FORWARD FACING SENSING SYSTEM FOR VEHICLE

• US 20160011309A1
• Filed: 09/21/2015
• Published: 01/14/2016
• 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.
• Granted Patent: US 9,244,165 B1
• Time in Patent Office: Days
• US Class Current: 1/1
• 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 facing sensing system includes a windshield electronics module configured to be attached at and behind a windshield of a vehicle. A radar sensor device and an image sensor are disposed in the module so as to have a sensing/viewing direction forward of the vehicle with the module attached at and behind the windshield. A control includes an image processor that processes image data captured by the image sensor and that analyzes captured image data to detect an object present forward of the vehicle. The detected object is also sensed by a beam of the radar sensor device. The control, responsive at least in part to processing by the image processor of captured image data to detect the object and to sensing by the radar sensor device of the detected object, determines that a potentially hazardous condition may exist in the path of forward travel of the vehicle.

Claims

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

a windshield electronics module configured to be attached at and behind a windshield of a vehicle equipped with said forward facing sensing system and to be removable therefrom as a self-contained unit for service or replacement;

a radar sensor device disposed in said windshield electronics module so as to have a sensing direction forward of the equipped vehicle with said windshield electronics module attached at and behind the vehicle windshield;

an image sensor disposed in said windshield electronics module so as to have a viewing direction forward of the equipped vehicle with said windshield electronics module attached at and behind the vehicle windshield;

wherein said image sensor comprises a pixelated image array sensor having a two dimensional array of photosensing elements;

a control comprising an image processor;

wherein said image processor processes image data captured by said image sensor utilizing object detection software;

wherein said image processor is operable to analyze image data captured by said image sensor in order to detect an object present forward of the equipped vehicle in its direction of forward travel;

wherein the detected object is also sensed by a beam of said radar sensor device;

wherein said beam sweeps forward of the equipped vehicle utilizing digital beam steering; and

wherein said control, responsive at least in part to algorithmic processing by said image processor of captured image data to detect the object and to sensing by said radar sensor device of the detected object, determines that a potentially hazardous condition may exist in the path of forward travel of the equipped vehicle, and wherein said potentially hazardous condition comprises another vehicle in the path of forward travel of the equipped vehicle.

2. The sensing system of claim 1, wherein said radar sensor device comprises a phased array antenna.

3. The sensing system of claim 1, wherein said radar sensor device and said image sensor share, at least in part, common circuitry.

4. The sensing system of claim 1, wherein said control, responsive at least in part to processing by said image processor of captured image data and to an output of said radar sensor device, at least in part controls an adaptive cruise control system of the equipped vehicle.

5. The sensing system of claim 1, wherein said image sensor, with said windshield electronics module attached at and behind the vehicle windshield, is proximate to the vehicle windshield.

6. The sensing system of claim 5, wherein said image sensor, with said windshield electronics module attached at and behind the vehicle windshield, optically couples with the vehicle windshield.

7. The sensing system of claim 1, wherein said image sensor comprises part of an automatic headlamp control system of the equipped vehicle and wherein said image sensor comprises part of a lane departure warning system of the equipped vehicle.

8. The sensing system of claim 1, wherein said control, responsive to determination that a potentially hazardous condition exists in the path of forward travel of the equipped vehicle, generates an alert.

9. The sensing system of claim 8, wherein said alert comprises at least one of (i) a visual indication displayed on a display screen disposed in the interior cabin of the equipped vehicle and (ii) an overlay on an image displayed on a display screen disposed in the interior cabin of the equipped vehicle.

10. The sensing system of claim 1, wherein the portion of the image plane of said image sensor that is spatially related to the location of the detected object in the forward field of view of said image sensor determines, at least in part, if the detected object is an object of interest to said forward facing sensing system.

11. The sensing system of claim 10, wherein the portion of the image plane of said image sensor that is spatially related to the location of the detected object in the forward field of view of said image sensor determines, at least in part, if the detected object is an object of interest to said forward facing sensing system.

