Vehicle vision system utilizing camera synchronization

• US 9,912,841 B2
• Filed: 10/31/2016
• Issued: 03/06/2018
• Est. Priority Date: 12/05/2012
• Status: Active Grant

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Inventors: Schaffner, Michael
• Primary Examiner(s): Nawaz, Talha M
• Application Number:
  US15/338,781
• Publication Number:
  US 20170048424A1
• Time in Patent Office: 491 Days
• Field of Search: None
• 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 1/27 providing all-round vision, e.g. using omnidirectional cameras
• CPC Class Codes: B60R 2300/00 Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
• CPC Class Codes: B60R 2300/105 using multiple cameras
• CPC Class Codes: B60R 2300/607 from a bird's eye viewpoint
• 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: H04N 23/45 for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still images
• CPC Class Codes: H04N 23/661 Transmitting camera control signals through networks, e.g. control via the Internet
• 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
• CPC Class Codes: H04N 25/76 Addressed sensors, e.g. MOS or CMOS sensors
• CPC Class Codes: H04N 5/04 Synchronising for television systems using pulse code modulation H04N7/56
• CPC Class Codes: H04N 7/181 for receiving images from a plurality of remote sources

Abstract

A vehicular vision system includes a plurality of cameras disposed at the vehicle and having respective fields of view exterior of the vehicle and being operable to capture frames of image data. Image data captured by each of the first camera is provided to an ECU via a respective ETHERNET link from the respective camera to the ECU. Control signals controlling operation of each camera are provided from the ECU to the respective camera via the respective ETHERNET link. Each camera receives from the ECU via the respective ETHERNET link a camera control signal that regulates timing of the respective camera to be synchronous with reference timing of the ECU. Regulation of timing of each camera includes starting the respective camera synchronous to the ECU reference timing and holding the respective camera synchronous to the ECU reference timing.

Claims

1. A vehicular vision system, said vehicular vision system comprising:

a plurality of cameras disposed at a vehicle equipped with said vision system;

wherein said plurality of cameras comprises at least a first camera, a second camera, a third camera and a fourth camera;

each of said first camera, said second camera, said third camera and said fourth camera having a respective field of view exterior of the equipped vehicle;

each of said first camera, said second camera, said third camera and said fourth camera being operable to capture frames of image data;

an electronics control unit (ECU);

wherein image data captured by said first camera is provided to the ECU via a first ETHERNET link from said first camera to the ECU;

wherein image data captured by said second camera is provided to the ECU via a second ETHERNET link from said second camera to the ECU;

wherein image data captured by said third camera is provided to the ECU via a third ETHERNET link from said third camera to the ECU;

wherein image data captured by said fourth camera is provided to the ECU via a fourth ETHERNET link from said fourth camera to the ECU;

wherein control signals controlling operation of said first camera are provided from the ECU to said first camera via said first ETHERNET link;

wherein control signals controlling operation of said second camera are provided from the ECU to said second camera via said second ETHERNET link;

wherein control signals controlling operation of said third camera are provided from the ECU to said third camera via said third ETHERNET link;

wherein control signals controlling operation of said fourth camera are provided from the ECU to said fourth camera via said second fourth ETHERNET link;

wherein said first camera receives from the ECU via said first ETHERNET link a first camera control signal that regulates timing of said first camera to be synchronous with reference timing of the ECU;

wherein regulation of timing of said first camera comprises starting said first camera synchronous to the ECU reference timing and holding said first camera synchronous to the ECU reference timing;

wherein said second camera receives from the ECU via said second ETHERNET link a second camera control signal that regulates timing of said second camera to be synchronous with reference timing of the ECU;

wherein regulation of timing of said second camera comprises starting said second camera synchronous to the ECU reference timing and holding said second camera synchronous to the ECU reference timing;

wherein said third camera receives from the ECU via said third ETHERNET link a third camera control signal that regulates timing of said third camera to be synchronous with reference timing of the ECU;

wherein regulation of timing of said third camera comprises starting said third camera synchronous to the ECU reference timing and holding said third camera synchronous to the ECU reference timing;

wherein said fourth camera receives from the ECU via said fourth ETHERNET link a fourth camera control signal that regulates timing of said fourth camera to be synchronous with reference timing of the ECU; and

wherein regulation of timing of said fourth camera comprises starting said fourth camera synchronous to the ECU reference timing and holding said fourth camera synchronous to the ECU reference timing.

2. The vehicular vision system of claim 1, wherein image data captured respectively by at least some of said second, third and fourth cameras is provided to the ECU via a hub.

