VEHICLE IMAGING PROCESSING SYSTEM AND METHOD

• US 20060157639A1
• Filed: 01/18/2005
• Published: 07/20/2006
• Est. Priority Date: 01/18/2005
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Motor Company
• Inventors: Shaffer, Aric David, Miller, Ronald Hugh
• Granted Patent: US 7,196,305 B2
• Time in Patent Office: Days
• US Class Current: 250/208.100
• CPC Class Codes: B60S 1/08 electrically driven conjoint control of windscreen wiper motor and liquid supply of windscreen washer B60S1/482; conjoint control of windscreen wiper motor and means for cleaning parts o parts other than windscreens or front windows B60S1/56, B60S1/58, B60S1/606
• CPC Class Codes: G06T 5/50 using two or more images, e.g. averaging or subtraction
• CPC Class Codes: G06T 7/0002 Inspection of images, e.g. flaw detection

Abstract

An imaging system for a vehicle is provided. The system includes an image sensor generating a plurality of image frames, and a controller coupled to the image sensor. The controller is programmed to detect an obstructed image frame from the plurality of image frames. The obstruction corresponds to a windshield wiper of the vehicle. In response to detecting an obstructed image, the controller optimizes the obstructed image for display or use by a vehicle system. The controller detects an obstructed image by at least one of object sensing confirmation, edge detection, negative shift detection or headlight illumination detection.

Claims

1. An imaging system for a vehicle comprising:

an image sensor generating a plurality of image frames; and

a controller coupled to said image sensor, the controller programmed to detect an obstructed image frame from said plurality of image frames, said obstruction corresponding to a windshield wiper of said vehicle and, in response thereto, optimize the obstructed image for display or use by a vehicle system,

wherein the controller detects an obstructed image by at least one of object sensing confirmation, edge detection, negative shift detection or headlight illumination detection.

2. A system according to claim 1 wherein said image sensor comprises first and second cameras mounted behind the vehicle windshield in the sweep path of the vehicle wipers.

3. A system according to claim 1 wherein object sensing confirmation comprises determining whether an objecting sensing system confirms that no object similar to an object within said obstructed image frame is present within a system field of view.

4. A system according to claim 3 wherein said object sensing system comprises a radar or lidar sensor.

5. A system according to claim 1 wherein edge detection comprises determining an angle or area of an obstruction within said obstructed image and comparing said angle or area to threshold angle and area limits.

6. A system according to claim 1 wherein negative shift detection comprises determining a color or brightness shift from a preceding image to said obstructed image.

7. A system according to claim 1 wherein headlight illumination comprises, during night driving, comparing an area within a system field of view illuminated by headlights of said vehicle with a threshold area to determine whether said area is obstructed from view by a vehicle wiper.

8. A system according to claim 1 wherein optimizing the obstructed image comprises at least one of averaging multiple image frames or masking a wiper portion of the obstructed image.

9. A system according to claim 1 wherein said image sensor generates images 30 fps or greater.

10. An imaging system for a vehicle having an object sensing system for detecting objects within a system field of view, the imaging system comprising:

an image sensor located within a sweep path of a vehicle windshield wiper for generating a plurality of image frames; and

a controller coupled to said image sensor, the controller programmed to detect an obstructed image frame from said plurality of image frames, said obstruction corresponding to said windshield wiper of said vehicle and, in response thereto, optimize the obstructed image by removing the wiper obstruction from the obstructed image and communicating said optimized image for display or use by a vehicle system,

wherein the controller detects an obstructed image by confirming whether said object sensing system detects a substantially similar object as shown in said obstructed image frame.

11. A system according to claim 10 wherein said image sensor comprises first and second cameras mounted behind the vehicle windshield in the sweep path of the vehicle wipers.

12. A system according to claim 11 wherein said object sensing system comprises a radar or lidar sensor.

13. A system according to claim 12 wherein object sensing confirmation comprises determining whether an objecting sensing system confirms that no object similar to said object within said obstructed image frame is present within a system field of view.

14. A system according to claim 10 wherein optimizing the obstructed image comprises at least one of averaging multiple image frames or masking a wiper portion of the obstructed image.

15. A system according to claim 10 wherein said image sensor generates images 30 fps or greater.

16. A vehicle imaging system method comprising:

providing an image sensor within a windshield wiper sweep path of a vehicle;

generating a plurality of images from said image sensor;

detecting an obstructed image from said plurality of images, said obstruction corresponding to said windshield wiper; and

in response to detecting an obstructed image, optimizing said image for display or use by a vehicle system,

wherein the step of detecting an obstructed image includes detecting by at least one of object sensing confirmation, edge detection, negative shift detection or headlight illumination detection.

17. A method according to claim 16 wherein said image sensor comprises first and second cameras mounted behind the vehicle windshield in the sweep path of the vehicle wipers.

18. A method according to claim 16 wherein object sensing confirmation comprises determining whether an objecting sensing system confirms that no object similar to an object within said obstructed image frame is present within a system field of view.

19. A method according to claim 16 wherein edge detection comprises determining an angle or area of an obstruction within said obstructed image and comparing said angle or area to threshold angle and area limits.

20. A method according to claim 16 wherein negative shift detection comprises determining a color or brightness shift from a preceding image to said obstructed image.