Driver assist system for vehicle

• US 9,656,608 B2
• Filed: 06/13/2016
• Issued: 05/23/2017
• Est. Priority Date: 07/31/2001
• Status: Expired due to Term

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Inventors: Cooprider, Troy O., McMahon, Martha A.
• Primary Examiner(s): SHEPARD, JUSTIN E
• Application Number:
  US15/180,645
• Publication Number:
  US 20160280137A1
• Time in Patent Office: 344 Days
• CPC Class Codes: B60K 35/00 Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
• CPC Class Codes: B60Q 1/08 automatically
• CPC Class Codes: B60Q 9/00 Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00 , e.g. haptic signalling
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: B60R 1/27 providing all-round vision, e.g. using omnidirectional cameras
• CPC Class Codes: B60R 16/023 for transmission of signals between vehicle parts or subsystems
• 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 2300/304 using merged images, e.g. merging camera image with stored images
• CPC Class Codes: B60W 30/143 Speed control B60W30/16 takes precedence
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G05D 1/00 Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots drive control systems specially adapted for autonomous road vehicles B60W60/00
• CPC Class Codes: G05D 1/0033 by having the operator tracking the vehicle either by direct line of sight or via one or more cameras located remotely from the vehicle
• CPC Class Codes: G05D 1/0038 by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation images analyzed by a computer and used for automatic navigation G05D1/0246
• CPC Class Codes: G05D 1/0044 by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps maps used for automatic navigation G05D1/0274; flight directors G01C23/005
• CPC Class Codes: H04N 21/422 Input-only peripherals , i.e. input devices connected to specially adapted client devices, e.g. global positioning system [GPS] input devices also receiving signals from specially adapted client devices H04N21/4104
• CPC Class Codes: H04N 21/42202 environmental sensors, e.g. for detecting temperature, luminosity, pressure, earthquakes
• CPC Class Codes: H04N 21/4223 Cameras H04N23/00 takes precedence
• CPC Class Codes: H04N 23/698 for achieving an enlarged field of view, e.g. panoramic image capture
• CPC Class Codes: H04N 25/76 Addressed sensors, e.g. MOS or CMOS sensors
• CPC Class Codes: H04N 7/181 : for receiving images from a plurality of remote sources

Abstract

A vehicular driver assist system suitable for use in a vehicle includes a video processor module receiving and processing image data provided by a plurality of video sensors and sensor data provided by a plurality of non-video sensors. The video processor module communicates with other vehicle systems via a vehicle bus. The received image data may be processed at the video processor module to generate a synthesized image, which may be output from the video processor module for display by a single display screen of a display device that is viewable by a driver of the vehicle. An object external to the vehicle may be detected, at least in part, via processing of image data at the video processor module. Responsive at least in part to processing of image data and sensor data at the video processor module, a driver assistance system of the vehicle is controlled.

Claims

1. A vehicular driver assist system suitable for use in a vehicle, said vehicular driver assist system comprising:

a video processor module disposed at a vehicle equipped with said vehicular driver assist system;

said video processor module receiving and processing image data provided by a plurality of video sensors disposed at the equipped vehicle;

said video processor module receiving and processing sensor data provided by a plurality of non-video sensors disposed at the equipped vehicle;

said plurality of video sensors comprising at least five vehicular cameras;

said at least five vehicular cameras comprising a first vehicular camera disposed at a driver side of the equipped vehicle;

said at least five vehicular cameras comprising a second vehicular camera disposed at a passenger side of the equipped vehicle;

said at least five vehicular cameras comprising a third vehicular camera disposed at a rear portion of the equipped vehicle;

said at least five vehicular cameras comprising a fourth vehicular camera disposed at a front portion of the equipped vehicle;

said at least five vehicular cameras comprising a fifth vehicular camera disposed at, and viewing forwardly through, an in-cabin side of a windshield of the equipped vehicle;

wherein said first vehicular camera has a first field of view exterior of the equipped vehicle and is operable to capture first image data;

wherein said second vehicular camera has a second field of view exterior of the equipped vehicle and is operable to capture second image data;