3. The vehicular vision system of claim 1, wherein said first camera is disposed at a front portion of the equipped vehicle and wherein said second camera is disposed at a driver-side side portion of the equipped vehicle and wherein said third camera is disposed at a passenger-side side portion of the equipped vehicle and wherein said fourth camera is disposed at a rear portion of the equipped vehicle.

4. The vehicular vision system of claim 3, wherein said first camera, said second camera, said third camera and said fourth camera are part of a surround view system of the equipped vehicle.

5. The vehicular vision system of claim 4, wherein image data captured by at least some of said first camera, said second camera, said third camera and said fourth camera is processed at the ECU, and wherein, responsive at least in part to said processing, the ECU outputs images for display at a display device of the equipped vehicle for viewing by a driver of the equipped vehicle.

6. The vehicular vision system of claim 5, wherein the displayed images comprise a birds-eye view.

7. The vehicular vision system of claim 3, wherein image data captured by at least some of said first camera, said second camera, said third camera and said fourth camera is processed at the ECU to detect an object present exterior of the equipped vehicle.

8. The vehicular vision system of claim 7, wherein the object present exterior of the equipped vehicle is to the rear of the equipped vehicle and is detected during a reversing maneuver of the equipped vehicle.

9. The vehicular vision system of claim 7, wherein the object present exterior of the equipped vehicle is to the side of the equipped vehicle.

10. The vehicular vision system of claim 9, wherein the object present to the side of the equipped vehicle comprises a vehicle that is approaching the equipped vehicle.

11. The vehicular vision system of claim 10, wherein the vehicle that is approaching the equipped vehicle is at a side lane adjacent to the equipped vehicle.

12. The vehicular vision system of claim 3, wherein each of said first, second, third and fourth cameras comprises a megapixel imaging array having at least one million photosensing elements arranged in columns and rows of photosensing elements.

13. The vehicular vision system of claim 3, wherein each of said first, second, third and fourth cameras comprises a megapixel CMOS imaging array having at least one million photosensing elements arranged in columns and rows of photosensing elements.

14. A vehicular vision system, said vehicular vision system comprising:

a plurality of cameras disposed at a vehicle equipped with said vision system;

wherein said plurality of cameras comprises at least a first camera, a second camera, a third camera and a fourth camera;

each of said first camera, said second camera, said third camera and said fourth camera having a respective field of view exterior of the equipped vehicle;

each of said first, second, third and fourth cameras comprising a megapixel imaging array having at least one million photosensing elements arranged in columns and rows of photosensing elements;

each of said first camera, said second camera, said third camera and said fourth camera being operable to capture frames of image data;

an electronics control unit (ECU);

wherein image data captured by said first camera is provided to the ECU via a first ETHERNET link from said first camera to the ECU;

wherein image data captured by said second camera is provided to the ECU via a second ETHERNET link from said second camera to the ECU;

wherein image data captured by said third camera is provided to the ECU via a third ETHERNET link from said third camera to the ECU;

wherein image data captured by said fourth camera is provided to the ECU via a fourth ETHERNET link from said fourth camera to the ECU;

wherein control signals controlling operation of said first camera are provided from the ECU to said first camera via said first ETHERNET link;

wherein control signals controlling operation of said second camera are provided from the ECU to said second camera via said second ETHERNET link;

wherein control signals controlling operation of said third camera are provided from the ECU to said third camera via said third ETHERNET link;

wherein control signals controlling operation of said fourth camera are provided from the ECU to said fourth camera via said second fourth ETHERNET link;

wherein said first camera receives from the ECU via said first ETHERNET link a first camera control signal that regulates timing of said first camera to be synchronous with reference timing of the ECU;

wherein regulation of timing of said first camera comprises starting said first camera synchronous to the ECU reference timing and holding said first camera synchronous to the ECU reference timing;

wherein said second camera receives from the ECU via said second ETHERNET link a second camera control signal that regulates timing of said second camera to be synchronous with reference timing of the ECU;

wherein regulation of timing of said second camera comprises starting said second camera synchronous to the ECU reference timing and holding said second camera synchronous to the ECU reference timing;

wherein said third camera receives from the ECU via said third ETHERNET link a third camera control signal that regulates timing of said third camera to be synchronous with reference timing of the ECU;

wherein regulation of timing of said third camera comprises starting said third camera synchronous to the ECU reference timing and holding said third camera synchronous to the ECU reference timing;

wherein said fourth camera receives from the ECU via said fourth ETHERNET link a fourth camera control signal that regulates timing of said fourth camera to be synchronous with reference timing of the ECU;

wherein regulation of timing of said fourth camera comprises starting said fourth camera synchronous to the ECU reference timing and holding said fourth camera synchronous to the ECU reference timing; and

wherein image data captured by at least some of said first camera, said second camera, said third camera and said fourth camera is processed at the ECU to detect an object present exterior of the equipped vehicle.

