Image sensing system for a vehicle

• US 20070109651A1
• Filed: 01/04/2007
• Published: 05/17/2007
• Est. Priority Date: 02/26/1993
• Status: Active Grant

• Current Assignee: Donnelly Corporation (Magna International Incorporated)
• Original Assignee: Donnelly Corporation (Magna International Incorporated)
• Inventors: Schofield, Kenneth, Larson, Mark
• Granted Patent: US 7,380,948 B2
• Time in Patent Office: Days
• US Class Current: 359/604
• CPC Class Codes: B60N 2/002 Seats provided with an occupancy detection means mounted therein or thereon detection means responsive to presence or absence of children B60N2/266
• CPC Class Codes: B60Q 1/04 the devices being headlights
• CPC Class Codes: B60Q 1/1423 Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic
• CPC Class Codes: B60Q 1/143 combined with another condition, e.g. using vehicle recognition from camera images or activation of wipers
• CPC Class Codes: B60Q 2300/052 Switching delay, i.e. the beam is not switched or changed instantaneously upon occurrence of a condition change
• CPC Class Codes: B60Q 2300/21 Manual control
• CPC Class Codes: B60Q 2300/312 Adverse weather
• CPC Class Codes: B60Q 2300/314 Ambient light
• CPC Class Codes: B60Q 2300/3321 Detection of streetlights
• CPC Class Codes: B60Q 2300/41 preceding vehicle
• CPC Class Codes: B60Q 2300/42 oncoming vehicle
• CPC Class Codes: B60Q 2300/43 following vehicle
• CPC Class Codes: B60Q 2400/30 Daytime running lights [DRL], e.g. circuits or arrangements therefor
• 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 1/04 mounted inside vehicle B60R1/025, B60R1/08 take precedence
• CPC Class Codes: B60R 1/088 using a cell of electrically changeable optical characteristic, e.g. liquid-crystal or electrochromic mirrors
• CPC Class Codes: B60R 1/12 Mirror assemblies combined with other articles, e.g. clocks
• CPC Class Codes: B60R 1/29 for viewing an area inside the vehicle, e.g. for viewing passengers or cargo
• CPC Class Codes: B60R 1/30 providing vision in the non-visible spectrum, e.g. night or infrared vision
• CPC Class Codes: B60R 11/04 Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
• CPC Class Codes: B60R 2001/1223 : with sensors or transducers
• CPC Class Codes: B60R 2001/1253 : with cameras, video cameras or video screens
• CPC Class Codes: B60R 21/01538 : for image processing, e.g. cameras or sensor arrays
• CPC Class Codes: B60R 2300/103 : using camera systems provided with artificial illumination device, e.g. IR light source
• CPC Class Codes: B60R 2300/30 : characterised by the type of image processing
• CPC Class Codes: B60R 2300/8006 : for monitoring and displaying scenes of vehicle interior, e.g. for monitoring passengers or cargo
• CPC Class Codes: B60R 2300/8026 : in addition to a rear-view mirror system
• CPC Class Codes: B60R 2300/8046 : for replacing a rear-view mirror system
• CPC Class Codes: B60R 2300/8066 : for monitoring rearward traffic
• CPC Class Codes: B60R 2300/8073 : for vehicle security, e.g. parked vehicle surveillance, burglar detection
• CPC Class Codes: B60R 2300/8093 : for obstacle warning
• CPC Class Codes: B60S 1/0822 : characterized by the arrangement or type of detection means
• CPC Class Codes: B60S 1/0844 : including a camera
• CPC Class Codes: B60S 1/0885 : the sensor being integrated in a rear-view mirror module
• CPC Class Codes: G01J 1/4204 : with determination of ambient light solar light G01J2001/4266
• CPC Class Codes: G01J 1/4228 : arrangements with two or more detectors, e.g. for sensitivity compensation
• CPC Class Codes: G06T 2207/10016 : Video; Image sequence
• CPC Class Codes: G06T 2207/30252 : Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 2207/30268 : Vehicle interior
• CPC Class Codes: G06T 7/97 : Determining parameters from multiple pictures depth or shape recovery from multiple images G06T7/55; stereo camera calibration G06T7/85
• CPC Class Codes: H04N 13/239 : using two 2D image sensors having a relative position equal to or related to the interocular distance H04N13/243 takes precedence
• CPC Class Codes: H04N 13/243 : using three or more 2D image sensors
• CPC Class Codes: H04N 2013/0081 : Depth or disparity estimation from stereoscopic image signals
• CPC Class Codes: H04N 23/63 : by using electronic viewfinders
• CPC Class Codes: H04N 25/443 : by reading pixels from selected 2D regions of the array, e.g. for windowing or digital zooming
• CPC Class Codes: H04N 25/76 : Addressed sensors, e.g. MOS or CMOS sensors
• CPC Class Codes: H04N 7/18 : Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
• CPC Class Codes: H04N 7/181 : for receiving images from a plurality of remote sources
• CPC Class Codes: H04N 7/183 : for receiving images from a single remote source

