Event recording system for a vehicle

• US 10,696,229 B2
• Filed: 06/03/2019
• Issued: 06/30/2020
• Est. Priority Date: 08/20/2012
• Status: Active Grant

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Inventors: Nix, Axel
• Primary Examiner(s): Wong, Allen C
• Application Number:
  US16/429,175
• Publication Number:
  US 20190299860A1
• Time in Patent Office: 393 Days
• Field of Search: 348148
• CPC Class Codes: B60R 1/002 specially adapted for covering the peripheral part of the vehicle, e.g. for viewing tyres, bumpers or the like integrated in the windows B60R1/001; combined with rear-view mirrors B60R1/08
• CPC Class Codes: B60R 2300/8093 for obstacle warning
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2050/143 Alarm means
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2710/18 Braking system
• CPC Class Codes: B60W 2710/20 Steering systems
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/095 Predicting travel path or likelihood of collision
• CPC Class Codes: B60W 50/0098 Details of control systems ensuring comfort, safety or stability not otherwise provided for
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• 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: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road

Abstract

A vehicular event recording system suitable includes a camera and an event recorder having memory. An image processor processes image data captured by the camera for detecting objects. Based at least in part on processing by the image processor of captured image data, a potential lane leaving event or potential collision event is determined. The event recorder receives vehicle data via a vehicle data bus of the vehicle. Captured image data and received vehicle data during first and second time periods are stored in buffer memory of the event recorder and overwritten in respective subsequent time periods. Following determination of an event, captured image data and received vehicle data stored in buffer memory is transferred to data storage of the event recorder and captured image data and received vehicle data during a post-event time period is stored in data storage.

Claims

1. A vehicular event recording system suitable for use in a vehicle, said vehicular event recording system comprising:

a forward-viewing camera mounted at a front windshield of a vehicle equipped with said vehicular event recording system;

said camera having a field of view forward of the equipped vehicle through the windshield;

said camera comprising a lens and an image sensor;

said image sensor comprising a plurality of photosensor elements arranged in a photosensor array having rows and columns;

an event recorder disposed at the equipped vehicle;

a control disposed at the equipped vehicle and comprising an image processor;

wherein image data captured by said camera is provided to said control, and wherein provided captured image data is processed at said control for detecting objects present in the field of view of said camera;

wherein said event recorder receives vehicle data via a vehicle data bus of the equipped vehicle;

wherein vehicle data received at said event recorder comprises at least two selected from the group consisting of (i) vehicle speed of the equipped vehicle, (ii) vehicle location of the equipped vehicle, (iii) vehicle acceleration of the equipped vehicle and (iv) vehicle yaw rate of the equipped vehicle;

wherein image data captured by said camera and vehicle data received at said event recorder during a first time period is stored in a first buffer memory of said event recorder;

wherein image data captured by said camera and vehicle data received at said event recorder during a second time period immediately following the first time period is stored in a second buffer memory of said event recorder;

wherein, during a third time period immediately following the second time period, previously stored image data captured by said camera and vehicle data received at said event recorder during the first time period is overwritten in the first buffer memory of said event recorder with image data captured by said camera and vehicle data received at said event recorder during the third time period;

wherein, responsive to determination of an event, said vehicular event recording system transfers captured image data and received vehicle data stored in the first buffer memory and in the second buffer memory to data storage;

wherein, during a post-event time period following the event, said vehicular event recording system stores image data captured by said camera and vehicle data received at said event recorder during the post-event time period in the data storage; and

wherein the event is determined via a driving assistance system of the equipped vehicle.

2. The vehicular event recording system of claim 1, wherein, during a fourth time period immediately following the third time period, previously stored image data captured by said camera and vehicle data received at said event recorder during the second time period is overwritten in the second buffer memory of said event recorder with image data captured by said camera and vehicle data received at said event recorder during the fourth time period.

3. The vehicular event recording system of claim 1, wherein the first buffer memory comprises random access memory and wherein the second buffer memory comprises random access memory.

4. The vehicular event recording system of claim 1, wherein the data storage of said event recorder comprises non-volatile memory.

5. The vehicular event recording system of claim 1, wherein the event comprises a potential lane leaving event.

6. The vehicular event recording system of claim 5, wherein the driving assistance system of the equipped vehicle comprises a lane departure warning system of the equipped vehicle.

7. The vehicular event recording system of claim 6, wherein the potential lane leaving event comprises at least one selected from the group consisting of (i) when the equipped vehicle is heading towards a lane marking and (ii) when the equipped vehicle is within a certain distance of an edge of a lane marking.

