VEHICULAR VISION SYSTEM

• US 20120257059A1
• Filed: 06/18/2012
• Published: 10/11/2012
• Est. Priority Date: 02/26/1993
• Status: Active Grant

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Donnelly Corporation (Magna International Incorporated)
• Inventors: Schofield, Kenneth, Larson, Mark
• Granted Patent: US 8,314,689 B2
• Time in Patent Office: Days
• US Class Current: 348/148
• 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

A vehicular vision system includes a CMOS photosensor array including a plurality of photosensor elements. The photosensor array is disposed at an interior portion of a vehicle and has a forward field of view to the exterior of the vehicle through the windshield of the vehicle at a windshield area that is swept by the windshield wipers. The photosensor array has a field of view forward of the vehicle that is generally in line with the vehicle'"'"'s primary direction of forward travel. A control includes an image processor that processes image data captured by the photosensor array. The control may analyze image data captured by photosensor elements where an object exterior of the equipped vehicle is determined to be present more than the control analyzes image data captured by other photosensor elements where the determined object is not present.

Claims

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

a CMOS photosensor array comprising a plurality of photosensor elements;

wherein said photosensor array is disposed at an interior portion of a vehicle equipped with said vehicular vision system and wherein said photosensor array has a forward field of view to the exterior of the equipped vehicle through the windshield of the equipped vehicle at a windshield area that is swept by the windshield wipers;

said photosensor array having a field of view forward of the equipped vehicle that is generally in line with the equipped vehicle'"'"'s primary direction of forward travel;

a control comprising an image processor, said image processor processing image data captured by said photosensor array; and

wherein said control analyzes image data captured by photosensor elements where an object exterior of the equipped vehicle is determined to be present more than said control analyzes image data captured by other photosensor elements where the determined object is not present.

2. The vehicular vision system of claim 1, wherein said photosensor array comprises an array of columns and rows of photosensor elements.

3. The vehicular vision system of claim 2, wherein said array comprises at least 160 columns.

4. The vehicular vision system of claim 3, wherein said array comprises at least 40 rows.

5. The vehicular vision system of claim 3, wherein said array comprise at least 120 rows.

6. The vehicular vision system of claim 2, wherein said array has more columns than rows.

7. The vehicular vision system of claim 1, wherein the determined object comprises one of (a) a vehicle, (b) a headlight of an approaching vehicle, (c) a taillight of a leading vehicle and (d) a street light.

8. The vehicular vision system of claim 1, wherein, responsive to an output of said control, said vehicular vision system is operable to automatically control an exterior light of the equipped vehicle to limit debilitation of a driver of another vehicle forward of the equipped vehicle.

9. The vehicular vision system of claim 8, wherein control of the exterior light of the equipped vehicle involves adjustment of a light beam emitted by the exterior light of the equipped vehicle.

10. The vehicular vision system of claim 9, wherein the exterior light of the equipped vehicle is operable to emit a plurality of light beams, and wherein said control adjusts between one light beam of said plurality of light beams and another light beam of said plurality of light beams.

11. The vehicular vision system of claim 10, wherein said plurality of light beams comprises a low beam, a mid beam and a high beam.

12. The vehicular vision system of claim 8, wherein said control is operable to control the exterior light of the equipped vehicle to emit a pattern of light appropriate to limit debilitation of the driver of the other vehicle forward of the equipped vehicle.

13. The vehicular vision system of claim 8, wherein said control is operable to control the exterior light of the equipped vehicle to emit a pattern of light that illuminates a selected zone forward of the equipped vehicle.

14. The vehicular vision system of claim 8, wherein the exterior light of the equipped vehicle is operable to emit various patterns of light.

15. The vehicular vision system of claim 1, wherein, said control, responsive to said image processing, generates at least one control output for controlling at least one exterior light of the equipped vehicle, and wherein said at least one control output comprises an output for controlling a vehicular lighting switch, and wherein said vehicular lighting switch controls the at least one exterior light of the equipped vehicle.

