Vehicle imaging system with accessory control

• US 6,822,563 B2
• Filed: 01/14/2002
• Issued: 11/23/2004
• Est. Priority Date: 09/22/1997
• Status: Expired due to Term

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Donnelly Corporation (Magna International Incorporated)
• Inventors: Schofield, Kenneth, Bos, Brent J.
• Primary Examiner(s): Lieu, Julie
• Application Number:
  US10/047,901
• Publication Number:
  US 20020135468A1
• Time in Patent Office: 1,044 Days
• Field of Search: 340/436, 340/435, 340/903, 340/461, 348/149, 348/148, 348/42, 348/47, 348/51, 315/76, 315/77, 315/82
• US Class Current: 340/461
• 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 1/143 combined with another condition, e.g. using vehicle recognition from camera images or activation of wipers
• CPC Class Codes: B60Q 2300/41 preceding vehicle
• CPC Class Codes: B60Q 2300/42 oncoming vehicle
• 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 1/26 to the rear of the vehicle
• CPC Class Codes: B60R 1/31 providing stereoscopic 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 2011/0003 inside the vehicle
• CPC Class Codes: B60R 2011/0026 Windows, e.g. windscreen
• CPC Class Codes: B60R 2300/105 using multiple cameras
• CPC Class Codes: B60R 2300/107 using stereoscopic cameras
• CPC Class Codes: B60R 2300/30 characterised by the type of image processing
• CPC Class Codes: B60R 2300/305 merging camera image with lines or icons
• CPC Class Codes: B60R 2300/804 for lane monitoring
• CPC Class Codes: B60R 2300/8066 for monitoring rearward traffic
• CPC Class Codes: G01B 11/026 by measuring distance between sensor and object G01B11/0608 takes precedence
• CPC Class Codes: G06T 2207/10021 Stereoscopic video; Stereoscopic image sequence
• CPC Class Codes: G06T 2207/10024 : Color image
• CPC Class Codes: G06T 2207/30252 : Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 7/593 : from stereo images
• 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: G06V 20/584 : of vehicle lights or traffic lights
• 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 2013/0081 : Depth or disparity estimation from stereoscopic image signals
• CPC Class Codes: H04N 25/00 : Circuitry of solid-state image sensors [SSIS]; Control thereof
• CPC Class Codes: H04N 7/183 : for receiving images from a single remote source

Abstract

A vehicular imaging system suitable for use in a vehicle includes at least one imaging array sensor and a control. The imaging array sensor has a field of view directed outwardly from the vehicle and is operable to sense at least one object or light source of interest external to the vehicle. The control is responsive to an output of the imaging array sensor to determine a distance between the imaging array sensor and the object or light source of interest external to the vehicle sensed by the imaging array sensor. The control is operable to control at least one accessory of the vehicle in response to a closest one of the objects or light sources of interest external to the vehicle sensed by the imaging array sensor. The control may be operable to control a headlamp of the vehicle in response to the determined distance.

Claims

1. A vehicular headlamp control for controlling a headlamp of a vehicle, said headlamp control comprising:

at least one imaging array sensor having a field of view directed outwardly of the vehicle and being adapted to receive at least a pair or images of a scene forward of the vehicle; and

a control responsive to said at least one imaging array sensor to identify light sources of interest in said at least a pair of images and provide a control output to the vehicle, said control calculating a distance between at least one of the light sources of interest and said at least one imaging array sensor and providing said control output in response to said distance, said headlamp control controlling a headlamp of the vehicle in response to said control output.

2. The vehicular headlamp control of claim 1, wherein said control is operable to determine said distance in response to relative registrations of the at least one of the light sources of interest of said at least a pair of images received by said at least one imaging array sensor.

3. The vehicular headlamp control of claim 1, wherein said control is operable to determine if the at least one of the light sources of interest is one of a headlamp and a taillight of another vehicle.

