Rear-view multi-functional camera system with three-dimensional data analysis features

• US 8,953,014 B2
• Filed: 12/13/2013
• Issued: 02/10/2015
• Est. Priority Date: 11/19/2009
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH, Robert Bosch LLC (Robert Bosch GmbH)
• Original Assignee: Robert Bosch GmbH
• Inventors: Luo, Yun, Hoetzer, Dieter
• Primary Examiner(s): POPE, DARYL C
• Application Number:
  US14/105,914
• Publication Number:
  US 20140118485A1
• Time in Patent Office: 424 Days
• Field of Search: 340/425.5, 340/435, 340/436, 340/932.2, 340/937, 348/36
• US Class Current: 348/36
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: B60R 1/26 to the rear of the vehicle
• CPC Class Codes: B60R 1/30 providing vision in the non-visible spectrum, e.g. night or infrared 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 2300/105 using multiple cameras
• 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: B60R 2300/602 with an adjustable viewpoint
• 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 23/698 for achieving an enlarged field of view, e.g. panoramic image capture

Abstract

A rear-viewing camera system for a vehicle is described. The rear-viewing system includes a first camera and a second camera. The first and second cameras are positioned with partially overlapping fields of view. An electronic control unit is configured to receive image data from the cameras and generated three-dimensional data for the overlapping portion of the fields of view. The electronic control unit then analyzes the movement of vehicles within the overlapping field of view based on the three-dimensional data. Movement of vehicles in the non-overlapping fields of view is analyzed based on two-dimensional image data from either the first camera or the second camera.

Claims

1. A rear-view camera system for a vehicle, the rear-view camera system comprising:

a first camera positioned with a first field of view;

a second camera positioned with a second field of view, the second view of view partially overlapping with the first field of view;

an electronic control unit configured to

receive image data from the first camera,

receive image data from the second camera,

generate three-dimensional data regarding objects detected in a portion of the second field of view that overlaps with the first field of view, the three-dimensional data being generated based on the image data from the first camera and the image data from the second camera,

analyze movement, relative to the vehicle, of an object in the portion of the second field of view that overlaps with the first field of view based on the three-dimensional data,

analyze movement, relative to the vehicle, of an object in a portion of the first field of view that does not overlap with the second field of view based on two-dimensional data from the first camera, and

analyze movement, relative to the vehicle, of an object in a portion of the second field of view that does not overlap with the first field of view based on two-dimensional data from the second camera.

2. The rear-view camera system of claim 1, wherein the image data from the first camera and the image data from the second camera each include a video stream of image data.

3. The rear-view camera system of claim 1, wherein the first camera and the second camera are operable to capture image data in a visible spectrum and an infrared spectrum.

4. The rear-view camera system of claim 3, further comprising an infrared light source operable to illuminate the first field of view and the second field of view with infrared light.

5. The rear-view camera system of claim 1, wherein the electronic control unit is further configured to produce a panoramic image based on the image data from the first camera and the image data from the second camera, and further comprising a display configured to receive the panoramic image from the electronic control unit and to display the panoramic image.

6. The rear-view camera system of claim 5, wherein the electronic control unit is configured to produce the panoramic image by incorporating image data from the first camera corresponding to a non-overlapping portion of the first field of view, image data from the second camera corresponding to a non-overlapping portion of the second field of view, and combined image data from the first camera and the second camera corresponding to overlapping portions of the first field of view and the second field of view.

7. The rear-view camera system of claim 5, wherein the electronic control unit is further configured to adjust an angle of the first camera and an angle of the second camera in response to receiving a user input requesting a change in a viewing angle of the panoramic image.

8. The rear-view camera system of claim 5, wherein the electronic control unit is further configured to

determine whether the vehicle is operating in reverse, and

display the panoramic image on the display when the vehicle is operating in reverse.

9. The rear-view camera system of claim 1, wherein analyzing movement, relative to the vehicle, of an object in the portion of the second field of view that overlaps with the first field of view based on the three-dimensional data includes

determining a driving corridor of the vehicle in the three-dimensional data,

estimate a time to collision of the vehicle with the object when the object is within the driving corridor, and

provide a warning to the operator of the vehicle based on the estimated time to collision.

10. The rear-view camera system of claim 9, wherein the warning includes at least one selected from a group consisting of an audible warning, a visual warning, and a haptic warner.

11. The rear-view camera system of claim 9, wherein the warning is provided by highlighting the object in the panoramic image on the display.

12. The rear-view camera system of claim 9, wherein the electronic control unit is further configured to

determine whether the operator of the vehicle has taken appropriate action in response to the warning, and

activate a collision mitigation system when the electronic control unit determines that the operator of the vehicle has not taken appropriate action in response to the warning.

13. The rear-view camera system of claim 1, further comprising a braking system and a forward-looking collision detection system, wherein the electronic control unit is further configured to

detect an imminent rear collision based on the analysis of the movement, relative to the vehicle, of an object in the portion of the second field of view that overlaps with the first field of view based on the three-dimensional data, and

transmit information regarding the detected imminent rear collision to the forward-looking collision detection system,

wherein the forward-looking collision detection system is configured to control the braking system based on both the imminent rear collision information and whether an imminent forward collision is detected.

14. The rear-view camera system of claim 1, wherein the electronic control unit is further configured to identify a driving corridor in the generated three-dimensional data, the driving corridor corresponding to a predicted path of motion of the vehicle travelling in reverse, and

wherein the electronic control unit is configured to analyze movement, relative to the vehicle, of the object in the portion of the first field of view that does not overlap with the second field of view based on two-dimensional data from the first camera by

detecting a moving object in the image data from the first camera,

predicting, based on the image data from the first camera, whether the moving object will enter the driving corridor, and

when the moving object is predicted to enter the driving corridor, calculating an estimated time when the object is predicted to enter the driving corridor.

15. The rear-view camera system of claim 14, wherein the electronic control unit is further configured to provide a warning to an operator of the vehicle when the moving object is predicted to enter the driving corridor.

16. The rear-view camera system of claim 14, wherein the electronic control unit is further configured to provide an indication to the operator of the vehicle of the estimated time when the object is predicted to enter the driving corridor.

17. The rear-view camera system of claim 14, wherein the electronic control unit is further configured to determine whether a collision between the vehicle and the object is likely based on current movement of the vehicle and the estimated time when the object is predicted to enter the driving corridor.