wherein said third vehicular camera has a third field of view exterior of the equipped vehicle and is operable to capture third image data;

wherein said fourth vehicular camera has a fourth field of view exterior of the equipped vehicle and is operable to capture fourth image data;

wherein said fifth vehicular camera has a fifth field of view exterior of the equipped vehicle and is operable to capture fifth image data;

wherein said first vehicular camera comprises a CMOS imaging sensor and wherein said second vehicular camera comprises a CMOS imaging sensor and wherein said third vehicular camera comprises a CMOS imaging sensor and wherein said fourth vehicular camera comprises a CMOS imaging sensor and wherein said fifth vehicular camera comprises a CMOS imaging sensor;

said plurality of non-video sensors comprising at least one non-video sensor selected from the group consisting of a radar sensor, a near-infrared sensor, a far-infrared sensor, a thermal sensor and a sonar sensor;

wherein said video processor module receives first image data captured by said first vehicular camera;

wherein said video processor module receives second image data captured by said second vehicular camera;

wherein said video processor module receives third image data captured by said third vehicular camera;

wherein said video processor module receives fourth image data captured by said fourth vehicular camera;

wherein said video processor module receives fifth image data captured by said fifth vehicular camera;

wherein said video processor module receives sensor data captured by said plurality of non-video sensors;

wherein said video processor module communicates with other vehicle systems via a vehicle bus of the equipped vehicle;

wherein received image data is processed at said video processor module to generate a synthesized image;

wherein said synthesized image is output from said video processor module for display by a single display screen of a display device of the equipped vehicle that is viewable by a driver of the equipped vehicle when normally operating the equipped vehicle;

wherein said synthesized image displayed by said display screen approximates a view as would be viewed from a single virtual camera located exterior the equipped vehicle; and

wherein, responsive at least in part to processing of image data and sensor data at said video processor module, a driver assistance system of the equipped vehicle is controlled.

2. The driver assist system of claim 1, wherein said video processor module receives first image data captured by said first vehicular camera at a first interface, and wherein said video processor module receives second image data captured by said second vehicular camera at a second interface, and wherein said video processor module receives third image data captured by said third vehicular camera at a third interface, and wherein said video processor module receives fourth image data captured by said fourth vehicular camera at a fourth, and wherein said video processor module receives fifth image data captured by said fifth vehicular camera at a fifth interface.

3. The driver assist system of claim 2, wherein said video processor module comprises at least one non-video sensor interface configured for communication with said at least one non-video sensor of said plurality of non-video sensors.

4. The driver assist system of claim 1, wherein said synthesized image displayed by said display screen is algorithmically stabilized at said video processor module.

5. The driver assist system of claim 4, wherein said first vehicular camera is disposed at a driver-side exterior mirror assembly at the driver side of the equipped vehicle and wherein said second vehicular camera is disposed at a passenger-side exterior mirror assembly at the passenger side of the equipped vehicle.

6. The driver assist system of claim 1, wherein objects external to the equipped vehicle are tracked based at least in part on processing of captured image data and sensed sensor data at said video processor module.

7. The driver assist system of claim 1, wherein an object external to the equipped vehicle is detected, at least in part, via processing of image data at said video processor module.

8. The driver assist system of claim 7, wherein position of the object external the equipped vehicle is detected, at least in part, via processing of image data at said video processor module.

9. The driver assist system of claim 1, wherein said synthesized image displayed by said display screen approximates a panoramic view as would be viewed from a single virtual camera located exterior the equipped vehicle.

10. The driver assist system of claim 1, wherein said video processor module communicates with other vehicle systems via a CAN vehicle bus of the equipped vehicle.

11. The driver assist system of claim 1, wherein said video processor module comprises a video processor chip.

12. The driver assist system of claim 11, wherein image data captured by said fifth vehicular camera is processed at said video processor module for an automatic headlamp controller of the equipped vehicle.

13. The driver assist system of claim 11, wherein image data captured by said fifth vehicular camera is processed at said video processor module for a lane departure warning system of the equipped vehicle.

