Vehicle vision system with vehicle detection
First Claim
1. A method for detecting a vehicle via a vehicular vision system, said method comprising:
- equipping a vehicle with a camera so that the camera has a field of view exterior of the equipped vehicle;
providing a control at the equipped vehicle, the control comprising an image processor;
capturing frames of image data with the camera;
processing, via the image processor, frames of image data captured by the camera;
while the equipped vehicle is moving, and responsive at least in part to (i) vehicle motion information of the equipped vehicle and (ii) processing, via the image processor, of frames of image data captured by the camera, detecting a vehicle present in the field of view of the camera and determining motion of the detected vehicle relative to the moving equipped vehicle; and
wherein determining motion of the detected vehicle relative to the moving equipped vehicle comprises (i) determining corresponding feature points of the detected vehicle in at least two frames of image data captured by the camera and (ii) estimating vehicle motion trajectory of the detected vehicle based on the determined corresponding feature points.
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Abstract
A method for detecting a vehicle via a vehicular vision system includes equipping a vehicle with a camera and providing a control at the equipped vehicle. Frames of image data captured by the camera are processed, via an image processor of the control. Responsive at least in part to (i) vehicle motion information of the equipped vehicle and (ii) processing, via the image processor, of frames of image data captured by the camera, detecting a vehicle present in the field of view of the camera and determining motion of the detected vehicle relative to the moving equipped vehicle, wherein determining motion of the detected vehicle relative to the moving equipped vehicle includes (i) determining corresponding feature points of the detected vehicle in at least two frames of captured image data and (ii) estimating vehicle motion trajectory of the detected vehicle based on the determined corresponding feature points.
41 Citations
25 Claims
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1. A method for detecting a vehicle via a vehicular vision system, said method comprising:
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equipping a vehicle with a camera so that the camera has a field of view exterior of the equipped vehicle; providing a control at the equipped vehicle, the control comprising an image processor; capturing frames of image data with the camera; processing, via the image processor, frames of image data captured by the camera; while the equipped vehicle is moving, and responsive at least in part to (i) vehicle motion information of the equipped vehicle and (ii) processing, via the image processor, of frames of image data captured by the camera, detecting a vehicle present in the field of view of the camera and determining motion of the detected vehicle relative to the moving equipped vehicle; and wherein determining motion of the detected vehicle relative to the moving equipped vehicle comprises (i) determining corresponding feature points of the detected vehicle in at least two frames of image data captured by the camera and (ii) estimating vehicle motion trajectory of the detected vehicle based on the determined corresponding feature points. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method for detecting a vehicle via a vehicular vision system, said method comprising:
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equipping a vehicle with a camera so that the camera has a field of view exterior of the equipped vehicle; providing a control at the equipped vehicle, the control comprising an image processor; capturing frames of image data with the camera; processing, via the image processor, frames of image data captured by the camera; while the equipped vehicle is moving, and responsive at least in part to (i) vehicle motion information of the equipped vehicle and (ii) processing, via the image processor, of frames of image data captured by the camera, detecting a vehicle present in the field of view of the camera and determining motion of the detected vehicle relative to the moving equipped vehicle; wherein vehicle motion information includes at least speed of the equipped vehicle and trajectory of the equipped vehicle; wherein determining motion of the detected vehicle relative to the moving equipped vehicle comprises (i) determining corresponding feature points of the detected vehicle in at least two frames of image data captured by the camera and (ii) estimating vehicle motion trajectory of the detected vehicle based on the determined corresponding feature points; and wherein the camera is part of a multi-camera surround view vision system of the equipped vehicle. - View Dependent Claims (14, 15, 16, 17, 18)
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19. A method for detecting a vehicle via a vehicular vision system, said method comprising:
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equipping a vehicle with a camera so that the camera has a field of view exterior of the equipped vehicle; providing a control at the equipped vehicle, the control comprising an image processor; capturing frames of image data with the camera; processing, via the image processor, frames of image data captured by the camera; while the equipped vehicle is moving, and responsive at least in part to (i) vehicle motion information of the equipped vehicle and (ii) processing, via the image processor, of at least four frames of image data captured by the camera, detecting a vehicle present in the field of view of the camera and determining motion of the detected vehicle relative to the moving equipped vehicle; wherein vehicle motion information includes at least speed of the equipped vehicle; and wherein determining motion of the detected vehicle relative to the moving equipped vehicle comprises (i) determining corresponding feature points of the detected vehicle in at least two frames of image data captured by the camera and (ii) estimating vehicle motion trajectory of the detected vehicle based on the determined corresponding feature points. - View Dependent Claims (20, 21, 22, 23, 24, 25)
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Specification