16. The vehicular vision system of claim 15, comprising a manual vehicle light switch that is actuatable to override said control.

17. The vehicular vision system of claim 15, wherein the at least one exterior light of the equipped vehicle comprises a headlight disposed at a front portion of the equipped vehicle and operable to illuminate with visible light a scene forward of and in the path of travel of the equipped vehicle.

18. The vehicular vision system of claim 17, wherein said vehicular vision system determines the presence of at least one of fog, snow and rain present in said field of view exterior and forward of the equipped vehicle by recognizing scattering of light output by the headlight of the equipped vehicle by at least one of fog, snow and rain present in said field of view exterior and forward of the equipped vehicle.

19. The vehicular vision system of claim 18, wherein said vehicular vision system, responsive to said recognition of said scattering of light by the headlight of the equipped vehicle, controls the headlight of the equipped vehicle.

20. The vehicular vision system of claim 1, wherein said image processor (i) receives image data output from said photosensor array, (ii) compares the received image data with stored data, and (iii) outputs a vehicle equipment control signal based on the comparison.

21. The vehicular vision system of claim 1, wherein said photosensor array is disposed proximate the windshield of the equipped vehicle.

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

a CMOS photosensor array comprising a plurality of photosensor elements;

wherein said photosensor array is disposed at an interior portion of a vehicle equipped with said vehicular vision system and wherein said photosensor array has a forward field of view to the exterior of the equipped vehicle through the windshield of the equipped vehicle at a windshield area that is swept by the windshield wipers;

said photosensor array having a field of view forward of the equipped vehicle that is generally in line with the equipped vehicle'"'"'s primary direction of forward travel;

a control comprising an image processor, said image processor processing image data captured by said photosensor array; and

wherein said control, responsive to an output of said photosensor array, determines an ambient light level present at the equipped vehicle.

23. The vehicular vision system of claim 22, wherein said control is operable to distinguish between daytime and nighttime conditions.

24. The vehicular vision system of claim 22, wherein said control determines a nighttime condition at an ambient light level that is less than about 500 lux.

25. The vehicular vision system of claim 22, wherein, when said control determines a daytime condition, said control is operable to control a vehicle accessory.

26. The vehicular vision system of claim 25, wherein said vehicle accessory comprises a vehicle running light and said control switches on the vehicle running light when said control determines a daytime condition.

27. The vehicular vision system of claim 22, wherein said control is operable to deactivate a headlight of the equipped vehicle when said control determines a daytime condition.

28. The vehicular vision system of claim 22, wherein said photosensor array is disposed proximate the windshield of the equipped vehicle.

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

a CMOS photosensor array comprising a plurality of photosensor elements;

wherein said photosensor array is disposed at an interior portion of a vehicle equipped with said vehicular vision system and wherein said photosensor array has a forward field of view to the exterior of the equipped vehicle through the windshield of the equipped vehicle at a windshield area that is swept by the windshield wipers;

said photosensor array having a field of view forward of the equipped vehicle that is generally in line with the equipped vehicle'"'"'s primary direction of forward travel;

a control comprising an image processor, said image processor processing image data captured by said photosensor array; and

wherein said photosensor array is operated at a plurality of exposure periods.

30. The vehicular vision system of claim 29, wherein said plurality of exposure periods comprises a first exposure period and a second exposure period, and wherein the time period of exposure of said first exposure period is longer than the time period of exposure of said second exposure period.

31. The vehicular vision system of claim 29, wherein the exposure period is varied responsive to a light level detected by said vehicular vision system.

32. The vehicular vision system of claim 29, wherein the exposure period is varied responsive to an ambient light level detected by said vehicular vision system.

33. The vehicular vision system of claim 29, wherein said photosensor array is disposed proximate the windshield of the equipped vehicle.