8. The vehicular event recording system of claim 1, wherein the event comprises a potential collision event.

9. The vehicular event recording system of claim 8, wherein the driving assistance system of the equipped vehicle comprises a forward collision alert system of the equipped vehicle.

10. The vehicular event recording system of claim 9, wherein the potential collision event comprises the equipped vehicle heading towards an object present ahead of the equipped vehicle with the separation between the equipped vehicle and the object being less than a threshold.

11. The vehicular event recording system of claim 1, wherein the event is determined at least in part responsive to processing by said image processor of image data captured by said camera.

12. The vehicular event recording system of claim 1, wherein the first, second and third time periods are each greater than zero seconds and less than six seconds.

13. The vehicular event recording system of claim 1, wherein the first, second and third time periods are each greater than zero seconds and less than four seconds.

14. The vehicular event recording system of claim 1, wherein vehicle data received at said event recorder comprises (i) vehicle speed of the equipped vehicle, (ii) vehicle location of the equipped vehicle, (iii) vehicle acceleration of the equipped vehicle and (iv) vehicle yaw rate of the equipped vehicle.

15. The vehicular event recording system of claim 14, wherein vehicle data received at said event recorder comprises at least one selected from the group consisting of (i) brake deployment data of the equipped vehicle, (ii) airbag deployment data of the equipped vehicle and (iii) anti-lock braking system (ABS) deployment data of the equipped vehicle.

16. The vehicular event recording system of claim 1, wherein said image processor utilizes object detection software for detecting objects present in the field of view of said camera.

17. A vehicular event recording system suitable for use in a vehicle, said vehicular event recording system comprising:

a forward-viewing camera mounted at a front windshield of a vehicle equipped with said vehicular event recording system;

said camera having a field of view forward of the equipped vehicle through the windshield;

said camera comprising a lens and an image sensor;

said image sensor comprising a plurality of photosensor elements arranged in a photosensor array having rows and columns;

an event recorder disposed at the equipped vehicle;

a control disposed at the equipped vehicle and comprising an image processor;

wherein image data captured by said camera is provided to said control, and wherein provided captured image data is processed at said control for detecting objects present in the field of view of said camera;

wherein said event recorder receives vehicle data via a vehicle data bus of the equipped vehicle;

wherein vehicle data received at said event recorder comprises at least two selected from the group consisting of (i) vehicle speed of the equipped vehicle, (ii) vehicle location of the equipped vehicle, (iii) vehicle acceleration of the equipped vehicle and (iv) vehicle yaw rate of the equipped vehicle;

wherein image data captured by said camera and vehicle data received at said event recorder during a first time period is stored in a first buffer memory of said event recorder;

wherein image data captured by said camera and vehicle data received at said event recorder during a second time period immediately following the first time period is stored in a second buffer memory of said event recorder;

wherein, during a third time period immediately following the second time period, previously stored image data captured by said camera and vehicle data received at said event recorder during the first time period is overwritten in the first buffer memory of said event recorder with image data captured by said camera and vehicle data received at said event recorder during the third time period;

wherein the first buffer memory comprises random access memory and wherein the second buffer memory comprises random access memory;

wherein, responsive to determination of an event, said vehicular event recording system transfers captured image data and received vehicle data stored in the first buffer memory and in the second buffer memory to data storage;

wherein, during a post-event time period following the event, said vehicular event recording system stores image data captured by said camera and vehicle data received at said event recorder during the post-event time period in the data storage;

wherein the data storage of said event recorder comprises non-volatile memory;

wherein the event is determined via a driving assistance system of the equipped vehicle; and

wherein the event comprises a potential lane leaving event.

18. The vehicular event recording system of claim 17, wherein the driving assistance system of the equipped vehicle comprises a lane departure warning system of the equipped vehicle.

19. The vehicular event recording system of claim 17, wherein, during a fourth time period immediately following the third time period, previously stored image data captured by said camera and vehicle data received at said event recorder during the second time period is overwritten in the second buffer memory of said event recorder with image data captured by said camera and vehicle data received at said event recorder during the fourth time period.

20. The vehicular event recording system of claim 17, wherein the potential lane leaving event comprises at least one selected from the group consisting of (i) when the equipped vehicle is heading towards a lane marking and (ii) when the equipped vehicle is within a certain distance of an edge of a lane marking.

21. The vehicular event recording system of claim 17, wherein the event is determined at least in part responsive to processing by said image processor of image data captured by said camera.