4. The vehicular headlamp control of claim 3, wherein said control is operable to determine if an intensity of the at least one of the light sources of interest is within a threshold intensity level and if said distance is within a threshold distance range from the vehicle, said control being operable to control a headlamp of the vehicle in response to at least one of said intensity and said distance of the at least one of the light sources of interest.

5. The vehicular headlamp control of claim 4, wherein said threshold intensity level and threshold distance level are different between a headlamp and a taillight determination.

6. The vehicular headlamp control of claim 4 further including at least one color filter associated with said at least one imaging array sensor.

7. The vehicular headlamp control of claim 6, wherein said control is operable to determine a color associated with the at least one of the light sources of interest, said control being operable to control a headlamp of the vehicle in response to at least one of said color, said intensity level and said distance.

8. The vehicular headlamp control of claim 4, wherein said control determines a lateral angular position of the at least one of the light sources of interest relative to the vehicle, said control being operable to control a headlamp of the vehicle in response to at least one of said intensity level, said distance and said angular position.

9. The vehicular headlamp control of claim 8, wherein said control is operable to control a headlamp of the vehicle in response to at least one of a rate of approach and a vertical position of the at least one of the light sources of interest relative to the vehicle.

10. The vehicular headlamp control of claim 1, wherein said at least one imaging array sensor comprises a first portion and a second portion and said at least a pair of images comprise first and second images, said first portion receiving said first image of the at least one of the light sources of interest and said second portion receiving said second image of the at least one of the light sources of interest.

11. The vehicular headlamp control of claim 10, wherein said control is operable to determine said distance in response to relative registrations of the at least one of the light sources of interest on said first and second portions of said at least one imaging array sensor.

12. The vehicular headlamp control of claim 10, further including first and second optic elements, said first optic element having a first focal length and being positioned along a first optic path between the light sources of interest and said first portion, said second optic element having a second focal length and being positioned along a second optic path between the light sources of interest and said second portion.

13. The vehicular headlamp control of claim 12, wherein a first reference point is associated with said first portion and a second reference point is associated with said second portion, a separation distance being defined by said first and second reference points, said control determining said distance as a function of said separation distance and said first and second focal lengths.

14. The vehicular headlamp control of claim 1, wherein said control is operable to determine an angular position of the at least one of the light sources of interest with respect to said headlamp control, said headlamp control controlling a headlamp of the vehicle in response to at least one of said angular position and said distance of the at least one of the light sources of interest relative to the vehicle.

15. The vehicular headlamp control of claim 1, wherein said headlamp control is operable to adjust a setting of a headlamp of the vehicle in response to at least one of an intensity of the at least one of the light sources of interest, a color of the at least one of the light sources of interest, said distance between said headlamp control and the at least one of the light sources of interest, said angular position of the at least one of the light sources of interest relative to the vehicle, and a rate of approach of the at least one of the light sources of interest relative to the vehicle.

16. The vehicular headlamp control of claim 1, wherein said first image is an average position of a portion of said first image associated with the at least one of the light sources of interest and said second image is an average position of a portion of said second image associated with the at least one of the light sources of interest.

17. The vehicular headlamp control of claim 1, wherein said at least one imaging array sensor comprises at least one pixelated imaging array sensor.

18. The vehicular headlamp control of claim 17, wherein said first image comprises an individual pixel location associated with the at least one of the light sources of interest and said second image comprises an individual pixel location associated with the at least one of the light sources of interest.

19. The vehicular headlamp control of claim 17, wherein said control is operable to provide sub-pixel resolution to the distance determination.

20. The vehicular headlamp control of claim 17, wherein said at least one pixelated imaging array sensor comprises a CMOS sensor.

21. The vehicular headlamp control of claim 17, wherein said at least one pixelated imaging array sensor comprises a CCD sensor.

22. The vehicular headlamp control of claim 1, wherein said control is responsive to said distance sensor to modulate a headlamp of the vehicle at least between a high beam state and a low beam state of a headlamp in response to the distance between the at least one of the light sources of interest and said at least one imaging array sensor.