FORWARD FACING SENSING SYSTEM FOR VEHICLE
First Claim
1. A forward facing sensing system for a vehicle, the vehicle having a windshield, said forward facing sensing system comprising:
- a radar sensor disposed within an interior cabin of a vehicle equipped with said forward facing sensing system;
wherein said radar sensor has a sensing direction forward of the equipped vehicle;
wherein said radar sensor transmits at a frequency of at least 60 GHz;
wherein said radar sensor utilizes digital beam forming in a phased array antenna system;
an image sensor disposed within the interior cabin of the equipped vehicle behind the vehicle windshield;
wherein said image sensor views forward of the equipped vehicle through the vehicle windshield;
wherein said image sensor comprises a pixelated imaging array sensor comprising a plurality of photo-sensing pixels;
wherein said radar sensor and said image sensor are housed in a self-contained unit disposed behind and attached at the vehicle windshield of the equipped vehicle;
wherein said self-contained unit mounts at the vehicle windshield of the equipped vehicle and is removable therefrom as a unit for at least one of service and replacement;
a control comprising an image processor, said image processor operable to analyze image data captured by said image sensor in order to, at least in part, detect an object present exterior of the equipped vehicle in a direction of forward travel of the equipped vehicle;
wherein said image processor comprises an image processing chip that processes image data captured by said image sensor utilizing object detection software;
wherein said control, responsive at least in part to processing of captured image data by said image processor and to sensing by said radar sensor, determines that a potentially hazardous condition may exist in the path of forward travel of the equipped vehicle, and wherein said potentially hazardous condition comprises the detected object being in the path of forward travel of the equipped vehicle;
wherein said radar sensor and said image sensor collaborate in a way that enhances sensing capability of said sensing system for the object in the path of forward travel of the equipped vehicle;
wherein said radar sensor and said image sensor share, at least in part, common circuitry;
wherein said control at least in part controls an adaptive cruise control system of the equipped vehicle; and
wherein said image processor processes image data captured by said image sensor for an automatic headlamp control system of the equipped vehicle.
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Abstract
A forward facing sensing system for a vehicle includes a radar sensor and an image sensor that sense and view forward of the vehicle. The radar sensor and the image sensor are housed in a self-contained unit disposed behind and attached at the vehicle windshield. A control includes an image processor operable to analyze image data captured by the image sensor in order to, at least in part, detect an object present exterior of the vehicle. The control, responsive at least in part to processing of captured image data and to sensing by the radar sensor, determines that a potentially hazardous condition may exist in the path of forward travel of the vehicle. The radar sensor and the image sensor collaborate in a way that enhances sensing capability of the sensing system for the object in the path of forward travel of the vehicle.
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Citations
27 Claims
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1. A forward facing sensing system for a vehicle, the vehicle having a windshield, said forward facing sensing system comprising:
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a radar sensor disposed within an interior cabin of a vehicle equipped with said forward facing sensing system; wherein said radar sensor has a sensing direction forward of the equipped vehicle; wherein said radar sensor transmits at a frequency of at least 60 GHz; wherein said radar sensor utilizes digital beam forming in a phased array antenna system; an image sensor disposed within the interior cabin of the equipped vehicle behind the vehicle windshield; wherein said image sensor views forward of the equipped vehicle through the vehicle windshield; wherein said image sensor comprises a pixelated imaging array sensor comprising a plurality of photo-sensing pixels; wherein said radar sensor and said image sensor are housed in a self-contained unit disposed behind and attached at the vehicle windshield of the equipped vehicle; wherein said self-contained unit mounts at the vehicle windshield of the equipped vehicle and is removable therefrom as a unit for at least one of service and replacement; a control comprising an image processor, said image processor operable to analyze image data captured by said image sensor in order to, at least in part, detect an object present exterior of the equipped vehicle in a direction of forward travel of the equipped vehicle; wherein said image processor comprises an image processing chip that processes image data captured by said image sensor utilizing object detection software; wherein said control, responsive at least in part to processing of captured image data by said image processor and to sensing by said radar sensor, determines that a potentially hazardous condition may exist in the path of forward travel of the equipped vehicle, and wherein said potentially hazardous condition comprises the detected object being in the path of forward travel of the equipped vehicle; wherein said radar sensor and said image sensor collaborate in a way that enhances sensing capability of said sensing system for the object in the path of forward travel of the equipped vehicle; wherein said radar sensor and said image sensor share, at least in part, common circuitry; wherein said control at least in part controls an adaptive cruise control system of the equipped vehicle; and wherein said image processor processes image data captured by said image sensor for an automatic headlamp control system of the equipped vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. A forward facing sensing system for a vehicle, the vehicle having a windshield, said forward facing sensing system comprising:
