Systems and methods for driver assistance

• US 10,861,338 B2
• Filed: 05/05/2016
• Issued: 12/08/2020
• Est. Priority Date: 05/05/2016
• Status: Active Grant

• Current Assignee: Harman International Industries Incorporated (Samsung Electronics Co. Ltd.)
• Original Assignee: Harman International Industries Incorporated (Samsung Electronics Co. Ltd.)
• Inventors: Nix, Axel
• Primary Examiner(s): Habib, Irfan
• Application Number:
  US16/097,561
• Publication Number:
  US 20190164430A1
• Time in Patent Office: 1,678 Days
• CPC Class Codes: B60R 1/00 Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
• 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 1/27 providing all-round vision, e.g. using omnidirectional cameras
• CPC Class Codes: B60R 1/28 with an adjustable field of view
• CPC Class Codes: B60R 11/00 Arrangements for holding or mounting articles, not otherwise provided for
• CPC Class Codes: B60R 11/04 Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
• CPC Class Codes: B60R 2011/004 outside the vehicle
• CPC Class Codes: B60R 2300/102 using 360 degree surveillance camera system
• CPC Class Codes: B60R 2300/105 using multiple cameras
• CPC Class Codes: B60R 2300/302 combining image information with GPS information or vehicle data, e.g. vehicle speed, gyro, steering angle data
• CPC Class Codes: B60R 2300/303 using joined images, e.g. multiple camera images
• CPC Class Codes: B60R 2300/50 characterised by the display information being shared, e.g. external display, data transfer to other traffic participants or centralised traffic controller
• CPC Class Codes: B60R 2300/605 the adjustment being automatic
• CPC Class Codes: G08G 1/163 involving continuous checking
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: H04N 13/111 Transformation of image signals corresponding to virtual viewpoints, e.g. spatial image interpolation
• CPC Class Codes: H04N 23/90 Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
• CPC Class Codes: H04N 5/265 Mixing

Abstract

Systems and method for a driver assistance system including a surround view system are provided. In an example method for automatically selecting a virtual camera position in the surround view system, the method includes selecting one of the one or more vehicle surrounding the host vehicle as a threat vehicle based on at least one of a geographic position, and a velocity of the vehicle relative to one or more of a position, a heading, and a speed of the host vehicle. Based on the selected threat vehicle, the method includes selecting a virtual camera position such that the threat vehicle and a portion of the host vehicle are in view of a virtual camera, and displaying an image from the virtual camera position to a driver of the host vehicle.

Claims

1. A method for automatically selecting a virtual camera position in a three-dimensional surround view system, the method comprising:

receiving a geographic position of other vehicles surrounding a host vehicle;

selecting one of the other vehicles as a relevant threat vehicle based on at least one of a position, a heading, and a speed of the host vehicle relative to the geographic position of the other vehicles;

selecting a virtual camera position such that the relevant threat vehicle and a portion of the host vehicle are in view of the virtual camera; and

displaying an image from the virtual camera positon to a driver of the host vehicle.

2. The method of claim 1, wherein selecting the relevant threat vehicle includes selecting the relevant threat vehicle based on at least one of the position, the heading, and the speed of the host vehicle relative to a respective velocity of the other vehicles.

3. The method of claim 2, wherein selecting the relevant threat vehicle includes assigning a threat score to each of the other vehicles based on one or more of the geographic position and the velocity of the other vehicles relative to the position, the heading, and the speed of the host vehicle, the threat score being indicative of a likelihood of collision of the other vehicles with the host vehicle.

4. The method of claim 3, wherein selecting the relevant threat vehicle further includes prioritizing the other vehicles based on the assigned threat score, and selecting as the relevant threat vehicle a vehicle from the other vehicles with greater than a threshold threat score and adjusting vehicle operating conditions of the host vehicle based on the relevant threat vehicle.

5. The method of claim 3, further comprising adaptively updating the threat score based on changes to any of the geographic position and the velocity of the other vehicles relative to the position, the heading, and the speed of the host vehicle and subsequently updating the relevant threat vehicle.

