Imaging system for vehicle

• US 7,991,522 B2
• Filed: 12/28/2010
• Issued: 08/02/2011
• Est. Priority Date: 12/23/2004
• Status: Active Grant

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Donnelly Corporation (Magna International Incorporated)
• Inventors: Higgins-Luthman, Michael J.
• Primary Examiner(s): Tran; Khoi
• Assistant Examiner(s): Figueroa; Jamie
• Application Number:
  US12/979,497
• Publication Number:
  US 20110090339A1
• Time in Patent Office: 217 Days
• Field of Search: 701/28, 701/36, 701/301, 250/208.1, 382/199, 340/435, 340/436
• US Class Current: 701/28
• 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

An imaging system for a vehicle includes an imaging array sensor and a control. The imaging array sensor comprises a plurality of photo-sensing pixels and is disposed at an exterior rearview mirror assembly at a side of the vehicle with a field of view exterior of the vehicle. The imaging array sensor is operable to capture an image exterior of the vehicle. The control may process the captured images and may determine that the imaging array sensor is misaligned when the imaging array sensor is disposed at the exterior rearview mirror assembly at the side of the vehicle. The control, responsive to a determination of misalignment of the imaging array sensor, may at least partially compensate for the determined misalignment of the imaging array sensor.

Claims

1. An imaging system for a vehicle, said imaging system comprising:

an imaging array sensor comprising a plurality of photo-sensing pixels, wherein said imaging array sensor is disposed at an exterior rearview mirror assembly at a side of a vehicle equipped with said imaging system;

wherein, when said imaging array sensor is disposed at the exterior rearview mirror assembly, said imaging array sensor has a field of view exterior of the equipped vehicle, and wherein said imaging array sensor is operable to capture an image exterior of the equipped vehicle;

a control for processing said captured image;

wherein said control is operable to determine that said imaging array sensor is misaligned when said imaging array sensor is disposed at the exterior rearview mirror assembly at the side of the equipped vehicle; and

wherein said control, responsive to a determination of misalignment of said imaging array sensor, is operable to at least partially compensate for the determined misalignment of said imaging array sensor.

2. The imaging system of claim 1, wherein said imaging array sensor is disposed at least partially within the exterior rearview mirror assembly at the side of the equipped vehicle.

3. The imaging system of claim 2, wherein said field of view of said imaging array sensor encompasses at least one of (a) a rearward field of view exterior of the equipped vehicle and (b) a sideward field of view exterior of the equipped vehicle.

4. The imaging system of claim 3, wherein said field of view of said imaging array sensor encompasses a forward field of view exterior of the equipped vehicle.

5. The imaging system of claim 1, wherein said control is operable to determine that said imaging array sensor is aligned within a desired tolerance when said imaging array sensor is disposed at the exterior rearview mirror assembly at the side of the equipped vehicle.

6. The imaging system of claim 1, wherein said control, responsive to a determination of misalignment of said imaging array sensor, is operable to adjust processing of said captured image to at least partially compensate for the determined misalignment of said imaging array sensor.

7. The imaging system of claim 1, wherein said captured image comprises data and wherein said control, responsive to a determination of misalignment of said imaging array sensor, is operable to adjust said data to at least partially compensate for the determined misalignment of said imaging array sensor.

8. The imaging system of claim 1, wherein said imaging array sensor has a field of view that encompasses a portion of the equipped vehicle.

9. The imaging system of claim 8, wherein said imaging array sensor has a field of view that encompasses a portion of the side of the equipped vehicle at which said imaging array sensor is disposed.

10. The imaging system of claim 9, wherein processing undertaken by said control at least partially accounts for misalignment of said imaging array sensor at the side of the equipped vehicle at least in part responsive to image data captured of the portion of the side of the equipped vehicle encompassed by said field of view of said imaging array sensor.

11. The imaging system of claim 10, wherein said field of view encompasses a structure at the side of the vehicle at which said imaging array sensor is disposed.

