Method for determining misalignment of a vehicular camera

  • US 10,780,826 B2
  • Filed: 04/22/2019
  • Issued: 09/22/2020
  • Est. Priority Date: 05/21/2013
  • Status: Active Grant
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First Claim
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1. A method for determining misalignment of a vehicular camera and calibrating the misaligned camera, said method comprising:

  • providing a plurality of cameras at a vehicle so that each camera of the plurality of cameras has a respective field of view exterior of the vehicle;

    wherein the plurality of cameras comprises (i) a rear camera disposed at a rear portion of the vehicle and having at least a rearward field of view, (ii) a driver-side camera disposed at a driver side of the vehicle and having at least a sideward and rearward field of view, (iii) a passenger-side camera disposed at a passenger side of the vehicle and having at least a sideward and rearward field of view and (iv) a front camera disposed at a front portion of the vehicle and having at least a forward field of view;

    wherein each camera of the plurality of cameras comprises a two dimensional array of a plurality of photosensing elements;

    providing a control comprising an electronic control unit, the electronic control unit comprising an image processor for processing image data captured by the plurality of cameras;

    capturing frames of image data via the plurality of cameras;

    providing captured frames of image data to the electronic control unit;

    processing at the electronic control unit frames of image data captured by the plurality of cameras and provided to the electronic control unit;

    responsive to processing at the electronic control unit of frames of captured image data, determining, via the control, objects present in the field of view of at least one of the plurality of cameras;

    receiving vehicle data at the electronic control unit via a communication bus of the vehicle;

    wherein the vehicle data comprises speed of the vehicle and at least two selected from the group consisting of (i) steering information of the vehicle, (ii) vehicle geometry of the vehicle and (iii) distance traveled by the vehicle;

    responsive to processing at the electronic control unit of received vehicle data during driving of the vehicle by a driver of the vehicle, determining, via the control, a vehicle motion vector during driving of the vehicle by the driver of the vehicle;

    determining, via the control, movement of a detected object relative to the vehicle via processing at the electronic control unit of at least two frames of image data captured by the plurality of cameras during driving of the vehicle by the driver of the vehicle;

    comparing, via the control, the determined relative movement of the detected object to the determined vehicle motion vector;

    responsive to a difference between the determined relative movement of the detected object and the determined vehicle motion vector, determining via the control misalignment of a misaligned camera of the plurality of cameras; and

    responsive at least in part to determination of misalignment of the misaligned camera, adjusting via the control calibration of the misaligned camera so as to have location and relative movement of the detected object based on processing of captured frames of image data coincide with predicted location and movement of the detected object based on actual motion of the vehicle.

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