VEHICLE VISION SYSTEM WITH PANORAMIC VIEW

• US 20160044284A1
• Filed: 09/14/2015
• Published: 02/11/2016
• Est. Priority Date: 06/13/2014
• Status: Active Grant

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Inventors: Goseberg, Frank, Boegel, Ruediger
• Granted Patent: US 10,525,883 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B60R 1/26 to the rear of the vehicle
• CPC Class Codes: B60R 2300/303 using joined images, e.g. multiple camera images
• CPC Class Codes: B60R 2300/307 virtually distinguishing relevant parts of a scene from the background of the scene
• CPC Class Codes: G06F 3/012 Head tracking input arrangements
• CPC Class Codes: G06F 3/013 Eye tracking input arrangements G06F3/015 takes precedence
• CPC Class Codes: H04N 23/698 for achieving an enlarged field of view, e.g. panoramic image capture

Abstract

A vision system for a vehicle includes side and rear cameras that are operable to capture image data. The rear camera is configured to be disposed at a rear portion of the vehicle so as to have a rearward field of view and the side cameras are configured to be disposed at respective side portions of the vehicle so as to have respective sideward and rearward fields of view. The rear camera has a rear imager and a wide angle lens, which is disposed at the rear imager with its center axis offset from a center region of the rear imager so as to be disposed at and to image at an upper region of the rear imager. An image processor processes captured image data to merge captured image data to provide a panoramic image for display to the driver during a reversing maneuver of the vehicle.

Claims

1. A vision system for a vehicle, said vision system comprising:

a plurality of cameras configured to be disposed at a vehicle equipped with said vision system so as to have respective fields of view exterior of the equipped vehicle;

wherein said cameras capture image data;

wherein said cameras include a rear camera configured to be disposed at a rear portion of the equipped vehicle so as to have a rearward field of view;

wherein said rear camera comprises a rear imager and a rear wide angle lens;

wherein said rear imager comprises a two dimensional imaging array sensor having a plurality of photosensing elements arranged in rows and columns;

wherein said imaging array sensor of said rear imager has a center region;

wherein said rear wide angle lens has a center axis;

wherein said rear wide angle lens is disposed at said rear imager with said center axis of said rear wide angle lens offset from said center region of said imaging array sensor of said rear imager and wherein said center axis of said rear wide angle lens is disposed at and images at an upper region of said imaging array sensor of said rear imager when said rear camera is disposed at the rear of the equipped vehicle;

wherein the field of view of said rear camera, when said rear camera is disposed at the rear portion of the equipped vehicle, includes at least one rear portion of the equipped vehicle;

wherein said cameras include side cameras configured to be disposed at respective side portions of the equipped vehicle so as to have respective sideward and rearward fields of view;

an image processor operable to process image data captured by at least some of said cameras;

wherein said image processor is operable to manipulate image data captured by at least some of said cameras to provide a panoramic image for display on a video display for viewing by the driver of the equipped vehicle during a reversing maneuver of the equipped vehicle; and

wherein the displayed image has enhanced image resolution of an external scene at a distant central horizon region rearward of the equipped vehicle relative to the image resolution of an external scene rearward of and adjacent to the equipped vehicle.

2. The vision system of claim 1, wherein each of said side cameras comprises a side lens and a side imager comprising a two dimensional imaging array sensor having a plurality of photosensing elements arranged in rows and columns, and wherein said side imager has a center region and said side lens has a center axis, and wherein said side lens is disposed at said side imager with said center axis of said side lens laterally offset from said center region of said side imager when said side camera is disposed at the equipped vehicle.

3. The vision system of claim 2, wherein a first side camera of said side cameras is configured to be disposed at a driver-side of the equipped vehicle and wherein said side lens of said first side camera is offset laterally inboard towards the driver-side of the equipped vehicle so as to image at a laterally inboard region of said imaging array sensor of said first side camera, wherein a second side camera of said side cameras is configured to be disposed at a passenger-side of the equipped vehicle and wherein said side lens of said second side camera is offset laterally inboard towards the passenger-side of the equipped vehicle so as to image at a laterally inboard region of said imaging array sensor of said second side camera.

4. The vision system of claim 2, wherein the displayed image has enhanced image resolution of an external scene at a distant side horizon region rearward and sideward of the equipped vehicle relative to the image resolution of an external scene rearward and sideward of and adjacent to the equipped vehicle.

5. The vision system of claim 1, wherein a graphic overlay is established on the displayed images.

6. The vision system of claim 5, wherein said graphic overlay comprises a wireframe outline of the equipped vehicle.

7. The vision system of claim 6, wherein portions of the wireframe outline may be colored to represent panels of the equipped vehicle.

8. The vision system of claim 5, wherein said graphic overlay comprises indicia representative of a driving path of the equipped vehicle during the reversing maneuver.

9. The vision system of claim 8, wherein said indicia is adjusted responsive to a steering wheel angle of the equipped vehicle.

10. The vision system of claim 1, wherein said image processor processes captured image data to determine the presence of objects rearward of the equipped vehicle.

11. The vision system of claim 10, wherein said image processor is operable to adjust processing of captured image data to adjust a position of objects in displayed images to account for a change in position or viewpoint of the driver of the equipped vehicle.

12. The vision system of claim 11, wherein said image processor adjusts processing responsive to a driver monitoring system that monitors a head or eyes of the driver of the equipped vehicle.

13. The vision system of claim 11, wherein said image processor adjusts processing responsive to a distance of the closest determined object rearward of the equipped vehicle.

