DRIVER ASSISTANCE SYSTEM FOR VEHICLE

• US 20160078305A1
• Filed: 11/20/2015
• Published: 03/17/2016
• Est. Priority Date: 12/23/2004
• Status: Active Grant

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Inventors: Higgins-Luthman, Michael J.
• Granted Patent: US 9,940,528 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• 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 1/12 Mirror assemblies combined with other articles, e.g. clocks
• CPC Class Codes: B60R 1/23 with a predetermined field of view
• CPC Class Codes: B60R 2001/1253 with cameras, video cameras or video screens
• CPC Class Codes: B60R 2300/105 using multiple cameras
• CPC Class Codes: B60R 2300/30 characterised by the type of image processing
• CPC Class Codes: B60R 2300/402 Image calibration
• CPC Class Codes: B60R 2300/802 for monitoring and displaying vehicle exterior blind spot views
• CPC Class Codes: B60R 2300/804 for lane monitoring
• CPC Class Codes: B60R 2300/806 for aiding parking
• CPC Class Codes: B60R 2300/8066 for monitoring rearward traffic
• CPC Class Codes: B60W 40/04 Traffic conditions
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• 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 20/584 of vehicle lights or traffic lights
• 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 23/80 Camera processing pipelines; Components thereof
• 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

Abstract

A driver assistance system for a vehicle includes first and second cameras and a rear backup camera. A control processes image data captured by the first camera and determines that the first camera is misaligned when the first camera is disposed at the left side of the vehicle. The control, responsive to a determination of misalignment of the first camera, is operable to algorithmically at least partially compensate for misalignment of the first camera. At least in part responsive to processing of captured image data, a composite image is displayed that provides a view that approximates a view from a single virtual camera. Image data captured at least by the first camera is processed using an edge detection algorithm to detect edges of objects exterior of the vehicle. Responsive at least in part to processing of captured image data, an object of interest exterior of the vehicle is determined.

Claims

1. A driver assistance system for a vehicle, said driver assistance system comprising:

a first camera comprising an array of photosensing pixels;

a second camera comprising an array of photosensing pixels;

a rear backup camera comprising an array of photosensing pixels;

wherein said first camera is disposed at a left side of a vehicle equipped with said driver assistance system;

wherein said first camera has a forward field of view in a direction towards the front of the equipped vehicle and has a rearward field of view in a direction towards the rear of the equipped vehicle and has a sideward field of view in a direction away from the left side of the equipped vehicle;

a control for processing image data captured by said first camera;

wherein said control is operable to determine that said first camera is misaligned when said first camera is disposed at the left side of the equipped vehicle;

wherein said control, responsive to a determination of misalignment of said first camera, is operable to algorithmically at least partially compensate for misalignment of said first camera by at least one of (i) adjusting processing of captured image data and (ii) adjusting captured image data;

wherein, when said first camera is disposed at the left side of the equipped vehicle, a portion of the left body side of the equipped vehicle is present in the field of view of said first camera;

wherein said second camera is disposed at a right side of the equipped vehicle;

wherein said rear backup camera is disposed at a rear portion of the equipped vehicle generally centrally between where said left side-attached first camera and said right side-attached second camera are disposed at the vehicle;

wherein the field of view of said left side-attached first camera overlaps with the field of view of said rear backup camera and wherein the field of view of said right side-attached second camera overlaps with the field of view of said rear backup camera;

wherein image data captured by said left side-attached first camera, by said right side-attached second camera and by said rear backup camera is processed by said control and, at least in part responsive to said processing by said control, a composite image is displayed by a display disposed in the interior cabin of the equipped vehicle positioned within the driver'"'"'s physiological field of view without obstructing the driver'"'"'s view through the windshield of the equipped vehicle;

wherein said composite image provides a view that approximates a view from a single virtual image capture device;

wherein image data captured at least by said first camera is processed using an edge detection algorithm to detect edges of objects exterior of the equipped vehicle, and wherein, responsive at least in part to processing of captured image data, an object of interest exterior of the equipped vehicle at its left-hand side is determined; and

wherein the determined object of interest comprises another vehicle present in a traffic lane to the left of the traffic lane occupied and being travelled in by the equipped vehicle.