12. A forward facing sensing system for a vehicle, said forward facing sensing system comprising:

a windshield electronics module configured to be attached at and behind a windshield of a vehicle equipped with said forward facing sensing system and to be removable therefrom as a self-contained unit for service or replacement;

a radar sensor device disposed in said windshield electronics module so as to have a sensing direction forward of the equipped vehicle with said windshield electronics module attached at and behind the vehicle windshield;

an image sensor disposed in said windshield electronics module so as to have a viewing direction forward of the equipped vehicle with said windshield electronics module attached at and behind the vehicle windshield;

wherein said image sensor comprises a pixelated image array sensor having a two dimensional array of photosensing elements;

wherein said radar sensor device and said image sensor share, at least in part, common circuitry;

a control comprising an image processor;

wherein said image processor processes image data captured by said image sensor utilizing object detection software;

wherein said image sensor comprises part of a lane departure warning system of the equipped vehicle;

wherein said control, responsive at least in part to processing by said image processor of captured image data and to an output of said radar sensor device, at least in part controls an adaptive cruise control system of the equipped vehicle;

wherein said image processor is operable to analyze image data captured by said image sensor in order to detect an object present forward of the equipped vehicle in its direction of forward travel;

wherein the detected object is also sensed by a beam of said radar sensor device;

wherein said beam sweeps forward of the equipped vehicle utilizing digital beam steering; and

wherein said control, responsive at least in part to algorithmic processing by said image processor of captured image data to detect the object and to sensing by said radar sensor device of the detected object, determines that a potentially hazardous condition may exist in the path of forward travel of the equipped vehicle, and wherein said potentially hazardous condition comprises another vehicle in the path of forward travel of the equipped vehicle.

13. The sensing system of claim 12, wherein said control, responsive to determination that a potentially hazardous condition exists in the path of forward travel of the equipped vehicle, generates an alert.

14. The sensing system of claim 13, wherein said alert comprises at least one of (i) a visual indication displayed on a display screen disposed in the interior cabin of the equipped vehicle and (ii) an overlay on an image displayed on a display screen disposed in the interior cabin of the equipped vehicle.

15. The sensing system of claim 13, wherein said image sensor, with said windshield electronics module attached at and behind the vehicle windshield, is proximate to the vehicle windshield.

16. The sensing system of claim 15, wherein said radar sensor device comprises a phased array antenna.

17. A forward facing sensing system for a vehicle, said forward facing sensing system comprising:

a windshield electronics module configured to be attached at and behind a windshield of a vehicle equipped with said forward facing sensing system and to be removable therefrom as a self-contained unit for service or replacement;

a radar sensor device disposed in said windshield electronics module so as to have a sensing direction forward of the equipped vehicle with said windshield electronics module attached at and behind the vehicle windshield;

an image sensor disposed in said windshield electronics module so as to have a viewing direction forward of the equipped vehicle with said windshield electronics module attached at and behind the vehicle windshield;

wherein said image sensor comprises a pixelated image array sensor having a two dimensional array of photosensing elements;

wherein said radar sensor device and said image sensor share, at least in part, common circuitry;

a control comprising an image processor;

wherein said image processor processes image data captured by said image sensor utilizing object detection software;

wherein said image sensor comprises part of a lane departure warning system of the equipped vehicle;

wherein said image processor is operable to analyze image data captured by said image sensor in order to detect an object present forward of the equipped vehicle in its direction of forward travel;

wherein the detected object is also sensed by a beam of said radar sensor device;

wherein said beam sweeps forward of the equipped vehicle utilizing digital beam steering;

wherein said control, responsive at least in part to algorithmic processing by said image processor of captured image data to detect the object and to sensing by said radar sensor device of the detected object, determines that a potentially hazardous condition may exist in the path of forward travel of the equipped vehicle, and wherein said potentially hazardous condition comprises another vehicle in the path of forward travel of the equipped vehicle; and

wherein the portion of the image plane of said image sensor that is spatially related to the location of the detected object in the forward field of view of said image sensor determines, at least in part, if the detected object is an object of interest to said forward facing sensing system.

18. The sensing system of claim 17, wherein said image sensor comprises part of an automatic headlamp control system of the equipped vehicle.

19. The sensing system of claim 18, wherein algorithmic processing by said image processor of image data at the portion of the image plane of said image sensor that is spatially related to the location of the detected object in the forward field of view of said image sensor is enhanced in order to determine if the detected object is an object of interest to said forward facing sensing system.

20. The sensing system of claim 19, wherein said control, responsive at least in part to processing by said image processor of captured image data and to an output of said radar sensor device, at least in part controls an adaptive cruise control system of the equipped vehicle.