Abstract

An image sensing system for a vehicle includes an imaging sensor comprising a two-dimensional array of light sensing photosensor elements and a logic and control circuit comprising an image processor for processing image data derived from the imaging sensor. The imaging sensor is disposed at an interior portion of the vehicle proximate the windshield of the vehicle and has a forward field of view to the exterior of the vehicle that preferably includes a windshield area that is swept by the windshield wipers. The image sensing system senses the presence of an object within the field of view of the imaging sensor the system controls, or supplements the control of, a collision avoidance system of the vehicle.

Claims

1. An image sensing system for a vehicle, said image sensing system comprising:

an imaging sensor;

said imaging sensor comprising a two-dimensional array of light sensing photosensor elements;

a logic and control circuit;

said logic and control circuit comprising an image processor for processing image data derived from said imaging sensor;

said imaging sensor disposed at an interior portion of the vehicle proximate the windshield of the vehicle and having a forward field of view to the exterior of the vehicle through a windshield area that is swept by the windshield wipers;

wherein said image sensing system senses the presence of an object within the field of view of said imaging sensor; and

wherein said image sensing system at least one of controls and supplements the control of an automatic vehicle system using forward field of view information.

2. The image sensing system of claim 1, wherein said automatic vehicle system comprises a collision avoidance system of the vehicle.

3. The image sensing system of claim 1 further comprising a lens imaging onto said imaging sensor.

4. The image sensing system of claim 3, wherein said lens comprises a molded plastic lens.

5. The image sensing system of claim 3, wherein a lens correction factor is applied to correct for at least one of (i) cosine effects and (ii) Lambert'"'"'s Law effects.

6. The image sensing system of claim 1, wherein said array of sensing elements and at least a portion of said logic and control circuit are commonly formed on a semiconductor substrate as an integrated circuit.

7. The image sensing system of claim 1, wherein said logic and control circuit comprises a logic circuit and wherein said logic circuit comprises a read-only-memory.

8. The image sensing system of claim 1, wherein said logic and control circuit comprises a logic circuit and wherein said logic circuit comprises a central processing unit.

9. The image sensing system of claim 1, wherein said image sensing system senses the presence of a vehicle within the field of view of said imaging sensor.

10. The image sensing system of claim 1, wherein said image sensing system generates an indication of the presence of an object within the field of view of said imaging sensor.

11. The image sensing system of claim 10, wherein said indication comprises at least one of a visual warning and an audible warning.

12. The image sensing system of claim 11, wherein said image sensing system senses the presence of a vehicle within the field of view of said imaging sensor and wherein said indication is generated based on at least one of distance and speed of the vehicle.

13. The image sensing system of claim 10, wherein said indication is generated based on at least one of distance and speed of the object.

14. The image sensing system of claim 1, wherein said logic and control circuit comprises at least one of (i) an analog-to-digital converter, (ii) a logic circuit, (iii) a clock, (iv) random access memory, and (v) a digital-to-analog converter.

15. The image sensing system of claim 1, wherein said array of sensing elements and at least a portion of said logic and control circuit are commonly formed on a semiconductor substrate.

16. The image sensing system of claim 1, wherein said array of sensing elements is formed on a semiconductor substrate as a CMOS device.