2. The driver assistance system of claim 1, wherein the other vehicle is traveling in the same direction as the equipped vehicle.

3. The driver assistance system of claim 2, wherein at least a portion of the other vehicle is rearward of the rearmost portion of the equipped vehicle.

4. The driver assistance system of claim 3, wherein at least a portion of the other vehicle is forward of the rearmost portion of the equipped vehicle.

5. The driver assistance system of claim 1, wherein processing using an edge detection algorithm of image data captured at least by said first camera detects vertical edges of the other vehicle.

6. The driver assistance system of claim 5, wherein processing using an edge detection algorithm of image data captured at least by said first camera determines presence in the traffic lane to the left of the traffic lane occupied and being travelled in by the equipped vehicle of at least one of (i) a bicycle and (ii) a bicycle rider.

7. The driver assistance system of claim 1, wherein said first camera disposed at the left side of the equipped vehicle is part of a left-side exterior mirror assembly of the equipped vehicle.

8. The driver assistance system of claim 7, wherein said second camera disposed at the right side of the equipped vehicle is part of a right-side exterior mirror assembly of the equipped vehicle.

9. The driver assistance system of claim 8, wherein image data captured at least by said second camera is processed using an edge detection algorithm to detect edges of objects exterior of the equipped vehicle, and wherein, responsive at least in part to processing of captured image data, an object of interest exterior of the equipped vehicle at its right-hand side is determined.

10. The driver assistance system of claim 9, wherein the determined object of interest comprises another vehicle present in a traffic lane to the right of the traffic lane occupied and being traveled in by the equipped vehicle.

11. The driver assistance system of claim 1, wherein processing of captured image data by said control is responsive, at least in part, to an ambient light level at the equipped vehicle.

12. The driver assistance system of claim 11, wherein, in accordance with the ambient light level at the equipped vehicle, said control operates with a daytime sensitivity or a nighttime sensitivity.

13. The driver assistance system of claim 11, wherein said composite image provides a substantially seamless panoramic view.

14. The driver assistance system of claim 1, wherein processing of captured image data by said control comprises use of an algorithmically executed filter.

15. The driver assistance system of claim 1, wherein said display comprises a flat panel display and wherein said flat panel display comprises a back-lit liquid crystal display.

16. The driver assistance system of claim 15, wherein said control, responsive to a determination of misalignment of said first camera due to a shift in at least one of yaw, pitch and roll of alignment of said first camera, algorithmically at least partially compensates for the misalignment.

17. A driver assistance system for a vehicle, said driver assistance system comprising:

a first camera comprising an array of photosensing pixels;

a second camera comprising an array of photosensing pixels;

a rear backup camera comprising an array of photosensing pixels;

wherein said first camera is disposed at a left side of a vehicle equipped with said driver assistance system;

wherein said first camera has a forward field of view in a direction towards the front of the equipped vehicle and has a rearward field of view in a direction towards the rear of the equipped vehicle and has a sideward field of view in a direction away from the left side of the equipped vehicle;

a control for processing image data captured by said first camera;

wherein said control is operable to determine that said first camera is misaligned when said first camera is disposed at the left side of the equipped vehicle;

wherein said control, responsive to a determination of misalignment of said first camera, is operable to algorithmically at least partially compensate for misalignment of said first camera;

wherein, when said first camera is disposed at the left side of the equipped vehicle, a portion of the left body side of the equipped vehicle is present in the field of view of said first camera;

wherein said second camera is disposed at a right side of the equipped vehicle;

wherein said rear backup camera is disposed at a rear portion of the equipped vehicle generally centrally between where said left side-attached first camera and said right side-attached second camera are disposed at the vehicle;

