DRIVER ASSISTANCE SYSTEM FOR VEHICLE

• US 20140022378A1
• Filed: 09/23/2013
• Published: 01/23/2014
• Est. Priority Date: 12/23/2004
• Status: Active Grant

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Inventors: Higgins-Luthman, Michael J.
• Granted Patent: US 9,014,904 B2
• Time in Patent Office: Days
• US Class Current: 348/113
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: B60R 1/12 Mirror assemblies combined with other articles, e.g. clocks
• CPC Class Codes: B60R 1/23 with a predetermined field of view
• CPC Class Codes: B60R 2001/1253 with cameras, video cameras or video screens
• CPC Class Codes: B60R 2300/105 using multiple cameras
• CPC Class Codes: B60R 2300/30 characterised by the type of image processing
• CPC Class Codes: B60R 2300/402 Image calibration
• CPC Class Codes: B60R 2300/802 for monitoring and displaying vehicle exterior blind spot views
• CPC Class Codes: B60R 2300/804 for lane monitoring
• CPC Class Codes: B60R 2300/806 for aiding parking
• CPC Class Codes: B60R 2300/8066 for monitoring rearward traffic
• CPC Class Codes: B60W 40/04 Traffic conditions
• 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 20/584 of vehicle lights or traffic lights
• 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
• CPC Class Codes: H04N 23/80 Camera processing pipelines; Components thereof
• CPC Class Codes: H04N 25/76 Addressed sensors, e.g. MOS or CMOS sensors
• CPC Class Codes: H04N 7/18 Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
• CPC Class Codes: H04N 7/181 for receiving images from a plurality of remote sources

Abstract

A driver assistance system for a vehicle includes an imaging device disposed at an exterior portion of a vehicle. With the imaging device disposed at the exterior portion of the vehicle, the imaging device has a field of view at least one of rearward of the vehicle and sideward of the vehicle. A control utilizes edge detection in processing image data captured by the imaging device. Responsive at least in part to processing of captured image data by the control, the control determines that an object is present in the field of view of the imaging device. The control is operable to determine that the imaging device is misaligned. The control, responsive to a determination of misalignment of the imaging array sensor, is operable to at least partially compensate for the determined misalignment of the imaging device.

Claims

1. A driver assistance system for a vehicle, said driver assistance system comprising:

an imaging device comprising a CMOS array of photo-sensing pixels, said imaging device disposed at an exterior portion of a vehicle equipped with said driver assistance system;

wherein, with said imaging device disposed at said exterior portion of the equipped vehicle, said imaging device has a field of view at least one of rearward of the equipped vehicle and sideward of the equipped vehicle;

a control for processing image data captured by said imaging device;

wherein said control utilizes edge detection in processing captured image data;

wherein, responsive at least in part to processing of captured image data by said control, said control determines that an object is present in the field of view of said imaging device;

wherein said control is operable to determine that said imaging device is misaligned when said imaging device is disposed at said exterior portion of the equipped vehicle; and

wherein said control, responsive to a determination of misalignment of said imaging device, is operable to at least partially compensate for the determined misalignment of said imaging device.

2. The driver assistance system of claim 1, wherein said control determines that the object determined to be present in the field of view of said imaging device is an object of interest and wherein at least one of (i) in determining that the object is an object of interest, edges that are not indicative of an object of interest are substantially ignored, (ii) edge detection by said control comprises detection of generally vertical edges of objects present in the field of view of said imaging device, (iii) detection by said control of generally vertical edges of objects present in the field of view of said imaging device is used at least in part in determining that the object is an object of interest and (iv) in determining that the object is an object of interest, edges that are not indicative of an object of interest are substantially ignored in order to at least one of (a) reduce processing requirements and (b) reduce false signals.