14. The driver assist system of claim 1, wherein said plurality of non-video sensors comprises a plurality of radar sensors disposed at the equipped vehicle and wherein said radar sensors are operable to sense radar data.

15. The driver assist system of claim 14, wherein said video processor module receives radar data sensed by said plurality of radar sensors and wherein received image data is processed with received radar data at said video processor module and wherein, responsive at least in part to processing of image data and radar data at said video processor module, said driver assistance system of the equipped vehicle is controlled.

16. The driver assist system of claim 15, wherein objects external to the equipped vehicle are tracked based at least in part on processing of captured image data and sensed radar data at said video processor module.

17. The driver assist system of claim 1, wherein said at least one non-video sensor of said plurality of non-video sensors comprises a radar sensor, and wherein an object external to the equipped vehicle is detected, at least in part, via processing of image data at said video processor module.

18. The driver assist system of claim 17, wherein said video processor module comprises a non-video sensor interface configured for communication with the radar sensor.

19. The driver assist system of claim 17, wherein said video processor module communicates with other vehicle systems via a CAN vehicle bus of the equipped vehicle.

20. The driver assist system of claim 19, wherein said synthesized image displayed by said display screen approximates a panoramic view as would be viewed from a single virtual camera located exterior the equipped vehicle.

21. The driver assist system of claim 20, wherein said third vehicular camera disposed at the rear portion of the equipped vehicle is located at or proximate to a longitudinal centerline of the equipped vehicle, and wherein said fourth vehicular camera disposed at the front portion of the equipped vehicle is located at or proximate to the longitudinal centerline of the equipped vehicle.

22. The driver assist system of claim 1, wherein said plurality of video sensors comprises at least eight vehicular cameras.

23. The driver assist system of claim 1, wherein data processing at said video processor module comprises object tracking of objects that are identified and classified by an object classifier.

24. The driver assist system of claim 1, wherein data processing at said video processor module comprises generation of on-screen display signals for generating on-screen displays at said display screen.

25. The driver assist system of claim 1, wherein data processing at said video processor module comprises performance of diagnostics.

26. The driver assist system of claim 1, wherein said driver assistance system of the equipped vehicle comprises an adaptive speed control system of the equipped vehicle.

27. The driver assist system of claim 1, wherein said driver assistance system of the equipped vehicle comprises a crash warning system of the equipped vehicle.

28. The driver assist system of claim 1, wherein said driver assistance system of the equipped vehicle comprises a blind spot detection system of the equipped vehicle.

29. The driver assist system of claim 1, wherein said driver assistance system of the equipped vehicle comprises a lane change aid system of the equipped vehicle.

30. The driver assist system of claim 1, wherein said driver assistance system of the equipped vehicle comprises a reverse aid warning system of the equipped vehicle.

31. The driver assist system of claim 1, wherein said driver assistance system of the equipped vehicle comprises a side object detection system of the equipped vehicle.

32. The driver assist system of claim 1, wherein said video processor module comprises a plurality of video sensor electronic interfaces for receiving image data output respectively from individual ones of said plurality of video sensors.

33. The driver assist system of claim 32, wherein image data is received at at least some of said plurality of video sensor electronic interfaces in accordance with a standard data protocol.

34. The driver assist system of claim 33, wherein said standard data protocol comprises a J1394 Firewire protocol.

35. The driver assist system of claim 32, wherein said video processor module comprises a video processor chip, a power supply and memory.

