REAR-VIEW MULTI-FUNCTIONAL CAMERA SYSTEM

• US 20110115615A1
• Filed: 11/19/2009
• Published: 05/19/2011
• Est. Priority Date: 11/19/2009
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH, Robert Bosch LLC (Robert Bosch GmbH)
• Original Assignee: Robert Bosch GmbH
• Inventors: Luo, Yun, Hoetzer, Dieter
• Granted Patent: US 8,633,810 B2
• Time in Patent Office: Days
• US Class Current: 340/436
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• 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 1/26 to the rear of the vehicle
• CPC Class Codes: B60R 1/30 providing vision in the non-visible spectrum, e.g. night or infrared vision
• CPC Class Codes: B60R 11/04 Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
• CPC Class Codes: B60R 2300/105 using multiple cameras
• CPC Class Codes: B60R 2300/303 using joined images, e.g. multiple camera images
• CPC Class Codes: B60R 2300/307 virtually distinguishing relevant parts of a scene from the background of the scene
• CPC Class Codes: B60R 2300/602 with an adjustable viewpoint
• CPC Class Codes: H04N 13/239 using two 2D image sensors having a relative position equal to or related to the interocular distance H04N13/243 takes precedence
• CPC Class Codes: H04N 23/698 for achieving an enlarged field of view, e.g. panoramic image capture

Abstract

A rear-view camera system for a vehicle. The rear-view camera system includes a first camera positioned on a rear side of the vehicle. The first camera produces a first data set that includes image data corresponding to a first field of view. A second camera is positioned on the rear side of the vehicle spaced a horizontal distance from the first camera. The second camera produces a second data set that includes image data corresponding to a second field of view. The first field of view and the second field of view cover a space adjacent the rear side of the vehicle. An electronic control unit receives the first data set and the second data set and processes the first data set and the second data set to determine the presence of an object in the space adjacent the rear side of the vehicle. The electronic control unit is configured to stitch the first data set and the second data set to produce a panoramic image that corresponds to the space adjacent the rear side of the vehicle. A human-machine interface includes a viewing screen positioned adjacent an operator of the vehicle, and the human-machine interface is configured to receive the panoramic image and display the panoramic image on the viewing screen.

Claims

1. A rear-view camera system for a vehicle, the rear-view camera system comprising:

a first camera positioned on a rear side of the vehicle, the first camera producing a first data set that includes image data corresponding to a first field of view;

a second camera positioned on the rear side of the vehicle spaced a horizontal distance from the first camera, the second camera producing a second data set that includes image data corresponding to a second field of view, the first field of view and the second field of view covering a space adjacent the rear side of the vehicle;

an electronic control unit that receives the first data set and the second data set and processes the first data set and the second data set to determine a presence of an object in the space adjacent the rear side of the vehicle, the electronic control unit configured to stitch the first data set and the second data set to produce a panoramic image that corresponds to the space adjacent the rear side of the vehicle; and

a human-machine interface that includes a viewing screen positioned adjacent an operator of the vehicle, the human-machine interface configured to receive the panoramic image and display the panoramic image on the viewing screen.

2. The rear-view camera system of claim 1, wherein the electronic control unit calculates a driving corridor, determines a time to collision of the object with the vehicle within the driving corridor, and provides a warning to the operator of the vehicle.

3. The rear-view camera system of claim 2, wherein the warning is one of an audible warning, a visual warning, and a haptic warning.

4. The rear-view camera system of claim 2, wherein the warning includes highlighting the object in the panoramic image.

5. The rear-view camera system of claim 1, wherein the space adjacent the rear side of the vehicle defines a field of view of between 100 degrees and 180 degrees.

6. The rear-view camera system of claim 1, wherein the space adjacent the rear side of the vehicle defines a field of view of 180 degrees or more.

7. The rear-view camera system of claim 1, wherein the image data is a video stream of image data.

8. The rear-view camera system of claim 1, further comprising hardware configured for parallel processing of the image data.

9. The rear-view camera system of claim 8, wherein the hardware includes one of an application specific integrated circuit, and a field programmable gate array.