6. The method of claim 5, wherein updating the relevant threat vehicle includes updating the virtual camera position based on the updated relevant threat vehicle.

7. The method of claim 3, wherein selecting the relevant threat vehicle includes selecting based on the geographic position and the velocity of the other vehicles received via a vehicle-to-vehicle communication established between the host vehicle and the other vehicles.

8. The method of claim 3, wherein selecting the relevant threat vehicle includes selecting based on the geographic position, and the velocity of the other vehicles received from a plurality of sensors located on the host vehicle, and wherein the other vehicles comprise at least two other vehicles.

9. A surround view system for a host vehicle, comprising:

a front camera;

a left side camera;

a right side camera;

a rear camera;

a display;

a positioning sensor;

a vehicle control input configured to indicate whether a vehicle right turn indicator is active or a vehicle left turn indicator is active;

a map database; and

an image processing device operatively connected to the cameras and to the display,

wherein the image processing device is configured to generate a view having a viewing direction from a virtual camera position, the viewing direction and the virtual camera position being selected from a plurality of virtual camera positions and viewing directions,

wherein an image from a default view is displayed to a driver of the host vehicle,

wherein a viewing direction and a virtual camera position of the default view are selected by the image processing device in response to an output of the positioning sensor and an output of the vehicle control input, and

wherein the default view is selected in response to an output of the positioning sensor and information stored in the map database.

10. The surround view system as in claim 9, wherein the default virtual camera position is in front of and to right of a center of the host vehicle and wherein the viewing direction is facing left when the host vehicle is at an intersection and the vehicle control input indicates the right turn indicator is active.

11. The surround view system as in claim 9, wherein the default virtual camera position is in front of and to right of a center of the host vehicle and wherein the viewing direction is facing left when the host vehicle is in a right turn lane.

12. The surround view system as in claim 9, wherein the default virtual camera position is behind and to left of a center of the host vehicle and wherein the viewing direction is facing forward when the host vehicle is at an intersection and the vehicle control input indicates the left turn indicator is active.

13. The surround view system as in claim 9, wherein the default virtual camera position is behind and to left of a center of the host vehicle and wherein the viewing direction is facing forward when the host vehicle is at an intersection and host vehicle is in a left turn lane.

14. A surround view system for a host vehicle, comprising:

one or more cameras;

a display;

a radio receiver; and

an image processing device operatively connected to the one or more cameras, the radio receiver, and the display,

wherein the image processing device is configured to generate a view having a viewing direction from a virtual camera position, the viewing direction and the virtual camera position being selected from a plurality of virtual camera positions and viewing directions,

wherein an image from a default view is displayed to a driver of the host vehicle,

wherein the viewing direction and virtual camera position of the default view are selected by the image processing device in response to an output of the radio receiver,

wherein the radio receiver is configured to receive information from other vehicles via a wireless communication link, and

wherein the viewing direction and virtual camera position of the default view are selected by the image processing device in response to the information from the other vehicles received by the radio receiver.

15. The surround view system as in claim 14, wherein the one or more cameras are at least two cameras and wherein the default view combines images received from two of the at least two cameras.

16. The surround view system as in claim 14, further comprising a threat score generator capable of assigning threat scores to one or more vehicles surrounding the host vehicle based on the output of the radio receiver, and wherein the default view is adjusted in response to the generated threat score.

17. The surround view system as in claim 16, further comprising assigning a higher threat score to one or more vehicles coming towards an intersection from a left side when the host vehicle is at the intersection and a right turn indicator of the host vehicle is active and adjusting the default virtual camera position to front of and to a right of a center of the host vehicle and pointing towards the one or more vehicles in the left side.

18. The surround view system as in claim 17, further comprising updating a threat score of a stalled vehicle detected on a right side of the intersection and adjusting the default virtual camera position to front of and to a left of a center of the host vehicle and pointing towards the stalled vehicle on the right side.