wherein the field of view of said left side-attached first camera overlaps with the field of view of said rear backup camera and wherein the field of view of said right side-attached second camera overlaps with the field of view of said rear backup camera;

wherein image data captured by said left side-attached first camera, by said right side-attached second camera and by said rear backup camera is processed by said control and, at least in part responsive to said processing by said control, a composite image is displayed by a display disposed in the interior cabin of the equipped vehicle positioned within the driver'"'"'s physiological field of view without obstructing the driver'"'"'s view through the windshield of the equipped vehicle;

wherein said composite image provides a view that approximates a view from a single virtual image capture device;

wherein image data captured at least by said first camera is processed using an edge detection algorithm to detect edges of objects exterior of the equipped vehicle, and wherein, responsive at least in part to processing of captured image data, an object of interest exterior of the equipped vehicle is determined;

wherein the determined object of interest comprises another vehicle present in a traffic lane to the left of the traffic lane occupied and being travelled in by the equipped vehicle; and

wherein said control, responsive to a determination of misalignment of said first camera due to a shift in at least one of yaw, pitch and roll of alignment of said first camera, algorithmically at least partially compensates for the misalignment.

18. The driver assistance system of claim 17, wherein said control, responsive to a determination of misalignment of said first camera, is operable to algorithmically at least partially compensate for misalignment of said first camera by adjusting processing of captured image data.

19. The driver assistance system of claim 17, wherein said control, responsive to a determination of misalignment of said first camera, is operable to algorithmically at least partially compensate for misalignment of said first camera by adjusting captured image data.

20. The driver assistance system of claim 17, wherein processing using an edge detection algorithm of image data captured at least by said first camera determines presence in a traffic lane to the left of the traffic lane occupied and being traveled in by the equipped vehicle of at least one of (i) a bicycle and (ii) a bicycle rider.

21. The driver assistance system of claim 20, wherein processing using an edge detection algorithm of image data captured at least by said first camera detects vertical edges of the at least one of (i) a bicycle and (ii) a bicycle rider.

22. The driver assistance system of claim 17, wherein processing using an edge detection algorithm of image data captured at least by said first camera determines presence of the other vehicle in the traffic lane to the left of the traffic lane occupied and being traveled in by the equipped vehicle.

23. The driver assistance system of claim 22, wherein processing using an edge detection algorithm of image data captured at least by said first camera detects vertical edges of the other vehicle.

24. The driver assistance system of claim 22, wherein said first camera disposed at the left side of the equipped vehicle is part of a left-side exterior mirror assembly of the equipped vehicle and wherein said second camera disposed at the right side of the equipped vehicle is part of a right-side exterior mirror assembly of the equipped vehicle, and wherein image data captured at least by said second camera is processed using an edge detection algorithm to detect edges of objects exterior of the equipped vehicle, and wherein, responsive at least in part to processing of captured image data, an object of interest exterior of the equipped vehicle at its right-hand side is determined, and wherein the determined object of interest comprises another vehicle present in a traffic lane to the right of the traffic lane occupied and being traveled in by the equipped vehicle.

25. The driver assistance system of claim 17, wherein the other vehicle is traveling in the same direction as the equipped vehicle, and wherein at least a portion of the other vehicle is rearward of the rearmost portion of the equipped vehicle, and wherein at least a portion of the other vehicle is forward of the rearmost portion of the equipped vehicle.

26. The driver assistance system of claim 25, wherein processing using an edge detection algorithm of image data captured at least by said first camera detects vertical edges of the other vehicle.