17. The image sensing system of claim 1, wherein said image sensing system controls a light of the vehicle.

18. The image sensing system of claim 1, wherein said logic and control circuit undertakes pattern recognition based on image data derived from said imaging sensor.

19. The image sensing system of claim 1, wherein anti-blooming is provided to mitigate the effect of charge leakage from a photosensor element to an adjacent photosensor element.

20. The image sensing system of claim 1, wherein said image sensing system senses light from a headlight of a vehicle.

21. The image sensing system of claim 1, wherein said logic and control circuit determines a background light level.

22. The image sensing system of claim 1, wherein said array of sensing elements and at least a portion of said logic and control circuit are commonly formed on a semiconductor substrate.

23. The image sensing system of claim 22, wherein said at least a portion of said logic and control circuit comprises at least one selected from the group consisting of (i) an analog-to-digital converter, (ii) a logic circuit, (iii) a clock, (iv) random access memory and (v) a digital-to-analog converter.

24. The image sensing system of claim 23, wherein said array of sensing elements and at least a portion of said logic and control circuit are commonly formed on said semiconductor substrate as a CMOS device.

25. The image sensing system of claim 1 further comprising at least one control output comprising a pulse-width-modulated control signal.

26. An image sensing system for a vehicle, said image sensing system comprising:

an imaging sensor;

said imaging sensor comprising a two-dimensional array of light sensing photosensor elements;

a logic and control circuit;

said logic and control circuit comprising an image processor for processing image data derived from said imaging sensor;

wherein said image sensing system senses the presence of an object within the field of view of said imaging sensor;

wherein said image sensing system at least one of controls and supplements the control of a collision avoidance system of the vehicle;

wherein said image sensing system comprises a lens imaging onto said imaging sensor; and

wherein said array of sensing elements and at least a portion of said logic and control circuit are commonly formed on a semiconductor substrate.

27. The image sensing system of claim 26, wherein said lens comprises a molded plastic lens.

28. The image sensing system of claim 26, wherein said array of sensing elements and at least a portion of said logic and control circuit are commonly formed on said semiconductor substrate as an integrated circuit.

29. The image sensing system of claim 26, wherein said logic and control circuit comprises a logic circuit and wherein said logic circuit comprises a central processing unit.

30. The image sensing system of claim 26, wherein said image sensing system senses the presence of a vehicle within the field of view of said imaging sensor.

31. The image sensing system of claim 30, wherein said image sensing system generates an indication of the presence of the vehicle within the field of view of said imaging sensor and wherein said indication is generated based on at least one of distance and speed of the vehicle.

32. The image sensing system of claim 26, wherein said logic and control circuit comprises at least one of (i) an analog-to-digital converter, (ii) a logic circuit, (iii) a clock, (iv) random access memory, and (v) a digital-to-analog converter.

33. The image sensing system of claim 26, wherein said array of sensing elements and at least a portion of said logic and control circuit are commonly formed on said semiconductor substrate as a CMOS device.

34. The image sensing system of claim 26, wherein said logic and control circuit undertakes pattern recognition based on image data derived from said imaging sensor.

35. The image sensing system of claim 26, wherein anti-blooming is provided to mitigate the effect of charge leakage from a photosensor element to an adjacent photosensor element.

36. The image sensing system of claim 26, wherein said image sensing system senses light from a headlight of a vehicle.

37. The image sensing system of claim 26, wherein said imaging sensor is disposed at an interior portion of the cabin of the vehicle.

38. The image sensing system of claim 37, wherein said imaging sensor is disposed at an interior portion of the cabin of the vehicle proximate the windshield of the vehicle.

39. The image sensing system of claim 38, wherein said imaging sensor has a forward field of view to the exterior of the vehicle through a windshield area that is swept by the windshield wipers.

40. The image sensing system of claim 26, including at least one control output comprising a pulse-width-modulated control signal.

41. The image sensing system of claim 26, wherein said array of sensing elements is formed on said semiconductor substrate as a CMOS device.