12. The imaging system of claim 1, wherein said captured image comprises data and wherein said control processes said data to determine a location of a reference structure at the side of the equipped vehicle at which said imaging array sensor is disposed, and wherein said control, responsive to processing of said data, is operable to verify that said imaging array sensor is aligned at the side of the equipped vehicle within a desired tolerance.

13. The imaging system of claim 1, wherein said control, responsive to a determination of misalignment of said imaging array sensor, is operable to determine a degree of misalignment of said imaging array sensor.

14. The imaging system of claim 13, wherein said control, responsive to a determination of the degree of misalignment of said imaging array sensor, is operable to at least partially compensate for the determined degree of misalignment of said imaging array sensor.

15. The imaging system of claim 14, wherein said control processes said captured image to detect a reference structure at the side of the equipped vehicle, and wherein said control is operable to adjust said processing to position the reference structure at an appropriate location in the captured image to at least partially compensate for the determined degree of misalignment of said imaging array sensor.

16. The imaging system of claim 1, wherein said control algorithmically processes data of said captured image to a reduced data set of said data, said control processing said reduced data set to extract information from said reduced data set.

17. The imaging system of claim 16, wherein said reduced data set is representative of a target zone of said captured image.

18. The imaging system of claim 1, wherein said control processes said captured image to detect an object exterior the equipped vehicle.

19. The imaging system of claim 1, wherein said control is operable to distinguish between an object in the field of view of said imaging array sensor and a shadow of an object.

20. The imaging system of claim 1, wherein said control is operable to switch between daytime and nighttime algorithms in response to an ambient light level at the equipped vehicle.

21. The imaging system of claim 1, wherein said control is operable to alert the driver of the equipped vehicle that an object is detected exterior to the equipped vehicle.

22. The imaging system of claim 1, wherein said control is operable to alert the driver of the equipped vehicle that an object is detected at the side of the equipped vehicle in response to at least one of (a) the driver of the equipped vehicle actuating a turn signal toward the side of the equipped vehicle at which the object is detected, and (b) the driver of the equipped vehicle steering the equipped vehicle toward the side of the equipped vehicle at which the object is detected.

23. The imaging system of claim 1, wherein said control applies an edge detection algorithm to process data of said captured image.

24. The imaging system of claim 23, wherein an algorithmically executed filtering mechanism at least substantially ignores detected edges that are not indicative of a significant object in order to at least one of (a) reduce a processing requirement and (b) reduce false signals.

25. The imaging system of claim 1, wherein said imaging array sensor has a field of view at least partially sideward of the equipped vehicle, said imaging system comprising a side object detection system for detecting an object at a side of the equipped vehicle.

26. The imaging system of claim 1, wherein said imaging array sensor comprises a CMOS imaging array sensor.

27. An imaging system for a vehicle, said imaging system comprising:

an imaging array sensor comprising a plurality of photo-sensing pixels, wherein said imaging array sensor is disposed at an exterior rearview mirror assembly at a side of a vehicle equipped with said imaging system;

wherein, when said imaging array sensor is disposed at the exterior rearview mirror assembly, said imaging array sensor has a field of view exterior of the equipped vehicle and wherein said field of view encompasses a portion of the side of the equipped vehicle at which said imaging array sensor is disposed, and wherein said imaging array sensor is operable to capture an image exterior of the equipped vehicle that includes the portion of the side of the equipped vehicle encompassed by said field of view of said imaging array sensor;

a control for processing said captured image;

wherein said control, at least in part responsive to processing of said captured image, is operable to determine that said imaging array sensor is misaligned when said imaging array sensor is disposed at the exterior rearview mirror assembly at the side of the equipped vehicle; and

wherein said control, responsive to a determination of misalignment of said imaging array sensor, is operable to at least partially compensate for the determined misalignment of said imaging array sensor.

28. The imaging system of claim 27, wherein said field of view encompasses a structure at the side of the vehicle at which said imaging array sensor is disposed.

29. The imaging system of claim 27, wherein said captured image comprises data and wherein said control, responsive to a determination of misalignment of said imaging array sensor, is operable to adjust said data to at least partially compensate for the determined misalignment of said imaging array sensor.