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

a CMOS photosensor array comprising a plurality of photosensor elements;

wherein said photosensor array is disposed at an interior portion of a vehicle equipped with said vehicular vision system and wherein said photosensor array has a forward field of view to the exterior of the equipped vehicle through the windshield of the equipped vehicle at a windshield area that is swept by the windshield wipers;

said photosensor array having a field of view forward of the equipped vehicle that is generally in line with the equipped vehicle'"'"'s primary direction of forward travel;

a control comprising an image processor, said image processor processing image data captured by said photosensor array; and

wherein at least said photosensor array is disposed in a module and wherein said module releasably attaches to a mounting element that is attached to the windshield of the equipped vehicle.

35. The vehicular vision system of claim 34, wherein said mounting element comprises a mounting button adhesively attached at the windshield of the equipped vehicle.

36. The vehicular vision system of claim 34, wherein said module comprises part of an interior rearview mirror assembly of the equipped vehicle.

37. The vehicular vision system of claim 34, wherein said module comprises a mirror bracket of an interior rearview mirror assembly of the equipped vehicle.

38. The vehicular vision system of claim 34, wherein said photosensor array is disposed proximate the windshield of the equipped vehicle.

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

a CMOS photosensor array comprising a plurality of photosensor elements;

wherein said photosensor array is disposed at an interior portion of a vehicle equipped with said vehicular vision system and wherein said photosensor array has a forward field of view to the exterior of the equipped vehicle through the windshield of the equipped vehicle at a windshield area that is swept by the windshield wipers;

said photosensor array having a field of view forward of the equipped vehicle that is generally in line with the equipped vehicle'"'"'s primary direction of forward travel;

a control comprising an image processor, said image processor processing image data captured by said photosensor array;

wherein said control, responsive to an output of said photosensor array, determines an ambient light level present at the equipped vehicle; and

wherein said photosensor array is operated at a plurality of exposure periods.

40. The vehicular vision system of claim 39, wherein said control, analyzes image data captured by photosensor elements where an object exterior of the equipped vehicle is determined to be present more than said control analyzes image data captured by other photosensor elements where the determined object is not present.

41. The vehicular vision system of claim 39, wherein at least said photosensor array is disposed in a module and wherein said module releasably attaches to a mounting element that is attached to the windshield of the equipped vehicle.

42. The vehicular vision system of claim 39, wherein said photosensor array comprises an array of columns and rows, of photosensor elements, and wherein at least one of (i) said array comprises at least 160 columns, (ii) said array comprises at least 120 rows and (iii) said array has more columns than rows.

43. The vehicular vision system of claim 39, wherein said control, responsive to said image processing, generates at least one control output for controlling at least one exterior light of the equipped vehicle, and wherein said at least one control output comprises an output for controlling a vehicular lighting switch, and wherein said vehicular lighting switch controls the at least one exterior light of the equipped vehicle, and wherein said vehicular vision system comprises a manual vehicle light switch that is actuatable to override said control.

44. The vehicular vision system of claim 39, wherein, responsive to an output of said control, said vehicular vision system is operable to automatically adjust a light beam emitted by an exterior light of the equipped vehicle to limit debilitation of a driver of another vehicle forward of the equipped vehicle.

45. The vehicular vision system of claim 44, wherein the exterior light of the equipped vehicle comprises a headlight disposed at a front portion of the equipped vehicle and operable to illuminate with visible light a scene forward of and in the path of travel of the equipped vehicle, and wherein said vehicular vision system determines the presence of at least one of fog, snow and rain present in said field of view exterior and forward of the equipped vehicle by recognizing scattering of light output by the headlight of the equipped vehicle by at least one of fog, snow and rain present in said field of view exterior and forward of the equipped vehicle, and wherein said vehicular vision system, responsive to said recognition of said scattering of light by the headlight of the equipped vehicle, controls the headlight of the equipped vehicle.

46. The vehicular vision system of claim 39, wherein said control is operable to distinguish between daytime and nighttime conditions, and wherein said control determines a nighttime condition at an ambient light level that is less than about 500 lux, and wherein, when said control determines a daytime condition, said control is operable to control a vehicle accessory.

47. The vehicular vision system of claim 46, wherein said control is operable to deactivate a headlight of the equipped vehicle when said control determines a daytime condition.