10. The rear-view camera system of claim 2, further comprising a collision mitigation system and a braking system, the collision mitigation system and the braking system configured to operate in response to determining a failure of the operator to respond to the warning.

11. The rear-view camera system of claim 1, wherein the electronic control unit calculates a driving corridor, determines a time to collision of the object with the vehicle within the driving corridor, and information generated by the electronic control unit is used to provide at least one of a blind-spot warning and a lane-change indicator.

12. The rear-view camera system of claim 1, further comprising a braking system and a forward-looking collision detection system,

wherein imminent rear-collision information from the electronic control unit is provided to the forward-looking collision detection system, and

wherein the forward-looking collision detection system is configured to control the braking system based on both the imminent rear-collision information and detecting an imminent forward collision.

13. The rear-view camera system of claim 1, wherein the electronic control unit changes a viewing angle of the panoramic image in response to user input.

14. The rear-view camera system of claim 1, wherein the first and second camera are operable to capture image streams in the visible spectrum and the infrared spectrum.

15. The rear-view camera system of claim 1, further comprising infrared light sources operable to illuminate the first field of view and the second field of view with infrared light.

16. A method of detecting an object adjacent a rear side of a vehicle, the method comprising:

acquiring, with a first camera, a first image data set that corresponds to a first space positioned adjacent the rear side of the vehicle;

acquiring, with a second camera, a second image data set that corresponds to a second space positioned adjacent the rear side of the vehicle;

in an electronic processing unit,

mapping the first image data set to a first pixel array;

mapping the second image data set to a second pixel array;

calculating a correspondence between the first pixel array and the second pixel array to produce a third image data set;

calculating a driving corridor that corresponds to a predicted path of motion of the vehicle;

determining a presence of the object in the third image data set;

determining a potential collision between the object and the driving corridor; and

calculating a time to collision.

17. The method of claim 16, wherein the mapping of the first image data set and the mapping of the second image data set is performed by one of an application specific integrated circuit and a field programmable gate array.

18. The method of claim 16, further comprising determining if the vehicle is operating in a reverse mode, and, if the vehicle is operating in the reverse mode, producing a panoramic image corresponding to the first space and the second space and displaying the panoramic image to an operator of the vehicle.

19. The method of claim 18, further comprising highlighting the object in the panoramic image.

20. The method of claim 18, changing a viewing angle of the panoramic image in response to user input.

21. The method of claim 16, wherein the third image data set includes image data that corresponds to a space positioned directly behind the rear side of the vehicle.

22. The method of claim 21, further comprising

calculating a depth map for the image data that corresponds to the space positioned directly behind the rear side of the vehicle, and

calculating a motion map for adjacent image data of the third image data set, the adjacent image data corresponding to space adjacent to the space positioned directly behind the rear side of the vehicle.

23. The method of claim 16, further comprising warning an operator of the vehicle when the potential collision is determined.

24. The method of claim 23, wherein warning the operator includes one of providing an audible warning, a visible warning, and a haptic warning.

25. The method of claim 23, further comprising detecting a failure of the operator to respond to the warning and actively braking to attempt to avoid the collision in response to the failure.

26. The method of claim 23, further comprising detecting a failure of the operator to respond to the warning, comparing the time to collision to a threshold, and providing at least one of collision mitigation and active braking when the time to collision is less than the threshold.

27. The method of claim 16, providing at least one of a blind-spot warning and a lane-change indicator based on information generated by the electronic processing unit.

28. The method of claim 16, further comprising

providing imminent rear-collision information from the electronic processing unit to a forward-looking collision detection system based on the potential collision and the time to collision,

detecting an imminent forward collision,

providing control signals from the forward-looking collision detection system to a braking system based on both the imminent rear-collision information and detecting the imminent forward collision.

29. The method claim 16, wherein acquiring the first image data set and the second image data set includes capturing image streams in the visible spectrum and the infrared spectrum.

30. The method of claim 16, further comprising illuminating the first field of view and the second field of view with infrared light.