30. The imaging system of claim 29, wherein said control, responsive to a determination of misalignment of said imaging array sensor, is operable to adjust processing of said data.

31. The imaging system of claim 29, wherein processing undertaken by said control at least partially accounts for misalignment of said imaging array sensor at the side of the equipped vehicle at least in part responsive to processing of data captured of the portion of the side of the equipped vehicle encompassed by said field of view of said imaging array sensor.

32. The imaging system of claim 27, wherein said imaging array sensor is disposed at least partially within the exterior rearview minor assembly at the side of the equipped vehicle.

33. The imaging system of claim 32, wherein said field of view of said imaging array sensor encompasses at least one of (a) a rearward field of view exterior of the equipped vehicle, (b) a sideward field of view of the equipped vehicle and (c) a forward field of view exterior of the equipped vehicle.

34. The imaging system of claim 27, wherein said control is operable to determine that said imaging array sensor is aligned within a desired tolerance when said imaging array sensor is disposed at the exterior rearview mirror assembly at the side of the equipped vehicle.

35. The imaging system of claim 27, wherein said control processes said captured image to determine a location of a reference structure at the side of the equipped vehicle at which said imaging array sensor is disposed, and wherein said control, responsive to processing of said captured image, is operable to verify that said imaging array sensor is aligned at the side of the equipped vehicle within a desired tolerance.

36. An imaging system for a vehicle, said imaging system comprising:

an imaging array sensor comprising a plurality of photo-sensing pixels, wherein said imaging array sensor is disposed at least partially within an exterior rearview mirror assembly at a side of a vehicle equipped with said imaging system;

wherein, when said imaging array sensor is disposed at least partially within the exterior rearview mirror assembly, said imaging array sensor has a field of view exterior of the equipped vehicle, and wherein said imaging array sensor is operable to capture an image exterior of the equipped vehicle;

a control for processing said captured image;

wherein said control is operable to determine that said imaging array sensor is misaligned when said imaging array sensor is disposed at least partially within the exterior rearview mirror assembly at the side of the equipped vehicle;

wherein said control, responsive to a determination of misalignment of said imaging array sensor, is operable to at least partially compensate for the determined misalignment of said imaging array sensor; and

wherein said captured image comprises data and wherein said control processes said data to determine a structure at the side of the equipped vehicle at which said imaging array sensor is disposed, and wherein said control, responsive to processing of said data, is operable to verify that said imaging array sensor is aligned at the side of the equipped vehicle within a desired tolerance.

37. The imaging system of claim 36, wherein said field of view of said imaging array sensor encompasses at least one of (a) a rearward field of view exterior of the equipped vehicle, (b) a sideward field of view of the equipped vehicle and (c) a forward field of view exterior of the equipped vehicle.

38. The imaging system of claim 36, wherein said control, responsive to a determination of misalignment of said imaging array sensor, is operable to adjust said data to at least partially compensate for the determined misalignment of said imaging array sensor.

39. The imaging system of claim 38, wherein said control, responsive to a determination of misalignment of said imaging array sensor, is operable to adjust processing of said data.

40. The imaging system of claim 36, wherein said control is operable to determine that said imaging array sensor is aligned within a desired tolerance when said imaging array sensor is disposed at least partially within the exterior rearview mirror assembly at the side of the equipped vehicle.

41. An imaging system for a vehicle, said imaging system comprising:

an imaging array sensor comprising a plurality of photo-sensing pixels, wherein said imaging array sensor is disposed at least partially within an exterior rearview mirror assembly at a side of a vehicle equipped with said imaging system;

wherein, when said imaging array sensor is disposed at least partially within the exterior rearview mirror assembly, said imaging array sensor has a field of view exterior of the equipped vehicle, and wherein said imaging array sensor is operable to capture an image exterior of the equipped vehicle;

a control for processing said captured image;

wherein said control is operable to determine that said imaging array sensor is misaligned when said imaging array sensor is disposed at least partially within the exterior rearview mirror assembly at the side of the equipped vehicle; and

wherein said control, responsive to a determination of misalignment of said imaging array sensor, is operable to adjust processing of said captured image to at least partially compensate for the determined misalignment of said imaging array sensor.