3. The driver assistance system of claim 1, wherein the object determined to be present in the field of view of said imaging device is one of (i) a vehicle that is at least one of rearward of the equipped vehicle and sideward of the equipped vehicle, (ii) a headlight of a vehicle that is at least one of rearward of the equipped vehicle and sideward of the equipped vehicle, (iii) a bicycle that is at least one of rearward of the equipped vehicle and sideward of the equipped vehicle, (iv) a bicycle rider that is at least one of rearward of the equipped vehicle and sideward of the equipped vehicle and (v) a wheel.

4. The driver assistance system of claim 1, wherein at least one of (i) said control adjusts processing of captured image data to accommodate misalignment of said imaging device and (ii) said control determines shadows present in the field of view of said imaging device and discerns shadows from objects present in the field of view of said imaging device.

5. The driver assistance system of claim 1, wherein said control reduces captured image data to a reduced data set of said image data, said control processing said reduced data set to extract information from said reduced data set, and wherein said reduced data set is representative of a target zone that is within the field of view of said imaging device, said reduced data set being not inclusive of a portion of the equipped vehicle.

6. The driver assistance system of claim 1, wherein at least one of (i) a portion of the equipped vehicle is present in the field of view of said imaging device and (ii) a portion of the equipped vehicle is present in the field of view of said imaging device and said control determines that said portion of the equipped vehicle is not an object of interest.

7. The driver assistance system of claim 1, wherein, with said imaging device disposed at the exterior of the equipped vehicle, said imaging device has a field of view frontward of the equipped vehicle.

8. The driver assistance system of claim 1, wherein at least one of (i) a video display screen is located in the interior cabin of the equipped vehicle and is viewable by a driver of the equipped vehicle and wherein images are displayed by said video display screen that are derived, at least in part, from image data captured by said imaging device, and (ii) said imaging device has a field of view at least one of frontward of the equipped vehicle and sideward of the equipped vehicle.

9. The driver assistance system of claim 1, wherein at least one of (i) said control is operable to determine that said imaging device is aligned within a desired tolerance when said imaging device is disposed at said exterior portion of the equipped vehicle, (ii) said control, responsive to a determination of misalignment of said imaging device, is operable to adjust processing of captured image data to at least partially compensate for the determined misalignment of said imaging device and (iii) said control, responsive to a determination of misalignment of said imaging device, is operable to adjust captured image data to at least partially compensate for the determined misalignment of said imaging device.

10. The driver assistance system of claim 1, wherein said imaging device has a field of view that encompasses a portion of the equipped vehicle, and wherein processing undertaken by said control at least partially accounts for misalignment of said imaging device at least in part responsive to image data captured of the portion of the equipped vehicle encompassed by said field of view of said imaging device.

11. The driver assistance system of claim 1, wherein at least one of (i) said control, responsive to a determination of misalignment of said imaging device, is operable to determine a degree of misalignment of said imaging device and (ii) said control, responsive to a determination of misalignment of said imaging device, is operable to determine a degree of misalignment of said imaging device and wherein said control, responsive to the determination of the degree of misalignment of said imaging device, is operable to at least partially compensate for the determined degree of misalignment of said imaging device.

12. The driver assistance system of claim 1, wherein at least one of (i) said control algorithmically processes captured image to a reduced data set, said control processing said reduced data set to extract information from said reduced data set and (ii) said control algorithmically processes captured image to a reduced data set and wherein said reduced data set is representative of a target zone.

13. The driver assistance system of claim 1, wherein at least one of (i) said control is operable to distinguish between an object in the field of view of said imaging device and a shadow of an object, (ii) said control is operable to switch between daytime and nighttime algorithms in response to an ambient light level at the equipped vehicle and (iii) a driver of the equipped vehicle is alerted that an object is determined to be exterior to the equipped vehicle during operation of the equipped vehicle when the driver of the equipped vehicle is at least one of (a) actuating a turn signal of the equipped vehicle and (b) operating the steering the equipped vehicle.

14. The driver assistance system of claim 1, wherein, responsive at least in part to processing of captured image data by said control, at least one of (i) a hazardous condition is determined and (ii) a hazardous condition is determined and a driver of the equipped vehicle is alerted thereto.

