Vehicular vision system

  • US 10,509,972 B2
  • Filed: 04/09/2018
  • Issued: 12/17/2019
  • Est. Priority Date: 12/23/2004
  • Status: Active Grant
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First Claim
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1. A vehicular vision system, said vehicular vision system comprising:

  • a first camera comprising an imaging sensor having an array of photosensing pixels;

    a second camera comprising an imaging sensor having an array of photosensing pixels;

    a rear backup camera comprising an imaging sensor having an array of photosensing pixels;

    a control comprising a processor for processing image data captured by said first camera, by said second camera and by said rear backup camera;

    wherein said first camera is disposed at a left side of a vehicle equipped with said vehicular vision system;

    wherein said first camera has a field of view at least rearward of the equipped vehicle and sideward of the left side of the equipped vehicle;

    wherein said second camera is disposed at a right side of the equipped vehicle;

    wherein said second camera has a field of view at least rearward of the equipped vehicle and sideward of the right side of the equipped vehicle;

    wherein, when said first camera is disposed at the left side of the equipped vehicle, a portion of the left body side of the equipped vehicle is present in the field of view of said first camera;

    wherein, when said second camera is disposed at the right side of the equipped vehicle, a portion of the right body side of the equipped vehicle is present in the field of view of said second camera;

    wherein said first camera is disposed at a left-side exterior mirror assembly of the equipped vehicle;

    wherein said second camera is disposed at a right-side exterior mirror assembly of the equipped vehicle;

    wherein said rear backup camera is disposed at a rear portion of the equipped vehicle centrally between where said first camera is disposed at the vehicle and where said second camera is disposed at the vehicle;

    wherein said rear backup camera has a field of view at least rearward of the equipped vehicle;

    wherein the field of view of said first camera overlaps with the field of view of said rear backup camera, and wherein the field of view of said second camera overlaps with the field of view of said rear backup camera;

    wherein image data captured by said first camera, by said second camera and by said rear backup camera is processed by said processor of said control and, at least in part responsive to processing by said processor of image data captured by said first camera, by said second camera and by said rear backup camera, said control outputs a composite image for display at a display disposed in an interior cabin of the equipped vehicle at a location viewable by a driver of the equipped vehicle when the driver is operating the equipped vehicle;

    wherein the displayed composite image provides a view as would be provided from a single virtual image capture device;

    wherein said control, responsive at least in part to processing by said processor of image data captured by said first camera, determines that said first camera is misaligned due to a shift in at least one of yaw, pitch and roll alignment of said first camera disposed at the left side of the equipped vehicle;

    wherein said control, responsive to the determination of misalignment of said first camera, at least partially compensates for the misalignment of said first camera by at least one of (i) adjusting processing by said processor of image data captured by said first camera and (ii) adjusting image data captured by said first camera;

    wherein said control, responsive at least in part to processing by said processor of image data captured by said second camera, determines that said second camera is misaligned due to a shift in at least one of yaw, pitch and roll alignment of said second camera disposed at the right side of the equipped vehicle;

    wherein said control, responsive to the determination of misalignment of said second camera, at least partially compensates for the misalignment of said second camera by at least one of (i) adjusting processing by said processor of image data captured by said second camera and (ii) adjusting image data captured by said second camera;

    wherein said control, responsive at least in part to processing by said processor of image data captured by said rear backup camera, determines that said rear backup camera is misaligned due to a shift in at least one of yaw, pitch and roll alignment of said rear backup camera disposed at the rear portion of the equipped vehicle; and

    wherein said control, responsive to the determination of misalignment of said rear backup camera, at least partially compensates for the misalignment of said rear backup camera by at least one of (i) adjusting processing by said processor of image data captured by said rear backup camera and (ii) adjusting image data captured by said rear backup camera.

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