Forward-facing multi-imaging system for navigating a vehicle

• US 10,650,254 B2
• Filed: 05/17/2018
• Issued: 05/12/2020
• Est. Priority Date: 10/14/2013
• Status: Active Grant

• Current Assignee: MobilEye Vision Technologies Ltd. (Intel Corporation)
• Original Assignee: MobilEye Vision Technologies Ltd. (Intel Corporation)
• Inventors: Shashua, Amnon, Hayon, Gaby, Hadad, Yossi, Belman, Efim, Bagon, Eyal
• Primary Examiner(s): Anyikire, Chikaodili E
• Application Number:
  US15/982,105
• Publication Number:
  US 20180268226A1
• Time in Patent Office: 726 Days
• Field of Search: None
• CPC Class Codes: G05D 1/0251 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision stereoscopic image analysis H04N13/00; depth recovery from images G06T7/593
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/30256 Lane; Road marking
• CPC Class Codes: G06T 7/285 using a sequence of stereo image pairs
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle
• 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: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
• CPC Class Codes: H04N 7/181 for receiving images from a plurality of remote sources

Abstract

Systems and methods use cameras to provide autonomous navigation features. In one implementation, a driver-assist system is provided for a vehicle. The system may include one or more image capture devices configured to acquire images of an area forward of the vehicle. The system may also include at least one processing device configured to receive, via one or more data interfaces, the images. The at least one processing device may be further configured to analyze the images acquired by the one or more image capture devices and cause at least one navigational response in the vehicle based on monocular and/or stereo image analysis of the images.

Claims

1. A tri-focal camera system for a vehicle, the system comprising:

a first image capture device configured to acquire a first plurality of images of an area forward of the vehicle, wherein the first image capture device has a first angular field of view;

a second image capture device configured to acquire a second plurality of images of an area forward of the vehicle, wherein the second image capture device has a second angular field of view greater than the first angular field of view; and

a third image capture device configured to acquire a third plurality of images of an area forward of the vehicle, wherein the third image capture device has a third angular field of view greater than the second angular field of view,

wherein the first image capture device, the second image capture device, and the third image capture device are mounted such that the first angular field of view at least partially overlaps the third angular field of view, and the second angular field of view at least partially overlaps the third angular field of view.

2. The tri-focal camera system of claim 1, wherein the first angular field of view is between 20 degrees and 45 degrees.

3. The tri-focal camera system of claim 1, wherein the second angular field of view is between 35 degrees and 60 degrees.

4. The tri-focal camera system of claim 1, wherein the third angular field of view is between 100 degrees and 180 degrees.

5. The tri-focal camera system of claim 1, wherein the first image capture device, the second image capture device, and the third image capture device are mounted behind a rearview mirror of the vehicle.

6. The tri-focal camera system of claim 1, wherein the first image capture device, the second image capture device, and the third image capture device are mounted behind a glare shield.

7. The tri-focal camera system of claim 6, wherein the glare shield is flush with a windshield of the vehicle.

8. The tri-focal camera system of claim 1, wherein the first image capture device, the second image capture device, and the third image capture device are positioned side-by-side.

9. The tri-focal camera system of claim 1, wherein the first image capture device is positioned within 6 cm of the second image capture device, and the first image capture device is positioned within 6 cm of the third image capture device.

10. The tri-focal camera system of claim 1, wherein at least one of the first image capture device, the second image capture device, and the third image capture device include at least one polarizer for damping reflected light.

11. The tri-focal camera system of claim 1, wherein the first image capture device has an associated first scan rate, the second image capture device has an associated second scan rate, and the third image capture device has an associated third scan rate.

12. The tri-focal camera system of claim 11, wherein the first scan rate and the third scan rate are configured to synchronously scan an overlapping portion of the first angular field of view and the third angular field of view.

13. The tri-focal camera system of claim 11, wherein the second scan rate and the third scan rate are configured to synchronously scan an overlapping portion of the second angular field of view and the third angular field of view.

14. The tri-focal camera system of claim 11, wherein:

the first image capture device has an associated first resolution, the second image capture device has an associated second resolution, and the third image capture device has an associated third resolution, and

the associated scan rates depend on the associated resolutions.

15. The tri-focal camera system of claim 1, further comprising at least one processor configured to perform a monocular image analysis on at least one image of at least one of:

the first plurality of images, the second plurality of images, or the second plurality of images.

16. The tri-focal camera system of claim 1, wherein the tri-focal camera system is part of an ADAS (Advanced Driver Assistance Systems) imaging system.

17. The tri-focal camera system of claim 1, further comprising at least one processor configured to detect an object in the area forward of the vehicle based on at least one of the first plurality of images, the second plurality of images, or the third plurality of images.

18. The tri-focal camera system of claim 17, wherein the at least one processor configured to:

detect an object in the area forward of the vehicle based on at least one of the first plurality of images, the second plurality of images, or the third plurality of images; and

validate the detection of the object based on another of the first plurality of images, the second plurality of images, and the third plurality of images.

19. The tri-focal camera system of claim 17, wherein at least one processor configured to:

detect an object in the area forward of the vehicle based on at least one of the first plurality of images, the second plurality of images, or the third plurality of images; and

provide supplement information relating to the object based on another of the first plurality of images, the second plurality of images, and the third plurality of images.

20. A tri-focal camera system for a vehicle, the system comprising:

a first image capture device configured to acquire a first plurality of images of an area forward of the vehicle, wherein the first image capture device has a first angular field of view;

a second image capture device configured to acquire a second plurality of images of an area forward of the vehicle, wherein the second image capture device has a second angular field of view greater than the first angular field of view; and

a third image capture device configured to acquire a third plurality of images of an area forward of the vehicle, wherein the third image capture device has a third angular field of view greater than the second angular field of view,

wherein the first image capture device, the second image capture device, and the third image capture device are mounted such that the first angular field of view falls within the third angular field of view, and the second angular field of view falls within the third angular field of view.

21. The tri-focal camera system of claim 20, wherein the first angular field of view shares a common center with at least one of the second angular field of view and the third angular field of view.

22. The tri-focal camera system of claim 20, wherein the third image capture device is mounted lower than the second image capture device and the first image capture device.

23. The tri-focal camera system of claim 20, wherein the second image capture device has a maximum scan rate that is at least 1.25 times a maximum scan rate of the third image capture device, and the first image capture device has a maximum scan rate that is at least 1.25 times a maximum scan rate of the third image capture device.

24. The tri-focal camera system of claim 20, wherein the first image capture device, the second image capture device, and the third image capture device each have the same maximum scan rate.

25. The tri-focal camera system of claim 24, wherein the third image capture device is configured to operate at a scan rate less than the maximum scan rate.

26. The tri-focal camera system of claim 20, wherein the first image capture device has an associated first focal length, the second image capture device has an associated second focal length different from the first focal length, and the third image capture device has an associated third focal length different from the first focal length and the second focal length.