Vehicle vision system using kinematic model of vehicle motion

  • US 10,266,115 B2
  • Filed: 07/10/2017
  • Issued: 04/23/2019
  • Est. Priority Date: 05/21/2013
  • Status: Active Grant
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First Claim
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1. A vision system for a vehicle, said vision system comprising:

  • a camera disposed at an outside rearview mirror assembly of a vehicle equipped with said vision system;

    said camera having a field of view exterior of the equipped vehicle;

    wherein said camera comprises a two dimensional array of a plurality of photosensing elements;

    wherein said camera is operable to capture frames of image data;

    a control comprising an electronic control unit, said electronic control unit comprising an image processor operable to process image data captured by said camera and provided to said electronic control unit;

    wherein, responsive to image processing by said image processor of captured image data, said control is operable to determine objects present in the field of view of said camera;

    wherein vehicle data is received at said electronic control unit via a communication bus of the equipped vehicle;

    wherein, responsive to processing at said electronic control unit of received vehicle data, said control determines a vehicle motion vector during driving of the equipped vehicle by a driver of the equipped vehicle;

    wherein the vehicle data includes speed of the equipped vehicle and at least two of (i) steering information of the equipped vehicle, (ii) vehicle geometry of the equipped vehicle and (iii) distance traveled by the equipped vehicle;

    wherein said control determines movement of an object relative to the equipped vehicle via image processing by said image processor of at least two frames of captured image data during driving of the equipped vehicle by the driver of the equipped vehicle;

    wherein said control compares the determined relative movement of the object to the determined vehicle motion vector;

    wherein, responsive to a difference between the determined relative movement of the object and the determined vehicle motion vector, said control determines misalignment of said camera; and

    wherein, responsive at least in part to determination of misalignment of said camera, calibration of said camera is adjusted so as to have location and relative movement of detected objects based on image processing coincide with their predicted location and movement based on the actual kinematic motion of the equipped vehicle.

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