Forward sensing system for vehicle

• US 10,877,147 B2
• Filed: 06/01/2020
• Issued: 12/29/2020
• Est. Priority Date: 01/25/2007
• Status: Active Grant

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Inventors: Lynam, Niall R.
• Primary Examiner(s): Bythrow, Peter M
• APPLICATION: US 20200292696A1
• Time in patent office: 211 Days
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: G01S 13/86 Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/93 for anti-collision purposes
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 2013/0245 Radar with phased array antenna
• CPC Class Codes: G01S 2013/9321 Velocity regulation, e.g. cruise control
• CPC Class Codes: G01S 2013/9322 using additional data, e.g. driver condition, road state or weather data
• CPC Class Codes: G01S 2013/93276 in the windshield area
• CPC Class Codes: G01S 7/03 Details of HF subsystems specially adapted therefor, e.g. common to transmitter and receiver
• CPC Class Codes: G01S 7/032 Constructional details for solid-state radar subsystems
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A forward sensing system for a vehicle includes a radar sensor and a forward facing image sensor disposed within a windshield electronics module that is removably installed within the vehicle cabin at an upper region of the vehicle windshield and that is removable therefrom as a self-contained unit for service or replacement. A control is responsive to an output of the radar sensor and responsive to an output of the image sensor. Responsive to the image sensor viewing an object present in the path of forward travel of the vehicle and/or responsive to the radar sensor sensing the object present in the path of forward travel of the vehicle, the control enhances interrogation of an area in front of the vehicle at which the object is present to determine if the object is an object of interest causing a potentially hazardous condition.

Claims

1. A forward facing sensing system for a vehicle, the vehicle having a windshield, said forward facing sensing system comprising:

a radar sensor, wherein, with said radar sensor disposed at the vehicle, said radar sensor has a sensing direction forward of the vehicle;

a forward facing image sensor, wherein, with said forward facing image sensor disposed at the vehicle, said forward facing image sensor has a viewing direction forward of the vehicle;

wherein both said radar sensor and said image sensor are disposed within a windshield electronics module that is removably installed within the vehicle cabin at an upper region of the vehicle windshield and that is removable from the upper region of the vehicle windshield as a self-contained unit for service or replacement;

said radar sensor and said image sensor cooperating in a way that enhances the sensing capabilities of said forward facing sensing system to determine whether objects present in a path of forward travel of the vehicle are objects of interest;

a control responsive to an output of said radar sensor and responsive to an output of said forward facing image sensor;

responsive to said forward facing image sensor viewing an object present in the path of forward travel of the vehicle and responsive to said radar sensor sensing the object present in the path of forward travel of the vehicle, said control enhances interrogation of an area in front of the vehicle at which the object is present to determine if the object is an object of interest causing a potentially hazardous condition;

wherein the object present in the path of forward travel of the vehicle comprises one selected from the group consisting of (i) another vehicle present in the path of forward travel of the vehicle, (ii) a person present in the path of forward travel of the vehicle and (iii) a deer present in the path of forward travel of the vehicle; and

wherein said control enhances interrogation of the area at which the object is present via enhanced processing by an image processor of said control of image data captured by said forward facing image sensor at the area at which the object is present, the enhanced processing by the image processor comprising enhanced processing of a portion of the image plane of said forward facing image sensor that is spatially related to the location of the object present in the path of forward travel of the vehicle.

2. The forward facing sensing system of claim 1, wherein said radar sensor comprises a phased array antenna, and wherein said radar sensor transmits at a frequency of at least 60 GHz.

3. The forward facing sensing system of claim 1, wherein said radar sensor transmits at a frequency of at least 60 GHz.

4. The forward facing sensing system of claim 1, wherein, responsive to said radar sensor sensing the object, said control enhances interrogation by said forward facing image sensor by directing the viewing direction of said forward facing image sensor.

5. The forward facing sensing system of claim 1, wherein the object present in the path of forward travel of the vehicle comprises a person present in the path of forward travel of the vehicle.

6. The forward facing sensing system of claim 1, wherein the object present in the path of forward travel of the vehicle comprises a deer present in the path of forward travel of the vehicle.

7. The forward facing sensing system of claim 1, wherein said control enhances interrogation of the area at which the object is present via steering a radar beam formed by a phased array antenna of said radar sensor.

8. The forward facing sensing system of claim 1, wherein said radar sensor comprises a phased array antenna.

9. The forward facing sensing system of claim 1, wherein said control at least in part controls an adaptive cruise control system of the vehicle.

10. The forward facing sensing system of claim 1, wherein said forward facing image sensor captures image data for an automatic headlamp control system of the vehicle and for a lane departure warning system of the vehicle.