36. A vehicular driver assist system suitable for use in a vehicle, said vehicular driver assist system comprising:

a video processor module disposed at a vehicle equipped with said vehicular driver assist system;

said video processor module receiving and processing image data provided by a plurality of video sensors disposed at the equipped vehicle;

said video processor module receiving and processing sensor data provided by a plurality of radar sensors disposed at the equipped vehicle;

said plurality of video sensors comprising at least five vehicular cameras;

said at least five vehicular cameras comprising a first vehicular camera disposed at a driver side of the equipped vehicle;

said at least five vehicular cameras comprising a second vehicular camera disposed at a passenger side of the equipped vehicle;

said at least five vehicular cameras comprising a third vehicular camera disposed at a rear portion of the equipped vehicle;

said at least five vehicular cameras comprising a fourth vehicular camera disposed at a front portion of the equipped vehicle;

said at least five vehicular cameras comprising a fifth vehicular camera disposed at, and viewing forwardly through, an in-cabin side of a windshield of the equipped vehicle;

wherein said first vehicular camera has a first field of view exterior of the equipped vehicle and is operable to capture first image data;

wherein said second vehicular camera has a second field of view exterior of the equipped vehicle and is operable to capture second image data;

wherein said third vehicular camera has a third field of view exterior of the equipped vehicle and is operable to capture third image data;

wherein said fourth vehicular camera has a fourth field of view exterior of the equipped vehicle and is operable to capture fourth image data;

wherein said fifth vehicular camera has a fifth field of view exterior of the equipped vehicle and is operable to capture fifth image data;

wherein said third vehicular camera disposed at the rear portion of the equipped vehicle is located at or proximate to a longitudinal centerline of the equipped vehicle;

wherein said fourth vehicular camera disposed at the front portion of the equipped vehicle is located at or proximate to the longitudinal centerline of the equipped vehicle;

wherein said first vehicular camera comprises a CMOS imaging sensor and wherein said second vehicular camera comprises a CMOS imaging sensor and wherein said third vehicular camera comprises a CMOS imaging sensor and wherein said fourth vehicular camera comprises a CMOS imaging sensor and wherein said fifth vehicular camera comprises a CMOS imaging sensor;

wherein said video processor module receives first image data captured by said first vehicular camera;

wherein said video processor module receives second image data captured by said second vehicular camera;

wherein said video processor module receives third image data captured by said third vehicular camera;

wherein said video processor module receives fourth image data captured by said fourth vehicular camera;

wherein said video processor module receives fifth image data captured by said fifth vehicular camera;

wherein said video processor module receives sensor data captured by said radar sensors;

wherein an object external to the equipped vehicle is detected, at least in part, via processing of image data at said video processor module;

wherein the detected object external to the equipped vehicle is tracked based at least in part on processing of captured image data and sensed sensor data at said video processor module; and

wherein, responsive at least in part to processing of image data and sensor data at said video processor module, a driver assistance system of the equipped vehicle is controlled.

37. The driver assist system of claim 36, wherein image data captured by said fifth vehicular camera is processed at said video processor module for at least one of (i) an automatic headlamp controller of the equipped vehicle and (ii) a lane departure warning system of the equipped vehicle.

38. The driver assist system of claim 36, wherein data processing at said video processor module comprises object tracking of objects that are identified and classified by an object classifier.

39. The driver assist system of claim 36, wherein data processing at said video processor module comprises performance of diagnostics.

40. The driver assist system of claim 36, wherein said driver assistance system of the equipped vehicle comprises at least one of (i) an adaptive speed control system of the equipped vehicle, (ii) a crash warning system of the equipped vehicle, (iii) a blind spot detection system of the equipped vehicle, (iv) a lane change aid system of the equipped vehicle, (v) a reverse aid warning system of the equipped vehicle and (vi) a side object detection system of the equipped vehicle.

41. The driver assist system of claim 40, wherein said video processor module communicates with other vehicle systems via a vehicle bus of the equipped vehicle and wherein said video processor module comprises a power supply and memory.

42. The driver assist system of claim 41, wherein received image data is processed at said video processor module to generate a synthesized image, and wherein said synthesized image is output from said video processor module for display by a single display screen of a display device of the equipped vehicle that is viewable by a driver of the equipped vehicle when normally operating the equipped vehicle, and wherein said synthesized image displayed by said display screen approximates a panoramic view as would be viewed from a single virtual camera located exterior the equipped vehicle.

