Vehicular multi-camera vision system

• US 9,508,014 B2
• Filed: 05/05/2014
• Issued: 11/29/2016
• Est. Priority Date: 05/06/2013
• Status: Active Grant

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Inventors: Lu, Yuesheng, Shriner, Richard D.
• Primary Examiner(s): CHIO, TAT CHI
• Application Number:
  US14/269,788
• Publication Number:
  US 20140327774A1
• Time in Patent Office: 939 Days
• US Class Current: 1/1
• CPC Class Codes: B32B 17/10 of synthetic resin
• CPC Class Codes: B32B 17/10005 laminated safety glass or glazing
• CPC Class Codes: B32B 17/10036 comprising two outer glass sheets
• CPC Class Codes: B32B 17/10477 thermochromic
• CPC Class Codes: B32B 17/10651 comprising colorants, e.g. dyes or pigments
• CPC Class Codes: B32B 17/10761 containing vinyl acetal
• CPC Class Codes: B32B 2367/00 Polyesters, e.g. PET, i.e. polyethylene terephthalate
• CPC Class Codes: B60R 1/27 providing all-round vision, e.g. using omnidirectional cameras
• 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 2300/50 characterised by the display information being shared, e.g. external display, data transfer to other traffic participants or centralised traffic controller
• CPC Class Codes: B60R 2300/605 the adjustment being automatic
• CPC Class Codes: B60R 2300/607 from a bird's eye viewpoint
• CPC Class Codes: B60R 2300/70 characterised by an event-triggered choice to display a specific image among a selection of captured images
• CPC Class Codes: E06B 9/24 Screens or other constructions affording protection against light, especially against sunshine; Similar screens for privacy or appearance; Slat blindsoperating, guiding or securing devices or arrangements for roll-type closures E06B9/56; free-hanging flexible screens A47H23/00
• CPC Class Codes: G02F 1/009 Thermal properties
• CPC Class Codes: G02F 1/0147 based on thermo-optic effects G02F1/132 takes precedence
• CPC Class Codes: G06V 10/141 Control of illumination
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle
• CPC Class Codes: H04N 23/698 for achieving an enlarged field of view, e.g. panoramic image capture
• CPC Class Codes: H04N 23/90 : Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums

Abstract

A vision system of a vehicle includes a plurality of cameras disposed at the vehicle and having respective fields of view exterior of the vehicle. An image processing system is operable to process image data captured by the cameras. Responsive to processing of captured image data, the vision system is operable to generate a composite image derived from image data captured by at least two cameras of the plurality of cameras. One of the plurality of cameras functions as a master camera and the vision system, responsive to processing image data captured by the master camera, determines operating parameters for the master camera. The determined operating parameters for the master camera are used by the other cameras of the plurality of cameras.

Claims

1. A vision system of a vehicle, said vision system comprising:

a plurality of cameras disposed at a vehicle and having respective fields of view exterior of the vehicle;

wherein said plurality of cameras comprises a forward viewing camera having at least a forward field of view forward of the vehicle, a rearward viewing camera having at least a rearward field of view rearward of the vehicle, a driver-side sideward viewing camera having at least a sideward field of view at the driver side of the vehicle and a passenger-side sideward viewing camera having at least a sideward field of view at the passenger side of the vehicle;

an image processing system operable to process image data captured by said plurality of cameras;

wherein, responsive to processing of captured image data, said vision system is operable to synthesize a composite image derived from image data captured by said plurality of cameras;

wherein one of said plurality of cameras functions as a master camera and other cameras of said plurality of cameras function as slave cameras, and wherein said vision system, responsive to processing of image data captured by the master camera, determines operating parameters for the master camera;

wherein the determined operating parameters for the master camera are used by the other cameras of said plurality of cameras;

wherein said cameras capture image data for a bird'"'"'s-eye view display system of the vehicle;

wherein each of said cameras is connected via network connection to a vehicle network, and wherein the vehicle network is selected from the group consisting of (i) a CAN bus, (ii) a LIN bus, (iii) an Ethernet bus, (iv) a wireless network and (v) a UART connection;

wherein topology of said network connection comprises star topology or daisy chain topology;

wherein a network hub routes commands from the master camera to the slave cameras;

wherein said network hub is part of one of (i) a multi-camera electronic control unit, (ii) a vehicle electronic control unit and (iii) the master camera; and

wherein, during a reversing maneuver of the vehicle, said vision system selects the rearward viewing camera as the master camera, and wherein, during a forward driving maneuver of the vehicle, said vision system selects the forward viewing camera as the master camera.

2. The vision system of claim 1, wherein the determined operating parameters for the master camera comprise at least one of (i) exposure control, (ii) gain control, (iii) white balance and (iv) color control.

3. The vision system of claim 1, wherein said vision system selects one of said plurality of cameras to function as the master camera.

4. The vision system of claim 3, wherein said vision system selects which camera of said plurality of cameras to function as the master camera responsive to a driving maneuver of the vehicle.

5. The vision system of claim 1, wherein the composite image comprises a bird'"'"'s eye view image.

6. The vision system of claim 1, wherein any one of said cameras of said plurality of cameras is capable of operating as the master camera.

7. The vision system of claim 1, wherein the determined operating parameters for the master camera are communicated over network links to the slave cameras.

8. The vision system of claim 1, wherein a network hub routes the camera control commands from the master camera to the slave cameras.