15. A driver assistance system for a vehicle, said driver assistance system comprising:

an imaging device comprising a CMOS array of photo-sensing pixels, said imaging device disposed at an exterior portion of a vehicle equipped with said driver assistance system;

wherein, with said imaging device disposed at said exterior portion of the equipped vehicle, said imaging device has a field of view at least one of rearward of the equipped vehicle and sideward of the equipped vehicle;

a control for processing image data captured by said imaging device;

wherein, responsive at least in part to processing of captured image data by said control, said control determines that an object is present in the field of view of said imaging device;

wherein said control is operable to determine that said imaging device is misaligned when said imaging device is disposed at said exterior portion of the equipped vehicle;

wherein said control, responsive to a determination of misalignment of said imaging device, is operable to at least partially compensate for the determined misalignment of said imaging device;

wherein a portion of the equipped vehicle is present in the field of view of said imaging device; and

wherein, responsive at least in part to processing of captured image data by said control, a hazardous condition is determined.

16. The driver assistance system of claim 15, wherein said control determines that the object determined to be present in the field of view of said imaging device is an object of interest and wherein at least one of (i) in determining that the object is an object of interest, said control utilizes edge detection and wherein edges that are not indicative of an object of interest are substantially ignored, (ii) said control utilizes edge detection and wherein edge detection by said control comprises detection of generally vertical edges of objects present in the field of view of said imaging device, (iii) detection by said control of generally vertical edges of objects present in the field of view of said imaging device is used at least in part in determining that the object is an object of interest and (iv) in determining that the object is an object of interest, said control utilizes edge detection and wherein edges that are not indicative of an object of interest are substantially ignored in order to at least one of (a) reduce processing requirements and (b) reduce false signals.

17. The driver assistance system of claim 15, wherein at least one of (i) said control is operable to determine that said imaging device is aligned within a desired tolerance when said imaging device is disposed at said exterior portion of the equipped vehicle, (ii) said control, responsive to a determination of misalignment of said imaging device, is operable to adjust processing of captured image data to at least partially compensate for the determined misalignment of said imaging device, (iii) said control, responsive to a determination of misalignment of said imaging device, is operable to adjust captured image data to at least partially compensate for the determined misalignment of said imaging device, (iv) said control adjusts processing of captured image data to accommodate misalignment of said imaging device, (v) said control determines shadows present in the field of view of said imaging device and discerns shadows from objects present in the field of view of said imaging device, (vi) said control, responsive to a determination of misalignment of said imaging device, is operable to determine a degree of misalignment of said imaging device and (vii) said control, responsive to a determination of misalignment of said imaging device, is operable to determine a degree of misalignment of said imaging device and wherein said control, responsive to the determination of the degree of misalignment of said imaging device, is operable to at least partially compensate for the determined degree of misalignment of said imaging device.

18. The driver assistance system of claim 15, wherein at least one of (i) said control algorithmically processes captured image to a reduced data set, said control processing said reduced data set to extract information from said reduced data set, (ii) said control algorithmically processes captured image to a reduced data set and wherein said reduced data set is representative of a target zone and (iii) said control reduces captured image data to a reduced data set of said image data, said control processing said reduced data set to extract information from said reduced data set and wherein said reduced data set is representative of a target zone that is within the field of view of said imaging device, said reduced data set being not inclusive of a portion of the equipped vehicle.

19. The driver assistance system of claim 15, wherein at least one of (i) a driver of the equipped vehicle is alerted responsive to said determination of a hazardous condition, (ii) with said imaging device disposed at the exterior of the equipped vehicle, said imaging device has a field of view frontward of the equipped vehicle, (iii) with said imaging device disposed at the exterior of the equipped vehicle, said imaging device has a field of view rearward of the equipped vehicle, (iv) said control is operable to distinguish between an object in the field of view of said imaging device and a shadow of an object and (v) a driver of the equipped vehicle is alerted that an object is determined to be exterior to the equipped vehicle during operation of the equipped vehicle when the driver of the equipped vehicle is at least one of (a) actuating a turn signal of the equipped vehicle and (b) operating the steering the equipped vehicle.