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a radar sensor disposed within an interior cabin of a vehicle equipped with said forward facing sensing system; wherein said radar sensor has a sensing direction forward of the equipped vehicle; wherein said radar sensor transmits at a frequency of at least 60 GHz; wherein said radar sensor utilizes digital beam forming in a phased array antenna system; an image sensor disposed within the interior cabin of the equipped vehicle behind the vehicle windshield; wherein said image sensor views forward of the equipped vehicle through the vehicle windshield; wherein said image sensor comprises a pixelated imaging array sensor comprising a plurality of photo-sensing pixels; wherein said radar sensor and said image sensor are housed in a self-contained unit disposed behind and attached at the vehicle windshield of the equipped vehicle; wherein said self-contained unit mounts at the vehicle windshield of the equipped vehicle and is removable therefrom as a unit for at least one of service and replacement; a control comprising an image processor, said image processor operable to analyze image data captured by said image sensor in order to, at least in part, detect an object present exterior of the equipped vehicle in a direction of forward travel of the equipped vehicle; wherein said image processor comprises an image processing chip that processes image data captured by said image sensor utilizing object detection software; wherein said control, responsive at least in part to processing of captured image data by said image processor and to sensing by said radar sensor, determines that a potentially hazardous condition may exist in the path of forward travel of the equipped vehicle, and wherein said potentially hazardous condition comprises the detected object being in the path of forward travel of the equipped vehicle; wherein said radar sensor and said image sensor collaborate in a way that enhances determination of existence of the potentially hazardous condition in the path of forward travel of the equipped vehicle; wherein said radar sensor and said image sensor share, at least in part, common circuitry; wherein said image sensor views through the vehicle windshield at a location that is at or near where an interior rearview mirror assembly of the equipped vehicle is mounted at the vehicle windshield; wherein said self-contained unit mounts at the vehicle windshield of the equipped vehicle separate and spaced from where the interior rearview mirror assembly of the equipped vehicle mounts at the vehicle windshield; wherein the vehicle windshield comprises an opaque layer generally where said self-contained unit is disposed behind the vehicle windshield, and wherein said opaque layer comprises a light-transmitting aperture; wherein, with said self-contained unit attached at the vehicle windshield, said image sensor views forward of the equipped vehicle via said light-transmitting aperture; and wherein, responsive to determination by said control that a potentially hazardous condition may exist in the path of forward travel of the equipped vehicle and that said potentially hazardous condition comprises an object in the path of forward travel of the equipped vehicle, at least one of a visual alert and an audible alert is provided to alert a driver of the equipped vehicle to the determined potentially hazardous condition. - View Dependent Claims (20, 21, 22, 23)
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24. A forward facing sensing system for a vehicle, the vehicle having a windshield, said forward facing sensing system comprising:
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a radar sensor disposed within an interior cabin of a vehicle equipped with said forward facing sensing system; wherein said radar sensor has a sensing direction forward of the equipped vehicle; wherein said radar sensor transmits at a frequency of at least 60 GHz; wherein said radar sensor utilizes digital beam forming in a phased array antenna system; an image sensor disposed within the interior cabin of the equipped vehicle behind the vehicle windshield; wherein said image sensor views forward of the equipped vehicle through the vehicle windshield; wherein said image sensor comprises a pixelated imaging array sensor comprising a plurality of photo-sensing pixels; wherein said radar sensor and said image sensor are housed in a self-contained unit disposed behind and attached at the vehicle windshield of the equipped vehicle; wherein said self-contained unit mounts at the vehicle windshield of the equipped vehicle and is removable therefrom as a unit for at least one of service and replacement; a control comprising an image processor, said image processor operable to analyze image data captured by said image sensor in order to, at least in part, detect a pedestrian present exterior of the equipped vehicle in a direction of forward travel of the equipped vehicle; wherein said image processor comprises an image processing chip that processes image data captured by said image sensor utilizing object detection software; wherein said control, responsive at least in part to processing of captured image data by said image processor and to sensing by said radar sensor, determines that a potentially hazardous condition may exist in the path of forward travel of the equipped vehicle, and wherein said potentially hazardous condition comprises the detected pedestrian being in the path of forward travel of the equipped vehicle; wherein said radar sensor and said image sensor collaborate in a way that enhances determination of existence of the potentially hazardous condition in the path of forward travel of the equipped vehicle; wherein said radar sensor and said image sensor collaborate in a way that enhances sensing capability of said sensing system for the pedestrian in the path of forward travel of the equipped vehicle; wherein said radar sensor and said image sensor share, at least in part, common circuitry; wherein said image processor and said common circuitry are housed in said self-contained unit disposed behind and attached at the vehicle windshield of the equipped vehicle; wherein said common circuitry includes said image processor; wherein said image sensor views through the vehicle windshield at a location that is at or near where an interior rearview mirror assembly of the equipped vehicle is mounted at the vehicle windshield; wherein said self-contained unit mounts at the vehicle windshield of the equipped vehicle separate and spaced from where the interior rearview mirror assembly of the equipped vehicle mounts at the vehicle windshield; wherein the vehicle windshield comprises an opaque layer generally where said self-contained unit is disposed behind the vehicle windshield, and wherein said opaque layer comprises a light-transmitting aperture; and wherein, with said self-contained unit attached at the vehicle windshield, said image sensor views forward of the equipped vehicle via said light-transmitting aperture. - View Dependent Claims (25, 26, 27)
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Specification