9. The vision system of claim 1, wherein the master camera operates with its operating parameters activated, and wherein the slave cameras operate with their respective operating parameters deactivated.

10. The vision system of claim 1, wherein said vision system comprises a control operable to determine operating parameters for the master camera and to communicate the determined operating parameters to the slave cameras.

11. The vision system of claim 10, wherein the determined operating parameters for the master camera are applied to the slave cameras in real time so the slave cameras operate with the same set of operating parameters as used by the master camera.

12. A vision system of a vehicle, said vision system comprising:

a plurality of cameras disposed at a vehicle and having respective fields of view exterior of the vehicle;

wherein said plurality of cameras each comprise a two dimensional CMOS imaging array having a plurality of photosensing pixels;

wherein said plurality of cameras comprises at least a forward viewing camera having at least a forward field of view forward of the vehicle, a rearward viewing camera having at least a rearward field of view rearward of the vehicle, a driver side sideward viewing camera having at least a sideward field of view at the driver side of the vehicle and a passenger side sideward viewing camera having at least a sideward field of view at the passenger side of the vehicle;

an image processing system operable to process image data captured by said plurality of cameras;

wherein, responsive to processing of captured image data, said vision system is operable to synthesize a composite image derived from image data captured by at least two cameras of said plurality of cameras;

wherein one of said plurality of cameras functions as a master camera and other cameras of said plurality of cameras function as slave cameras, and wherein said vision system, responsive to processing of image data captured by the master camera, determines operating parameters for the master camera;

wherein the determined operating parameters for the master camera are used by the other cameras of said plurality of cameras;

wherein said cameras capture image data for a bird'"'"'s-eye view display system of the vehicle;

wherein each of said cameras is connected via network connection to a vehicle network, and wherein the vehicle network is selected from the group consisting of (i) a CAN bus, (ii) a LIN bus, (iii) an Ethernet bus, (iv) a wireless network and (v) a UART connection;

wherein topology of said network connection comprises star topology or daisy chain topology;

wherein a network hub routes commands from the master camera to the slave cameras;

wherein said network hub is part of one of (i) a multi-camera electronic control unit, (ii) a vehicle electronic control unit and (iii) the master camera; and

wherein, during a reversing maneuver of the vehicle, said vision system selects the rearward viewing camera as the master camera, and wherein, during a forward driving maneuver of the vehicle, said vision system selects the forward viewing camera as the master camera.

13. The vision system of claim 12, wherein the determined operating parameters for the master camera comprise at least one of (i) exposure control, (ii) gain control, (iii) white balance and (iv) color control.

14. The vision system of claim 12, wherein the composite image comprises a bird'"'"'s eye view image.

15. The vision system of claim 12, wherein any one of said cameras of said plurality of cameras is capable of operating as the master camera, and wherein another of said cameras comprises the master camera during other driving maneuvers of the vehicle.

16. The vision system of claim 12, wherein the determined operating parameters for the master camera are communicated over the vehicle network to the slave cameras.

17. A vision system of a vehicle, said vision system comprising:

a plurality of cameras disposed at a vehicle and having respective fields of view exterior of the vehicle;

wherein said plurality of cameras each comprise a two dimensional CMOS imaging array having a plurality of photosensing pixels;

wherein said plurality of cameras comprises at least a forward viewing camera having at least a forward field of view forward of the vehicle, a rearward viewing camera having at least a rearward field of view rearward of the vehicle, a driver side sideward viewing camera having at least a sideward field of view at the driver side of the vehicle and a passenger side sideward viewing camera having at least a sideward field of view at the passenger side of the vehicle;

an image processing system operable to process image data captured by said plurality of cameras;

wherein, responsive to processing of captured image data, said vision system is operable to synthesize a composite image derived from image data captured by said plurality of cameras;

wherein the composite image comprises a bird'"'"'s eye view image;

wherein one of said plurality of cameras functions as a master camera and other cameras of said plurality of cameras function as slave cameras, and wherein said vision system, responsive to processing of image data captured by the master camera, determines operating parameters for the master camera;

wherein said vision system is operable to communicate the determined operating parameters to the other cameras;

wherein the determined operating parameters for the master camera are communicated over a vehicle network to the slave cameras; and

wherein the determined operating parameters for the master camera are used by the slave cameras;

wherein said cameras capture image data for a bird'"'"'s-eye view display system of the vehicle;

wherein each of said cameras is connected via network connection to the vehicle network, and wherein the vehicle network is selected from the group consisting of (i) a CAN bus, (ii) a LIN bus, (iii) an Ethernet bus, (iv) a wireless network and (v) a UART connection;

wherein topology of said network connection comprises star topology or daisy chain topology;

wherein a network hub routes commands from the master camera to the slave cameras;

wherein said network hub is part of one of (i) a multi-camera electronic control unit, (ii) a vehicle electronic control unit and (iii) the master camera; and

wherein, during a reversing maneuver of the vehicle, said vision system selects the rearward viewing camera as the master camera, and wherein, during a forward driving maneuver of the vehicle, said vision system selects the forward viewing camera as the master camera.

18. The vision system of claim 17, wherein the determined operating parameters for the master camera comprise at least one of (i) exposure control, (ii) gain control, (iii) white balance and (iv) color control.

19. The vision system of claim 17, wherein said vision system selects one of said plurality of cameras to function as the master camera, and wherein said vision system selects which camera of said plurality of cameras to function as the master camera responsive to a driving maneuver of the vehicle.