20. A driver assistance system for a vehicle, said driver assistance system comprising:

an imaging device comprising a CMOS array of photo-sensing pixels, said imaging device disposed at an exterior portion of a vehicle equipped with said driver assistance system;

wherein, with said imaging device disposed at said exterior portion of the equipped vehicle, said imaging device has a field of view at least one of rearward of the equipped vehicle and sideward of the equipped vehicle;

a control for processing image data captured by said imaging device;

wherein, responsive at least in part to processing of captured image data by said control, said control determines that an object is present in the field of view of said imaging device;

wherein said control is operable to determine that said imaging device is misaligned when said imaging device is disposed at said exterior portion of the equipped vehicle;

wherein said control, responsive to a determination of misalignment of said imaging device, is operable to at least partially compensate for the determined misalignment of said imaging device;

wherein a portion of the equipped vehicle is present in the field of view of said imaging device; and

wherein at least one of (i) responsive at least in part to processing of captured image data by said control, a hazardous condition is determined and a driver of the equipped vehicle is alerted responsive to said determination of a hazardous condition and (ii) a driver of the equipped vehicle is alerted that an object is determined to be exterior to the equipped vehicle during operation of the equipped vehicle when the driver of the equipped vehicle is at least one of (a) actuating a turn signal of the equipped vehicle and (b) operating the steering the equipped vehicle.

21. The driver assistance system of claim 20, wherein said control determines that the object determined to be present in the field of view of said imaging device is an object of interest and wherein at least one of (i) in determining that the object is an object of interest, said control utilizes edge detection and wherein edges that are not indicative of an object of interest are substantially ignored, (ii) said control utilizes edge detection and wherein edge detection by said control comprises detection of generally vertical edges of objects present in the field of view of said imaging device, (iii) detection by said control of generally vertical edges of objects present in the field of view of said imaging device is used at least in part in determining that the object is an object of interest and (iv) in determining that the object is an object of interest, said control utilizes edge detection and wherein edges that are not indicative of an object of interest are substantially ignored in order to at least one of (a) reduce processing requirements and (b) reduce false signals.

22. The driver assistance system of claim 20, wherein at least one of (i) said control is operable to determine that said imaging device is aligned within a desired tolerance when said imaging device is disposed at said exterior portion of the equipped vehicle, (ii) said control, responsive to a determination of misalignment of said imaging device, is operable to adjust processing of captured image data to at least partially compensate for the determined misalignment of said imaging device, (iii) said control, responsive to a determination of misalignment of said imaging device, is operable to adjust captured image data to at least partially compensate for the determined misalignment of said imaging device, (iv) said control adjusts processing of captured image data to accommodate misalignment of said imaging device, (v) said control determines shadows present in the field of view of said imaging device and discerns shadows from objects present in the field of view of said imaging device, (vi) said control, responsive to a determination of misalignment of said imaging device, is operable to determine a degree of misalignment of said imaging device and (vii) said control, responsive to a determination of misalignment of said imaging device, is operable to determine a degree of misalignment of said imaging device and wherein said control, responsive to the determination of the degree of misalignment of said imaging device, is operable to at least partially compensate for the determined degree of misalignment of said imaging device.

23. The driver assistance system of claim 20, wherein at least one of (i) said control algorithmically processes captured image to a reduced data set, said control processing said reduced data set to extract information from said reduced data set, (ii) said control algorithmically processes captured image to a reduced data set and wherein said reduced data set is representative of a target zone and (iii) said control reduces captured image data to a reduced data set of said image data, said control processing said reduced data set to extract information from said reduced data set and wherein said reduced data set is representative of a target zone that is within the field of view of said imaging device, said reduced data set being not inclusive of a portion of the equipped vehicle.