48. The vehicular vision system of claim 39, wherein said plurality of exposure periods comprises a first exposure period and a second exposure period, and wherein the time period of exposure of said first exposure period is longer than the time period of exposure of said second exposure period, and wherein at least one of (i) the exposure period is varied responsive to a light level detected by said vehicular vision system and (ii) the exposure period is varied responsive to an ambient light level detected by said vehicular vision system.

49. The vehicular vision system of claim 39, wherein said photosensor array is disposed proximate the windshield of the equipped vehicle.

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

a CMOS photosensor array comprising a plurality of photosensor elements;

wherein said photosensor array is disposed at an interior portion of a vehicle equipped with said vehicular vision system and wherein said photosensor array has a forward field of view to the exterior of the equipped vehicle through the windshield of the equipped vehicle at a windshield area that is swept by the windshield wipers;

said photosensor array having a field of view forward of the equipped vehicle that is generally in line with the equipped vehicle'"'"'s primary direction of forward travel;

a control comprising an image processor, said image processor processing image data captured by said photosensor array;

wherein said control processes image data to determine the presence of an object in said forward field of view of said photosensor array;

wherein the determined object comprises one of (a) a vehicle, (b) a headlight of an approaching vehicle and (c) a taillight of a leading vehicle;

wherein, responsive to an output of said control, said vehicular vision system is operable to automatically control an exterior light of the equipped vehicle to limit debilitation of a driver of another vehicle forward of the equipped vehicle; and

wherein at least one of (i) said control analyzes image data captured by photosensor elements where a determined object exterior of the equipped vehicle is present more than said control analyzes image data captured by other photosensor elements where the determined object is not present, (ii) said control, responsive to an output of said photosensor array, determines an ambient light level present at the equipped vehicle, (iii) said photosensor array is operated at a plurality of exposure periods, and (iv) at least said photosensor array is disposed in a module and wherein said module releasably attaches to a mounting element that is attached to the windshield of the equipped vehicle.

51. The vehicular vision system of claim 50, wherein at least two of (i) said control analyzes image data captured by photosensor elements where a determined object exterior of the equipped vehicle is present more than said control analyzes image data captured by other photosensor elements where the determined object is not present, (ii) said control, responsive to an output of said photosensor array, determines an ambient light level present at the equipped vehicle, (iii) said photosensor array is operated at a plurality of exposure periods, and (iv) at least said photosensor array is disposed in a module and wherein said module releasably attaches to a mounting element that is attached to the windshield of the equipped vehicle.

52. The vehicular vision system of claim 50, wherein (i) said control analyzes image data captured by photosensor elements where a determined object exterior of the equipped vehicle is present more than said control analyzes image data captured by other photosensor elements where the determined object is not present, (ii) said control, responsive to an output of said photosensor array, determines an ambient light level present at the equipped vehicle, (iii) said photosensor array is operated at a plurality of exposure periods, and (iv) at least said photosensor array is disposed in a module and wherein said module releasably attaches to a mounting element that is attached to the windshield of the equipped vehicle.

53. The vehicular vision system of claim 50, wherein said photosensor array comprises an array of columns and rows of photosensor elements, and wherein at least one of (i) said array comprises at least 160 columns, (ii) said array comprises at least 120 rows and (iii) said array has more columns than rows.

54. The vehicular vision system of claim 50, wherein the exterior light of the equipped vehicle comprises a headlight disposed at a front portion of the equipped vehicle and operable to illuminate with visible light a scene forward of and in the path of travel of the equipped vehicle, and wherein said vehicular vision system determines the presence of at least one of fog, snow and rain present in said field of view exterior and forward of the equipped vehicle by recognizing scattering of light output by the headlight of the equipped vehicle by at least one of fog, snow and rain present in said field of view exterior and forward of the equipped vehicle, and wherein said vehicular vision system, responsive to said recognition of said scattering of light by the headlight of the equipped vehicle, controls the headlight of the equipped vehicle.

55. The vehicular vision system of claim 50, wherein said photosensor array is disposed proximate the windshield of the equipped vehicle.