27. A driver assistance system for a vehicle, said driver assistance system comprising:

a first camera comprising an array of photosensing pixels;

a second camera comprising an array of photosensing pixels;

a rear backup camera comprising an array of photosensing pixels;

wherein said first camera is disposed at a left side of a vehicle equipped with said driver assistance system;

wherein said first camera has a forward field of view in a direction towards the front of the equipped vehicle and has a rearward field of view in a direction towards the rear of the equipped vehicle and has a sideward field of view in a direction away from the left side of the equipped vehicle;

a control for processing image data captured by said first camera;

wherein said control is operable to determine that said first camera is misaligned when said first camera is disposed at the left side of the equipped vehicle;

wherein said control, responsive to a determination of misalignment of said first camera, is operable to algorithmically at least partially compensate for misalignment of said first camera;

wherein, when said first camera is disposed at the left side of the equipped vehicle, a portion of the left body side of the equipped vehicle is present in the field of view of said first camera;

wherein said second camera is disposed at a right side of the equipped vehicle;

wherein said rear backup camera is disposed at a rear portion of the equipped vehicle generally centrally between where said left side-attached first camera and said right side-attached second camera are disposed at the vehicle;

wherein the field of view of said left side-attached first camera overlaps with the field of view of said rear backup camera and wherein the field of view of said right side-attached second camera overlaps with the field of view of said rear backup camera;

wherein image data captured by said left side-attached first camera, by said right side-attached second camera and by said rear backup camera is processed by said control and, at least in part responsive to said processing by said control, a composite image is displayed by a display disposed in the interior cabin of the equipped vehicle positioned within the driver'"'"'s physiological field of view without obstructing the driver'"'"'s view through the windshield of the equipped vehicle;

wherein said display comprises a flat panel display and wherein said flat panel display comprises a back-lit liquid crystal display;

wherein said composite image provides a substantially seamless view;

wherein said composite image provides a view that approximates a view from a single virtual image capture device;

wherein image data captured at least by said first camera is processed using an edge detection algorithm to detect edges of objects exterior of the equipped vehicle, and wherein, responsive at least in part to processing of captured image data, an object of interest exterior of the equipped vehicle is determined;

wherein the determined object of interest is present in a traffic lane to the left of the traffic lane occupied and being traveled in by the equipped vehicle;

wherein the determined object of interest comprises of at least one of (i) a bicycle and (ii) a bicycle rider; and

wherein said control, responsive to a determination of misalignment of said first camera due to a shift in at least one of yaw, pitch and roll of alignment of said first camera, algorithmically at least partially compensates for the misalignment.

28. The driver assistance system of claim 27, wherein processing using an edge detection algorithm of image data captured at least by said first camera detects vertical edges of the at least one of (i) a bicycle and (ii) a bicycle rider.

29. The driver assistance system of claim 28, wherein said first camera disposed at the left side of the equipped vehicle is part of a left-side exterior mirror assembly of the equipped vehicle and wherein said second camera disposed at the right side of the equipped vehicle is part of a right-side exterior mirror assembly of the equipped vehicle, and wherein image data captured at least by said second camera is processed using an edge detection algorithm to detect edges of objects exterior of the equipped vehicle, and wherein, responsive at least in part to processing of captured image data, an object of interest exterior of the equipped vehicle at its right-hand side is determined, and wherein the determined object of interest comprises another vehicle present in a traffic lane to the right of the traffic lane occupied and being traveled in by the equipped vehicle.

30. The driver assistance system of claim 29, wherein processing of captured image data by said control is responsive, at least in part, to an ambient light level at the equipped vehicle.

31. The driver assistance system of claim 30, wherein, in accordance with the ambient light level at the equipped vehicle, said control operates with a daytime sensitivity or a nighttime sensitivity.

32. The driver assistance system of claim 27, wherein processing of captured image data by said control comprises use of an algorithmically executed filter.

33. The driver assistance system of claim 27, wherein said control, responsive to a determination of misalignment of said first camera, is operable to algorithmically at least partially compensate for misalignment of said first camera by adjusting processing of captured image data.

34. The driver assistance system of claim 27, wherein said control, responsive to a determination of misalignment of said first camera, is operable to algorithmically at least partially compensate for misalignment of said first camera by adjusting captured image data.