42. An image sensing system for a vehicle, said image sensing system comprising:

an imaging sensor;

said imaging sensor comprising a two-dimensional array of light sensing photosensor elements;

a logic and control circuit;

said logic and control circuit comprising an image processor for processing image data derived from said imaging sensor;

wherein said image sensing system senses the presence of an object within the field of view of said imaging sensor;

wherein said image sensing system at least one of controls and supplements the control of an automatic vehicle system using forward field of view information;

wherein said array of sensing elements and at least a portion of said logic and control circuit are commonly formed on a semiconductor substrate; and

wherein said imaging sensor is disposed at an interior portion of the cabin of the vehicle proximate the windshield of the vehicle and has a forward field of view to the exterior of the vehicle through a windshield area that is swept by the windshield wipers.

43. The image sensing system of claim 42, wherein said automatic vehicle system comprises a collision avoidance system of the vehicle.

44. The image sensing system of claim 42, wherein said image sensing system comprises a lens imaging onto said imaging sensor and wherein said lens comprises a molded plastic lens.

45. The image sensing system of claim 42, wherein said array of sensing elements and said at least a portion of said logic and control circuit are commonly formed on said semiconductor substrate as an integrated circuit.

46. The image sensing system of claim 42, wherein said logic and control circuit comprises a logic circuit and wherein said logic circuit comprises a central processing unit.

47. The image sensing system of claim 42, wherein said image sensing system senses the presence of a vehicle within the field of view of said imaging sensor.

48. The image sensing system of claim 47, wherein said image sensing system generates an indication of the presence of the vehicle within the field of view of said imaging sensor and wherein said indication is generated based on at least one of distance and speed of the vehicle.

49. The image sensing system of claim 42, wherein said logic and control circuit comprises at least one of (i) an analog-to-digital converter, (ii) a logic circuit, (iii) a clock, (iv) random access memory, and (v) a digital-to-analog converter.

50. The image sensing system of claim 42, wherein said array of sensing elements and said at least a portion of said logic and control circuit are commonly formed on said semiconductor substrate as a CMOS device.

51. The image sensing system of claim 42, wherein said logic and control circuit undertakes pattern recognition based on image data derived from said imaging sensor.

52. The image sensing system of claim 42, wherein anti-blooming is provided to mitigate the effect of charge leakage from a photosensor element to an adjacent photosensor element.

53. The image sensing system of claim 42, wherein said image sensing system senses light from a headlight of a vehicle.

54. The image sensing system of claim 42 further comprising at least one control output comprising a pulse-width-modulated control signal.

55. An image sensing system for a vehicle, said image sensing system comprising:

an imaging sensor;

said imaging sensor comprising a two-dimensional array of light sensing photosensor elements;

a logic and control circuit;

said logic and control circuit comprising an image processor for processing image data derived from said imaging sensor;

wherein said image sensing system senses the presence of an object within the field of view of said imaging sensor;

wherein said image sensing system at least one of controls and supplements the control of a collision avoidance system of the vehicle;

wherein said imaging sensor is disposed at an interior portion of the cabin of the vehicle proximate the windshield of the vehicle and has a forward field of view to the exterior of the vehicle; and

wherein said image sensing system generates an indication of the presence of a vehicle within the field of view of said imaging sensor and wherein said indication is generated based on at least one of distance and speed of said vehicle.

56. The image sensing system of claim 55, wherein said array of sensing elements and at least a portion of said logic and control circuit are commonly formed on a semiconductor substrate.

57. The image sensing system of claim 55, wherein said array of sensing elements and said at least a portion of said logic and control circuit are commonly formed on said semiconductor substrate as an integrated circuit.

58. The image sensing system of claim 55, wherein said array of sensing elements and said at least a portion of said logic and control circuit are commonly formed on said semiconductor substrate as a CMOS device.

59. The image sensing system of claim 55, wherein said logic and control circuit undertakes pattern recognition based on image data derived from said imaging sensor.

60. The image sensing system of claim 55, wherein said image sensing system senses light from a headlight of a vehicle.

61. The image sensing system of claim 55, wherein said array of sensing elements is formed on a semiconductor substrate.

62. The image sensing system of claim 55, wherein said array of sensing elements is formed on a semiconductor substrate as a CMOS device.