14. A vision system for a vehicle, said vision system comprising:

a plurality of cameras configured to be disposed at a vehicle equipped with said vision system so as to have respective fields of view exterior of the equipped vehicle;

wherein said cameras capture image data;

wherein said cameras include a rear camera configured to be disposed at a rear portion of the equipped vehicle so as to have a rearward field of view;

wherein said rear camera comprises a rear imager and a rear wide angle lens;

wherein said rear imager comprises a two dimensional imaging array sensor having a plurality of photosensing elements arranged in rows and columns;

wherein said imaging array sensor of said rear imager has a center region;

wherein said rear wide angle lens has a center axis;

wherein said rear wide angle lens is disposed at said rear imager with said center axis of said rear wide angle lens offset from said center region of said imaging array sensor of said rear imager and wherein said center axis of said rear wide angle lens is disposed at and images at an upper region of said imaging array sensor of said rear imager when said rear camera is disposed at the rear of the equipped vehicle;

wherein the field of view of said rear camera, when said rear camera is disposed at the rear portion of the equipped vehicle, includes at least one rear portion of the equipped vehicle;

wherein said cameras include first and second side cameras configured to be disposed at respective side portions of the equipped vehicle so as to have respective sideward and rearward fields of view;

wherein each of said first and second side cameras comprises a side lens and a side imager comprising a two dimensional imaging array sensor having a plurality of photosensing elements arranged in rows and columns, and wherein said side imager has a center region and said side lens has a center axis, and wherein said side lens is disposed at said side imager with said center axis of said side lens laterally offset from said center region of said side imager when said side camera is disposed at the equipped vehicle;

wherein said first side camera is configured to be disposed at a driver-side of the equipped vehicle and wherein said side lens of said first side camera is offset laterally inboard towards the driver-side of the equipped vehicle so as to image at a laterally inboard region of said imaging array sensor of said first side camera;

wherein said second side camera is configured to be disposed at a passenger-side of the equipped vehicle and wherein said side lens of said second side camera is offset laterally inboard towards the passenger-side of the equipped vehicle so as to image at a laterally inboard region of said imaging array sensor of said second side camera;

an image processor operable to process image data captured by at least some of said cameras;

wherein said image processor is operable to manipulate image data captured by at least some of said cameras to provide a panoramic image for display on a video display for viewing by the driver of the equipped vehicle during a reversing maneuver of the equipped vehicle;

wherein the displayed image has enhanced image resolution of an external scene at a distant central horizon region rearward of the equipped vehicle relative to the image resolution of the at least one rear portion of the equipped vehicle; and

wherein the displayed image has enhanced image resolution of an external scene at a distant side horizon region rearward and sideward of the equipped vehicle relative to the image resolution of an external scene rearward and sideward of and adjacent to the equipped vehicle.

15. The vision system of claim 14, wherein a graphic overlay is established on the displayed images, and wherein said graphic overlay comprises a wireframe outline of the equipped vehicle.

16. The vision system of claim 15, wherein portions of the wireframe outline may be colored to represent panels of the equipped vehicle.

17. The vision system of claim 14, wherein said image processor processes captured image data to determine the presence of objects rearward of the equipped vehicle, and wherein said image processor is operable to adjust processing of captured image data to adjust a position of objects in displayed images to account for a change in position or viewpoint of the driver of the equipped vehicle.

18. A vision system for a vehicle, said vision system comprising:

a plurality of cameras configured to be disposed at a vehicle equipped with said vision system so as to have respective fields of view exterior of the equipped vehicle;

wherein said cameras capture image data;

wherein said cameras include a rear camera configured to be disposed at a rear portion of the equipped vehicle so as to have a rearward field of view;

wherein said rear camera comprises a rear imager and a rear wide angle lens;

wherein said rear imager comprises a two dimensional imaging array sensor having a plurality of photosensing elements arranged in rows and columns;

wherein said imaging array sensor of said rear imager has a center region;

wherein said rear wide angle lens has a center axis;

wherein said rear wide angle lens is disposed at said rear imager with said center axis of said rear wide angle lens offset from said center region of said imaging array sensor of said rear imager and wherein said center axis of said rear wide angle lens is disposed at and images at an upper region of said imaging array sensor of said rear imager when said rear camera is disposed at the rear of the equipped vehicle;

wherein the field of view of said rear camera, when said rear camera is disposed at the rear portion of the equipped vehicle, includes at least one rear portion of the equipped vehicle;

wherein said cameras include side cameras configured to be disposed at respective side portions of the equipped vehicle so as to have respective sideward and rearward fields of view;

an image processor operable to process image data captured by at least some of said cameras;

wherein said image processor is operable to manipulate image data captured by at least some of said cameras to provide a panoramic image for display on a video display for viewing by the driver of the equipped vehicle during a reversing maneuver of the equipped vehicle;

wherein the displayed image has enhanced image resolution of an external scene at a distant central horizon region rearward of the equipped vehicle relative to the image resolution of the at least one rear portion of the equipped vehicle;

wherein a graphic overlay is established on the displayed images and wherein said graphic overlay comprises a wireframe outline of the equipped vehicle; and

wherein said image processor processes captured image data to determine the presence of objects rearward of the equipped vehicle, and wherein said image processor is operable to adjust processing of captured image data to adjust a position of objects in displayed images to account for a change in position or viewpoint of the driver of the equipped vehicle.

19. The vision system of claim 18, wherein portions of the wireframe outline may be colored to represent panels of the equipped vehicle, and wherein said graphic overlay comprises indicia representative of a driving path of the equipped vehicle during the reversing maneuver, and wherein said indicia is adjusted responsive to a steering wheel angle of the equipped vehicle.

20. The vision system of claim 18, wherein said image processor adjusts processing responsive to at least one of the group consisting of (a) a driver monitoring system that monitors a head or eyes of the driver of the equipped vehicle and (b) a distance of the closest determined object rearward of the equipped vehicle.