43. A vehicular driver assist system suitable for use in a vehicle, said vehicular driver assist system comprising:

a video processor module disposed at a vehicle equipped with said vehicular driver assist system;

said video processor module receiving and processing image data provided by a plurality of video sensors disposed at the equipped vehicle;

said video processor module receiving and processing sensor data provided by a plurality of radar sensors disposed at the equipped vehicle;

said plurality of video sensors comprising at least five vehicular cameras;

said at least five vehicular cameras comprising a first vehicular camera disposed at a driver side of the equipped vehicle;

said at least five vehicular cameras comprising a second vehicular camera disposed at a passenger side of the equipped vehicle;

said at least five vehicular cameras comprising a third vehicular camera disposed at a rear portion of the equipped vehicle;

said at least five vehicular cameras comprising a fourth vehicular camera disposed at a front portion of the equipped vehicle;

said at least five vehicular cameras comprising a fifth vehicular camera disposed at, and viewing forwardly through, an in-cabin side of a windshield of the equipped vehicle;

wherein said first vehicular camera has a first field of view exterior of the equipped vehicle and is operable to capture first image data;

wherein said second vehicular camera has a second field of view exterior of the equipped vehicle and is operable to capture second image data;

wherein said third vehicular camera has a third field of view exterior of the equipped vehicle and is operable to capture third image data;

wherein said fourth vehicular camera has a fourth field of view exterior of the equipped vehicle and is operable to capture fourth image data;

wherein said fifth vehicular camera has a fifth field of view exterior of the equipped vehicle and is operable to capture fifth image data;

wherein said third vehicular camera disposed at the rear portion of the equipped vehicle is located at or proximate to a longitudinal centerline of the equipped vehicle;

wherein said fourth vehicular camera disposed at the front portion of the equipped vehicle is located at or proximate to the longitudinal centerline of the equipped vehicle;

wherein said video processor module receives first image data captured by said first vehicular camera;

wherein said video processor module receives second image data captured by said second vehicular camera;

wherein said video processor module receives third image data captured by said third vehicular camera;

wherein said video processor module receives fourth image data captured by said fourth vehicular camera;

wherein said video processor module receives fifth image data captured by said fifth vehicular camera;

wherein said video processor module receives sensor data captured by said radar sensors;

wherein an object external to the equipped vehicle is detected, at least in part, via processing of image data at said video processor module;

wherein the detected objects external to the equipped vehicle is tracked based at least in part on processing of captured image data and sensed sensor data at said video processor module;

wherein image data captured by said fifth vehicular camera is processed at said video processor module for at least one of (i) an automatic headlamp controller of the equipped vehicle and (ii) a lane departure warning system of the equipped vehicle;

wherein, responsive at least in part to processing of image data and sensor data at said video processor module, a driver assistance system of the equipped vehicle is controlled; and

wherein said driver assistance system of the equipped vehicle comprises at least one of (i) an adaptive speed control system of the equipped vehicle, (ii) a crash warning system of the equipped vehicle, (iii) a blind spot detection system of the equipped vehicle, (iv) a lane change aid system of the equipped vehicle, (v) a reverse aid warning system of the equipped vehicle and (vi) a side object detection system of the equipped vehicle.

44. The driver assist system of claim 43, wherein said video processor module communicates with other vehicle systems via a vehicle bus of the equipped vehicle and wherein said video processor module comprises a power supply and memory.

45. The driver assist system of claim 43, wherein said first vehicular camera comprises a CMOS imaging sensor and wherein said second vehicular camera comprises a CMOS imaging sensor and wherein said third vehicular camera comprises a CMOS imaging sensor and wherein said fourth vehicular camera comprises a CMOS imaging sensor and wherein said fifth vehicular camera comprises a CMOS imaging sensor.

46. The driver assist system of claim 45, wherein received image data is processed at said video processor module to generate a synthesized image, and wherein said synthesized image is output from said video processor module for display by a single display screen of a display device of the equipped vehicle that is viewable by a driver of the equipped vehicle when normally operating the equipped vehicle, and wherein said synthesized image displayed by said display screen approximates a panoramic view as would be viewed from a single virtual camera located exterior the equipped vehicle.