11. A forward facing sensing system for a vehicle, the vehicle having a windshield, said forward facing sensing system comprising:

a radar sensor, wherein, with said radar sensor disposed at the vehicle, said radar sensor has a sensing direction forward of the vehicle;

a forward facing image sensor, wherein, with said forward facing image sensor disposed at the vehicle, said forward facing image sensor has a viewing direction forward of the vehicle;

wherein both said radar sensor and said image sensor are disposed within a windshield electronics module that is removably installed within the vehicle cabin at an upper region of the vehicle windshield and that is removable from the upper region of the vehicle windshield as a self-contained unit for service or replacement;

said radar sensor and said image sensor cooperating in a way that enhances the sensing capabilities of said forward facing sensing system to determine whether objects present in a path of forward travel of the vehicle are objects of interest;

a control responsive to an output of said radar sensor and responsive to an output of said forward facing image sensor; and

at least one selected from the group consisting of (a) responsive to said forward facing image sensor viewing an object present in the path of forward travel of the vehicle, said control enhances interrogation by said radar sensor of the viewed object and wherein the enhanced interrogation by said radar sensor comprises a digital beam forming technique, and (b) responsive to said radar sensor sensing an object present in the path of forward travel of the vehicle, said control enhances interrogation by said forward facing image sensor of the sensed object.

12. The forward facing sensing system of claim 11, wherein, responsive to said forward facing image sensor viewing the object, the enhanced interrogation by said radar sensor comprises a digital beam forming technique, and wherein said radar sensor transmits at a frequency of at least 60 GHz.

13. The forward facing sensing system of claim 11, wherein, responsive to said radar sensor sensing the object, said control enhances interrogation by said forward facing image sensor by at least one selected from the group consisting of (a) directing the viewing direction of said forward facing image sensor and (b) image processing of captured image data.

14. The forward facing sensing system of claim 11, wherein enhanced interrogation by said forward facing image sensor is by image processing of captured image data.

15. The forward facing sensing system of claim 11, wherein said radar sensor comprises a phased array antenna.

16. The forward facing sensing system of claim 11, wherein said control is configured to at least in part control an adaptive cruise control system of the vehicle.

17. The forward facing sensing system of claim 11, wherein, responsive to said radar sensor sensing the object, said control enhances interrogation by said forward facing image sensor by utilizing enhanced processing of a portion of an image plane of said forward facing image sensor that is spatially related to the location of the object present in the path of forward travel of the vehicle.

18. A forward facing sensing system for a vehicle, the vehicle having a windshield, said forward facing sensing system comprising:

a radar sensor, wherein, with said radar sensor disposed at the vehicle, said radar sensor has a sensing direction forward of the vehicle;

a forward facing image sensor, wherein, with said forward facing image sensor disposed at the vehicle, said forward facing image sensor has a viewing direction forward of the vehicle;

wherein both said radar sensor and said image sensor are disposed within a windshield electronics module that is removably installed within the vehicle cabin at an upper region of the vehicle windshield and that is removable from the upper region of the vehicle windshield as a self-contained unit for service or replacement;

said radar sensor and said image sensor cooperating in a way that enhances the sensing capabilities of said forward facing sensing system to determine whether objects present in a path of forward travel of the vehicle are objects of interest;

a control responsive to an output of said radar sensor and responsive to an output of said forward facing image sensor;

responsive to said forward facing image sensor viewing an object present in the path of forward travel of the vehicle and responsive to said radar sensor sensing the object present in the path of forward travel of the vehicle, said control enhances interrogation of an area in front of the vehicle at which the object is present to determine if the object is an object of interest causing a potentially hazardous condition;

wherein the object present in the path of forward travel of the vehicle comprises one selected from the group consisting of (i) another vehicle present in the path of forward travel of the vehicle, (ii) a person present in the path of forward travel of the vehicle and (iii) a deer present in the path of forward travel of the vehicle;

wherein said control enhances interrogation of the area at which the object is present via enhanced processing by an image processor of said control of image data captured by said forward facing image sensor at the area at which the object is present, the enhanced processing by the image processor comprising enhanced processing of a portion of the image plane of said forward facing image sensor that is spatially related to the location of the object present in the path of forward travel of the vehicle;

wherein said control at least in part controls an adaptive cruise control system of the vehicle; and

wherein said forward facing image sensor captures image data for an automatic headlamp control system of the vehicle and for a lane departure warning system of the vehicle.

19. The forward facing sensing system of claim 18, wherein said radar sensor comprises a phased array antenna, and wherein said radar sensor transmits at a frequency of at least 60 GHz.

20. The forward facing sensing system of claim 18, wherein said radar sensor transmits at a frequency of at least 60 GHz.

21. The forward facing sensing system of claim 18, wherein, responsive to said radar sensor sensing the object, said control enhances interrogation by said forward facing image sensor by directing the viewing direction of said forward facing image sensor.

22. The forward facing sensing system of claim 18, wherein the object present in the path of forward travel of the vehicle comprises a person present in the path of forward travel of the vehicle.

23. The forward facing sensing system of claim 18, wherein the object present in the path of forward travel of the vehicle comprises a deer present in the path of forward travel of the vehicle.

24. The forward facing sensing system of claim 18, wherein said control enhances interrogation of the area at which the object is present via steering a radar beam formed by a phased array antenna of said radar sensor.

25. The forward facing sensing system of claim 18, wherein said radar sensor comprises a phased array antenna.