processor to said front camera and carrying image data captured by the imaging sensor of said front camera from said front camera to said central video/image processor;

wherein said second mono coaxial cable functions as a bidirectional channel carrying control data from said central video/image processor to said rear camera and carrying image data captured by the imaging sensor of said rear camera from said rear camera to said central video/image processor;

wherein said third mono coaxial cable functions as a bidirectional channel carrying control data from said central video/image processor to said driver-side camera and carrying image data captured by the imaging sensor of said driver-side camera from said driver-side camera to said central video/image processor;

wherein said fourth mono coaxial cable functions as a bidirectional channel carrying control data from said central video/image processor to said passenger-side camera and carrying image data captured by the imaging sensor of said passenger-side camera from said passenger-side camera to said central video/image processor;

wherein said central video/image processor generates an output provided to a video display device of the equipped vehicle, said video display device comprising a video display screen viewable by a driver of the equipped vehicle;

wherein said video display screen is operable to display a birds-eye view of an area around the equipped vehicle;

wherein the birds-eye view of the area around the equipped vehicle is derived, at least in part, from image data captured by the imaging sensors of (i) said front camera, (ii) said rear camera, (iii) said driver-side camera and (iv) said passenger-side camera; and

wherein image data captured by at least said rear camera of said plurality of cameras is processed at said central video/image processor to detect an object to the rear of the equipped vehicle.

16. The vision system of claim 15, wherein, responsive to said processing at said central video/image processor, said vision system determines movement vectors, and wherein, responsive to determination of movement vectors, said vision system determines an object of interest in the field of view of at least said rear camera.

17. The vision system of claim 15, wherein said central video/image processor is operable to process input from at least one sensor selected from the group consisting of an ultrasound sensor, a radar sensor and a Lidar sensor.

18. The vision system of claim 15, wherein each camera of said plurality of cameras comprises an LVDS chip.

19. The vision system of claim 18, wherein said central video/image processor comprises a graphic engine.

20. A vehicular vision system, said vehicular vision system comprising:

a plurality of cameras disposed at a vehicle equipped with said vehicular vision system, each having a respective field of view exterior of the vehicle;

said plurality of cameras comprising a front camera disposed at a front portion of the equipped vehicle, said front camera comprising an imaging sensor comprising an array of a plurality of photosensor elements arranged in multiple columns and multiple rows, the imaging sensor of said front camera having a forward field of view exterior of the equipped vehicle and operable to capture image data;

said plurality of cameras comprising a rear camera disposed at a rear portion of the equipped vehicle, said rear camera comprising an imaging sensor comprising an array of a plurality of photosensor elements arranged in multiple columns and multiple rows, the imaging sensor of said rear camera having a rearward field of view exterior of the equipped vehicle and operable to capture image data;

wherein said rear camera comprises a rear backup camera of the equipped vehicle;

said plurality of cameras comprising a driver-side camera disposed at a driver-side portion of the equipped vehicle, said driver-side camera comprising an imaging sensor comprising an array of a plurality of photosensor elements arranged in multiple columns and multiple rows, the imaging sensor of said driver-side camera having a sideward field of view exterior of the equipped vehicle and operable to capture image data;

wherein said driver-side camera disposed at the driver-side portion of the equipped vehicle is part of a driver-side exterior mirror assembly of the equipped vehicle;

said plurality of cameras comprising a passenger-side camera disposed at a passenger-side portion of the equipped vehicle, said passenger-side camera comprising an imaging sensor comprising an array of a plurality of photosensor elements arranged in multiple columns and multiple rows, the imaging sensor of said passenger-side camera having a sideward field of view exterior of the equipped vehicle and operable to capture image data;

wherein said passenger-side camera disposed at the passenger-side portion of the equipped vehicle is part of a passenger-side exterior mirror assembly of the equipped vehicle;

a central video/image processor;

wherein said front camera connects with said central video/image processor via a first mono coaxial cable;

wherein said rear camera connects with said central video/image processor via a second mono coaxial cable;

wherein said driver-side camera connects with said central video/image processor via a third mono coaxial cable;

wherein said passenger-side camera connects with said central video/image processor via a fourth mono coaxial cable;

wherein image data captured by the imaging sensor of said front camera is carried as captured to said central video/image processor via said first mono coaxial cable as a Low Voltage Differential Signal (LVDS);

wherein image data captured by the imaging sensor of said rear camera is carried as captured to said central video/image processor via said second mono coaxial cable as an LVDS;

wherein image data captured by the imaging sensor of said driver-side camera is carried as captured to said central video/image processor via said third mono coaxial cable as an LVDS;

wherein image data captured by the imaging sensor of said passenger-side camera is carried as captured to said central video/image processor via said fourth mono coaxial cable as an LVDS;

wherein said first mono coaxial cable functions as a bidirectional channel carrying control data from said central video/image processor to said front camera and carrying image data captured by the imaging sensor of said front camera from said front camera to said central video/image processor;

wherein said second mono coaxial cable functions as a bidirectional channel carrying control data from said central video/image processor to said rear camera and carrying image data captured by the imaging sensor of said rear camera from said rear camera to said central video/image processor;

wherein said third mono coaxial cable functions as a bidirectional channel carrying control data from said central video/image processor to said driver-side camera and carrying image data captured by the imaging sensor of said driver-side camera from said driver-side camera to said central video/image processor;

wherein said fourth mono coaxial cable functions as a bidirectional channel carrying control data from said central video/image processor to said passenger-side camera and carrying image data captured by the imaging sensor of said passenger-side camera from said passenger-side camera to said central video/image processor;

wherein said central video/image processor generates an output provided to a video display device of the equipped vehicle, said video display device comprising a video display screen viewable by a driver of the equipped vehicle;

wherein said video display screen is operable to display a birds-eye view of an area around the equipped vehicle;

wherein the birds-eye view of the area around the equipped vehicle is derived, at least in part, from image data captured by the imaging sensors of (i) said front camera, (ii) said rear camera, (iii) said driver-side camera and (iv) said passenger-side camera; and

wherein said central video/image processor is operable to process input from at least one sensor selected from the group consisting of an ultrasound sensor, a radar sensor and a Lidar sensor.

21. The vision system of claim 20, wherein said central video/image processor is operable to process input from an ultrasound sensor.

22. The vision system of claim 20, wherein said central video/image processor is operable to process input from a radar sensor.

23. The vision system of claim 20, wherein said central video/image processor is operable to process input from a Lidar sensor.

24. The vision system of claim 20, wherein image data captured by at least said rear camera of said plurality of cameras is processed at said central video/image processor to detect an object to the rear of the equipped vehicle.

25. The vision system of claim 24, wherein said plurality of cameras is a plurality of megapixel cameras.

26. The vision system of claim 20, wherein each camera of said plurality of cameras comprises an LVDS chip.

27. The vision system of claim 26, wherein said central video/image processor comprises a graphic engine.