Vehicle imaging system

• US 9,509,957 B2
• Filed: 04/19/2013
• Issued: 11/29/2016
• Est. Priority Date: 07/24/2008
• Status: Active Grant

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Inventors: Higgins-Luthman, Michael J., Lu, Yuesheng
• Primary Examiner(s): Vo, Tung
• Assistant Examiner(s): CATTUNGAL, ROWINA J
• Application Number:
  US13/866,376
• Publication Number:
  US 20130229523A1
• Time in Patent Office: 1,320 Days
• Field of Search: 348/148
• US Class Current: 1/1
• CPC Class Codes: B60Q 1/1423 Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic
• 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 2300/054 Variable non-standard intensity, i.e. emission of various beam intensities different from standard intensities, e.g. continuous or stepped transitions of intensity
• 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 1/062 with remote control for adjusting position B60R1/0607 takes precedence
• 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 16/0236 for economical driving
• CPC Class Codes: B60R 16/03 for supply of electrical power to vehicle subsystems or for circuit arrangements for charging batteries H02J7/00
• CPC Class Codes: B60R 2001/1215 with information displays
• CPC Class Codes: B60R 2300/105 using multiple cameras
• CPC Class Codes: B60R 2300/307 virtually distinguishing relevant parts of a scene from the background of the scene
• CPC Class Codes: B60R 2300/8093 for obstacle warning
• CPC Class Codes: B60W 2552/00 Input parameters relating to infrastructure
• CPC Class Codes: B60W 2552/30 Road curve radius
• CPC Class Codes: B60W 2552/40 Coefficient of friction
• CPC Class Codes: B60W 2552/53 Road markings, e.g. lane marker or crosswalk
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: B60W 40/06 Road conditions
• CPC Class Codes: B60W 50/0097 Predicting future conditions
• CPC Class Codes: G06V 20/56 : exterior to a vehicle by using sensors mounted on the vehicle
• CPC Class Codes: G06V 40/10 : Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
• CPC Class Codes: H04N 23/56 : provided with illuminating means
• CPC Class Codes: H04N 23/63 : by using electronic viewfinders
• CPC Class Codes: H04N 23/65 : Control of camera operation in relation to power supply
• CPC Class Codes: H04N 7/18 : Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

Abstract

A vision system for a vehicle includes an image sensor and image processor. The image sensor is disposed at the vehicle and has a field of view exterior of the vehicle for capturing image data of a scene forward of the vehicle. The field of view encompasses at least a portion of a road surface ahead of and in the direction of travel of the vehicle. The image processor processes captured image data. Responsive to image processing of captured image data by the image processor, the vehicle vision system determines the presence of an animal on the road surface within the field of view. At least in part responsive to determination of the animal on the road surface within the field of view, the vehicle vision system at least one of (a) generates an alert and (b) controls the vehicle.

Claims

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

an image sensor and image processor, wherein said image sensor is disposed at a vehicle equipped with said vehicle vision system, said image sensor having a field of view exterior of the equipped vehicle for capturing image data of a scene forward of the equipped vehicle, said field of view encompassing at least a portion of a road surface ahead of and in the direction of travel of the equipped vehicle, said image processor processing captured image data;

wherein, responsive to image processing of captured image data by said image processor, said vehicle vision system detects the presence of an animal on the road surface within said field of view;

wherein, responsive at least in part to processing by said image processor of captured image data, said vehicle vision system determines whether the detected animal present on the road surface within said field of view is a live animal or a dead animal;

wherein said vehicle vision system reacts differently depending on whether the detected animal present on the road surface within said field of view is determined to be a live animal or a dead animal;

wherein, at least in part responsive to determination that the detected animal present on the road surface is a dead animal, said vehicle vision system determines a location of the dead animal relative to a path of the equipped vehicle;

wherein, at least in part responsive to determination that the detected animal present on the road surface is a dead animal on the road surface within said field of view and that the dead animal is in the path of the equipped vehicle, said vehicle vision system at least one of (a) generates an alert to alert a driver of the equipped vehicle of the presence of the dead animal and (b) controls the equipped vehicle to avoid hitting the dead animal with the equipped vehicle; and

wherein, at least in part responsive to determination that the detected animal present on the road surface is a live animal, said vehicle vision system controls the equipped vehicle to avoid hitting the determined live animal with the equipped vehicle.

2. The vehicle vision system of claim 1, wherein said vehicle vision system is responsive at least in part to a selected level of risk for that the driver selects to take when operating the equipped vehicle.

3. The vehicle vision system of claim 1, wherein said vehicle vision system reacts differently depending on the type of animal that is determined, and wherein, at least in part responsive to determination that the detected animal present on the road surface is a selected type of animal on the road surface within said field of view, said vehicle vision system controls the equipped vehicle to provide evasive action to avoid hitting the determined type of animal with the equipped vehicle, and wherein, at least in part responsive to determination that the detected animal present on the road surface is another type of animal on the road surface within said field of view, said vehicle vision system does not control the equipped vehicle to avoid hitting the determined other type of animal.

4. The vehicle vision system of claim 1, wherein, at least in part responsive to determination that the detected animal present on the road surface is a live animal on the road surface within said field of view, said vehicle vision system controls the equipped vehicle to provide evasive action to avoid hitting the determined live animal.