15. The vehicular vision system of claim 14, wherein the object present exterior of the equipped vehicle is to the rear of the equipped vehicle and is detected during a reversing maneuver of the equipped vehicle.

16. The vehicular vision system of claim 14, wherein the object present exterior of the equipped vehicle comprises a vehicle.

17. The vehicular vision system of claim 16, wherein the vehicle present exterior of the equipped vehicle is at a side lane adjacent to the equipped vehicle.

18. A vehicular vision system, said vehicular vision system comprising:

a plurality of cameras disposed at a vehicle equipped with said vision system;

wherein said plurality of cameras comprises at least a first camera, a second camera, a third camera and a fourth camera;

each of said first camera, said second camera, said third camera and said fourth camera having a respective field of view exterior of the equipped vehicle;

each of said first, second, third and fourth cameras comprising a megapixel imaging array having at least one million photosensing elements arranged in columns and rows of photosensing elements;

each of said first camera, said second camera, said third camera and said fourth camera being operable to capture frames of image data;

an electronics control unit (ECU);

wherein image data captured by said first camera is provided to the ECU via a first ETHERNET link from said first camera to the ECU;

wherein image data captured by said second camera is provided to the ECU via a second ETHERNET link from said second camera to the ECU;

wherein image data captured by said third camera is provided to the ECU via a third ETHERNET link from said third camera to the ECU;

wherein image data captured by said fourth camera is provided to the ECU via a fourth ETHERNET link from said fourth camera to the ECU;

wherein control signals controlling operation of said first camera are provided from the ECU to said first camera via said first ETHERNET link;

wherein control signals controlling operation of said second camera are provided from the ECU to said second camera via said second ETHERNET link;

wherein control signals controlling operation of said third camera are provided from the ECU to said third camera via said third ETHERNET link;

wherein control signals controlling operation of said fourth camera are provided from the ECU to said fourth camera via said second fourth ETHERNET link;

wherein said first camera receives from the ECU via said first ETHERNET link a first camera control signal that regulates timing of said first camera to be synchronous with reference timing of the ECU;

wherein regulation of timing of said first camera comprises starting said first camera synchronous to the ECU reference timing and holding said first camera synchronous to the ECU reference timing;

wherein said second camera receives from the ECU via said second ETHERNET link a second camera control signal that regulates timing of said second camera to be synchronous with reference timing of the ECU;

wherein regulation of timing of said second camera comprises starting said second camera synchronous to the ECU reference timing and holding said second camera synchronous to the ECU reference timing;

wherein said third camera receives from the ECU via said third ETHERNET link a third camera control signal that regulates timing of said third camera to be synchronous with reference timing of the ECU;

wherein regulation of timing of said third camera comprises starting said third camera synchronous to the ECU reference timing and holding said third camera synchronous to the ECU reference timing;

wherein said fourth camera receives from the ECU via said fourth ETHERNET link a fourth camera control signal that regulates timing of said fourth camera to be synchronous with reference timing of the ECU;

wherein regulation of timing of said fourth camera comprises starting said fourth camera synchronous to the ECU reference timing and holding said fourth camera synchronous to the ECU reference timing;

wherein said first camera is disposed at a front portion of the equipped vehicle and wherein said second camera is disposed at a driver-side side portion of the equipped vehicle and wherein said third camera is disposed at a passenger-side side portion of the equipped vehicle and wherein said fourth camera is disposed at a rear portion of the equipped vehicle;

wherein said first camera, said second camera, said third camera and said fourth camera are part of a surround view system of the equipped vehicle; and

wherein image data captured by at least some of said first camera, said second camera, said third camera and said fourth camera is processed at the ECU, and wherein, responsive at least in part to said processing, the ECU outputs images for display at a display device of the equipped vehicle for viewing by a driver of the equipped vehicle.

19. The vehicular vision system of claim 18, wherein image data captured by at least some of said first camera, said second camera, said third camera and said fourth camera is processed at the ECU to detect a vehicle present exterior of the equipped vehicle.

20. The vehicular vision system of claim 19, wherein the vehicle present exterior of the equipped vehicle is at a side lane adjacent to the equipped vehicle.