42. The imaging system of claim 41, wherein said field of view of said imaging array sensor encompasses at least one of (a) a rearward field of view exterior of the equipped vehicle, (b) a sideward field of view exterior of the equipped vehicle and (c) a forward field of view exterior of the equipped vehicle.

43. The imaging system of claim 41, wherein said control is operable to determine that said imaging array sensor is aligned within a desired tolerance when said imaging array sensor is disposed at least partially within the exterior rearview mirror assembly at the side of the equipped vehicle.

44. An imaging system for a vehicle, said imaging system comprising:

an imaging array sensor comprising a plurality of photo-sensing pixels, wherein said imaging array sensor is disposed at least partially within an exterior rearview mirror assembly at a side of a vehicle equipped with said imaging system;

wherein, when said imaging array sensor is disposed at least partially within the exterior rearview mirror assembly, said imaging array sensor has a field of view exterior of the equipped vehicle, and wherein said imaging array sensor is operable to capture an image exterior of the equipped vehicle;

a control for processing said captured image;

wherein said control is operable to determine that said imaging array sensor is misaligned when said imaging array sensor is disposed at least partially within the exterior rearview mirror assembly at the side of the equipped vehicle; and

wherein said captured image comprises data and wherein said control, responsive to a determination of misalignment of said imaging array sensor, is operable to adjust said data to at least partially compensate for the determined misalignment of said imaging array sensor.

45. The imaging system of claim 44, wherein said field of view of said imaging array sensor encompasses at least one of (a) a rearward field of view exterior of the equipped vehicle, (b) a sideward field of view exterior of the equipped vehicle and (c) a forward field of view exterior of the equipped vehicle.

46. The imaging system of claim 44, wherein said control is operable to determine that said imaging array sensor is aligned within a desired tolerance when said imaging array sensor is disposed at least partially within the exterior rearview mirror assembly at the side of the equipped vehicle.

47. An imaging system for a vehicle, said imaging system comprising:

an imaging array sensor comprising a plurality of photo-sensing pixels, wherein said imaging array sensor is disposed at least partially within an exterior rearview mirror assembly at a side of a vehicle equipped with said imaging system;

wherein, when said imaging array sensor is disposed at least partially within the exterior rearview mirror assembly, said imaging array sensor has a field of view exterior of the equipped vehicle, and wherein said imaging array sensor is operable to capture an image exterior of the equipped vehicle, and wherein said imaging array sensor has a field of view that encompasses a portion of the side of the equipped vehicle at which said imaging array sensor is disposed;

a control for processing said captured image;

wherein said control is operable to determine that said imaging array sensor is misaligned when said imaging array sensor is disposed at least partially within the exterior rearview mirror assembly at the side of the equipped vehicle; and

wherein said control, responsive to a determination of misalignment of said imaging array sensor, is operable to at least partially compensate for the determined misalignment of said imaging array sensor, and wherein processing undertaken by said control at least partially, accounts for misalignment of said imaging array sensor at the side of the equipped vehicle at least in part responsive to image data captured of the portion of the side of the equipped vehicle encompassed by said field of view of said imaging array sensor.

48. The imaging system of claim 47, wherein said field of view of said imaging array sensor encompasses at least one of (a) a rearward field of view exterior of the equipped vehicle, (b) a sideward field of view exterior of the equipped vehicle and (c) a forward field of view exterior of the equipped vehicle.

49. The imaging system of claim 47, wherein said control is operable to determine that said imaging array sensor is aligned within a desired tolerance when said imaging array sensor is disposed at least partially within the exterior rearview mirror assembly at the side of the equipped vehicle.

50. The imaging system of claim 47, wherein said field of view encompasses a structure at the side of the vehicle at which said imaging array sensor is disposed.