5. The vehicle vision system of claim 1, comprising:

at least two image sensors having at least one of (a) a forward field of view and capturing image data of a scene forward of the equipped vehicle, (b) a rearward field of view and capturing image data of a scene rearward of the equipped vehicle and (c) a sideward field of view and capturing image data of a scene to the side of the equipped vehicle; and

a display displaying the captured images as a merged image with image stitching of the component images to minimize effects of image stitching.

6. The vehicle vision system of claim 1, wherein, at least in part responsive to determination of a live animal within said field of view, said vehicle vision system generates an alert.

7. The vehicle vision system of claim 1, wherein said vehicle vision system estimates a separation gap between the equipped vehicle and a leading vehicle.

8. The vehicle vision system of claim 7, wherein said separation gap is adjusted based on a current driving condition.

9. The vehicle vision system of claim 7, wherein said vehicle vision system adjusts said separation gap based on a driving capability of the driver of the equipped vehicle.

10. The vehicle vision system of claim 1, wherein said vehicle vision system determines movement of an object within said field of view.

11. The vehicle vision system of claim 10, wherein said vehicle vision system determines sliding of an object on the road surface within said field of view.

12. The vehicle vision system of claim 1, wherein said vehicle vision system is part of an adaptive cruise control system of the equipped vehicle.

13. The vehicle vision system of claim 1, wherein said vehicle vision system is operable to adjust an adaptive cruise control system of the equipped vehicle responsive to determination of a road condition ahead of the equipped vehicle.

14. The vehicle vision system of claim 13, wherein said vehicle vision system is operable to change a separation gap between the equipped vehicle and a vehicle ahead of the equipped vehicle based, at least in part, on an estimated stopping distance of the equipped vehicle.

15. A vision system for a vehicle, said vehicle vision system comprising:

an image sensor and image processor, wherein said image sensor is disposed at a vehicle equipped with said vehicle vision system, said image sensor having a field of view exterior of the equipped vehicle for capturing image data of a scene forward of the equipped vehicle, said field of view encompassing at least a portion of a road surface ahead of and in the direction of travel of the equipped vehicle, said image processor processing captured image data;

wherein, responsive to image processing of captured image data by said image processor, said vehicle vision system detects the presence of an animal on the road surface within said field of view;

wherein, responsive at least in part to processing by said image processor of captured image data, said vehicle vision system determines whether the detected animal present on the road surface within said field of view is a live animal or a dead animal;

wherein said vehicle vision system reacts differently depending on whether the detected animal present on the road surface within said field of view is determined to be a live animal or a dead animal;

wherein, at least in part responsive to determination that the detected animal present on the road surface is a dead animal, said vehicle vision system determines a location of the dead animal relative to a path of a tire of the equipped vehicle;

wherein, at least in part responsive to determination that the detected animal present on the road surface is a dead animal on the road surface within said field of view and that the dead animal is in the path of the tire of the equipped vehicle, said vehicle vision system at least one of (a) generates an alert to alert a driver of the equipped vehicle of the presence of the dead animal and (b) controls the equipped vehicle to avoid hitting the dead animal with the tire of the equipped vehicle; and

wherein, at least in part responsive to determination that the detected animal present on the road surface is a live animal, said vehicle vision system controls the equipped vehicle to provide evasive action to avoid hitting the determined live animal with the equipped vehicle.

16. The vehicle vision system of claim 15, wherein said vehicle vision system determines movement of an object within said field of view.

17. The vehicle vision system of claim 15, wherein said vehicle vision system is part of an adaptive cruise control system of the equipped vehicle.

18. A vision system for a vehicle, said vehicle vision system comprising:

an image sensor and image processor, wherein said image sensor is disposed at a vehicle equipped with said vehicle vision system, said image sensor having a field of view exterior of the equipped vehicle for capturing image data of a scene forward of the equipped vehicle, said field of view encompassing at least a portion of a road surface ahead of and in the direction of travel of the equipped vehicle, said image processor processing captured image data;

wherein, responsive to image processing of captured image data by said image processor, said vehicle vision system detects the presence of an animal on the road surface within said field of view;

wherein, responsive at least in part to processing by said image processor of captured image data, said vehicle vision system determines whether the detected animal present on the road surface within said field of view is a live animal or a dead animal;

wherein said vehicle vision system reacts differently depending on whether the detected animal present on the road surface within said field of view is determined to be a live animal or a dead animal;

wherein, at least in part responsive to determination that the detected animal present on the road surface is a dead animal, said vehicle vision system determines a location of the dead animal relative to a path of the equipped vehicle;

wherein, at least in part responsive to determination that the detected animal present on the road surface is a dead animal on the road surface within said field of view and that the dead animal is in the path of the equipped vehicle, said vehicle vision system controls the equipped vehicle to avoid hitting the dead animal with the equipped vehicle;

wherein said vision system reacts differently if said vehicle vision system determines the presence of a live animal within said field of view; and

wherein, at least in part responsive to determination that the detected animal present on the road surface is a live animal within said field of view, said vehicle vision system controls the equipped vehicle to provide evasive action to avoid hitting the determined live animal with the equipped vehicle.

19. The vehicle vision system of claim 18, wherein said vehicle vision system determines movement of an object within said field of view.

20. The vehicle vision system of claim 18, wherein said vehicle vision system is part of an adaptive cruise control system of the equipped vehicle.