22. The vehicular event recording system of claim 17, wherein the first, second and third time periods are each greater than zero seconds and less than six seconds.

23. The vehicular event recording system of claim 17, wherein vehicle data received at said event recorder comprises (i) vehicle speed of the equipped vehicle, (ii) vehicle location of the equipped vehicle, (iii) vehicle acceleration of the equipped vehicle and (iv) vehicle yaw rate of the equipped vehicle.

24. The vehicular event recording system of claim 23, wherein vehicle data received at said event recorder comprises at least one selected from the group consisting of (i) brake deployment data of the equipped vehicle, (ii) airbag deployment data of the equipped vehicle and (iii) anti-lock braking system (ABS) deployment data of the equipped vehicle.

25. The vehicular event recording system of claim 17, wherein said image processor utilizes object detection software for detecting objects present in the field of view of said camera.

26. A vehicular event recording system suitable for use in a vehicle, said vehicular event recording system comprising:

a forward-viewing camera mounted at a front windshield of a vehicle equipped with said vehicular event recording system;

said camera having a field of view forward of the equipped vehicle through the windshield;

said camera comprising a lens and an image sensor;

said image sensor comprising a plurality of photosensor elements arranged in a photosensor array having rows and columns;

an event recorder disposed at the equipped vehicle;

a control disposed at the equipped vehicle and comprising an image processor;

wherein image data captured by said camera is provided to said control, and wherein provided captured image data is processed at said control for detecting objects present in the field of view of said camera;

wherein said event recorder receives vehicle data via a vehicle data bus of the equipped vehicle;

wherein vehicle data received at said event recorder comprises at least two selected from the group consisting of (i) vehicle speed of the equipped vehicle, (ii) vehicle location of the equipped vehicle, (iii) vehicle acceleration of the equipped vehicle and (iv) vehicle yaw rate of the equipped vehicle;

wherein image data captured by said camera and vehicle data received at said event recorder during a first time period is stored in a first buffer memory of said event recorder;

wherein image data captured by said camera and vehicle data received at said event recorder during a second time period immediately following the first time period is stored in a second buffer memory of said event recorder;

wherein, during a third time period immediately following the second time period, previously stored image data captured by said camera and vehicle data received at said event recorder during the first time period is overwritten in the first buffer memory of said event recorder with image data captured by said camera and vehicle data received at said event recorder during the third time period;

wherein the first buffer memory comprises random access memory and wherein the second buffer memory comprises random access memory;

wherein, responsive to determination of an event, said vehicular event recording system transfers captured image data and received vehicle data stored in the first buffer memory and in the second buffer memory to data storage;

wherein, during a post-event time period following the event, said vehicular event recording system stores image data captured by said camera and vehicle data received at said event recorder during the post-event time period in the data storage;

wherein the data storage of said event recorder comprises non-volatile memory;

wherein the event is determined via a driving assistance system of the equipped vehicle; and

wherein the event comprises a potential collision event.

27. The vehicular event recording system of claim 26, wherein the driving assistance system of the equipped vehicle comprises a forward collision alert system of the equipped vehicle.

28. The vehicular event recording system of claim 26, wherein, during a fourth time period immediately following the third time period, previously stored image data captured by said camera and vehicle data received at said event recorder during the second time period is overwritten in the second buffer memory of said event recorder with image data captured by said camera and vehicle data received at said event recorder during the fourth time period.

29. The vehicular event recording system of claim 26, wherein the potential collision event comprises the equipped vehicle heading towards an object present ahead of the equipped vehicle with the separation between the equipped vehicle and the object being less than a threshold.

30. The vehicular event recording system of claim 26, wherein the event is determined at least in part responsive to processing by said image processor of image data captured by said camera.

31. The vehicular event recording system of claim 26, wherein the first, second and third time periods are each greater than zero seconds and less than six seconds.

32. The vehicular event recording system of claim 26, wherein vehicle data received at said event recorder comprises (i) vehicle speed of the equipped vehicle, (ii) vehicle location of the equipped vehicle, (iii) vehicle acceleration of the equipped vehicle and (iv) vehicle yaw rate of the equipped vehicle.

33. The vehicular event recording system of claim 32, wherein vehicle data received at said event recorder comprises at least one selected from the group consisting of (i) brake deployment data of the equipped vehicle, (ii) airbag deployment data of the equipped vehicle and (iii) anti-lock braking system of the equipped vehicle (ABS) deployment data of the equipped vehicle.

34. The vehicular event recording system of claim 26, wherein said image processor utilizes object detection software for detecting objects present in the field of view of said camera.