MULTI-CAMERA VISION SYSTEM FOR A VEHICLE

• US 20160059782A1
• Filed: 11/09/2015
• Published: 03/03/2016
• Est. Priority Date: 08/21/2002
• Status: Active Grant

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Inventors: Karner, Lee, Schofield, Kenneth, Lynam, Niall R.
• Granted Patent: US 9,440,586 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B29C 45/0017 moulding interconnected elements which are movable with respect to one another, e.g. chains or hinges
• CPC Class Codes: B29C 45/14639 for obtaining an insulating effect, e.g. for electrical components
• CPC Class Codes: B29C 45/14754 being in movable or releasable engagement with the coating, e.g. bearing assemblies
• CPC Class Codes: B29C 45/1671 with an insert
• CPC Class Codes: B29L 2011/0058 Mirrors
• CPC Class Codes: B29L 2031/30 Vehicles, e.g. ships or aircraft, or body parts thereof vanes or blades B29L2031/08, air bags B29L2022/027
• CPC Class Codes: B60C 9/00 Reinforcements or ply arrangement of pneumatic tyres inserts having reinforcing means B60C5/08; bead structure, e.g. turnup or overlap construction, B60C15/00
• CPC Class Codes: B60Q 9/00 Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00 , e.g. haptic signalling
• 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 1/04 mounted inside vehicle B60R1/025, B60R1/08 take precedence
• CPC Class Codes: B60R 1/06 mounted on vehicle exterior B60R1/025, B60R1/08 take precedence
• CPC Class Codes: B60R 1/12 Mirror assemblies combined with other articles, e.g. clocks
• CPC Class Codes: B60R 1/26 to the rear of the vehicle
• CPC Class Codes: B60R 11/04 Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
• CPC Class Codes: B60R 2001/1215 with information displays
• CPC Class Codes: B60R 2001/1223 with sensors or transducers
• CPC Class Codes: B60R 2001/1253 with cameras, video cameras or video screens
• CPC Class Codes: B60R 2001/1269 with sun visors
• CPC Class Codes: B60R 2011/0033 Rear-view mirrors
• CPC Class Codes: B60R 2300/105 : using multiple cameras
• CPC Class Codes: B60R 2300/308 : by overlaying the real scene, e.g. through a head-up display on the windscreen
• CPC Class Codes: B60R 2300/8026 : in addition to a rear-view mirror system
• CPC Class Codes: B60R 2300/8066 : for monitoring rearward traffic
• CPC Class Codes: B60R 2300/808 : for facilitating docking to a trailer
• CPC Class Codes: B60R 2300/8093 : for obstacle warning
• CPC Class Codes: G06T 2207/10016 : Video; Image sequence
• CPC Class Codes: G06T 2207/30232 : Surveillance
• CPC Class Codes: G06T 2207/30261 : Obstacle
• CPC Class Codes: G06T 7/13 : Edge detection
• CPC Class Codes: G06T 7/70 : Determining position or orientation of objects or cameras camera calibration G06T7/80
• 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: G08G 1/165 : for passive traffic, e.g. including static obstacles, trees
• CPC Class Codes: G08G 1/166 : for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 : Driving aids for lane monitoring, lane changing, e.g. blind spot detection
• CPC Class Codes: G09G 2300/023 : Display panel composed of stacked panels
• CPC Class Codes: G09G 2300/0456 : with a reflective area and a transmissive area combined in one pixel, such as in transflectance pixels
• CPC Class Codes: G09G 2340/12 : Overlay of images, i.e. displayed pixel being the result of switching between the corresponding input pixels
• CPC Class Codes: G09G 2380/10 : Automotive applications
• CPC Class Codes: G09G 3/001 : using specific devices not provided for in groups G09G3/02 - G09G3/36, e.g. using an intermediate record carrier such as a film slide; Projection systems; Display of non-alphanumerical information, solely or in combination with alphanumerical information, e.g. digital display on projected diapositive as background slide projectors per se G03B23/00 = 42 HP
• CPC Class Codes: G09G 3/346 : based on modulation of the reflection angle, e.g. micromirrors micromirrors devices per se G02B26/0833
• CPC Class Codes: G09G 5/026 : Control of mixing and/or overlay of colours in general G09G5/022 and G09G5/024 take precedence
• CPC Class Codes: H04N 7/181 : for receiving images from a plurality of remote sources
• CPC Class Codes: H04N 7/183 : for receiving images from a single remote source

Abstract

A multi-camera vision system for a vehicle includes a rear-mounted video camera, a front-mounted video camera, and first and second side-mounted video cameras at respective sides of the vehicle. Captured image data is processed at a central data processor to generate video images for display on a video screen. The captured image data is processed at the central data processor in order to detect objects that are within the combined field of view of the video cameras. At least one non-visual sensor captures sensor data in a region external of the vehicle and the captured sensor data is provided to the central data processor. An alert to the driver of the equipped vehicle is generated when, via processing at the central data processor of at least one of received image data and received sensor data, a potential hazard is determined to exist.

Claims

1. A multi-camera vision system for a vehicle, said multi-camera vision system comprising:

a rear-mounted video camera at a rear portion of a vehicle equipped with said multi-camera vision system;

said rear-mounted video camera having at least a rearward field of view external of the equipped vehicle;

said rear-mounted video camera operable to capture video image data at least rearward of the equipped vehicle during a maneuver of the equipped vehicle;

a front-mounted video camera at a front portion of the equipped vehicle;

said front-mounted video camera having at least a forward field of view external of the equipped vehicle;

said front-mounted video camera operable to capture video image data at least forward of the equipped vehicle during the maneuver of the equipped vehicle;

a first side-mounted video camera at a driver-side side portion of the equipped vehicle;

said first side-mounted video camera having at least a sideward field of view external of the equipped vehicle;

said first side-mounted video camera operable to capture video image data at least sideward of the equipped vehicle during the maneuver of the equipped vehicle;

a second side-mounted video camera at a passenger-side side portion of the equipped vehicle;

said second side-mounted video camera having at least a sideward field of view external of the equipped vehicle;

said second side-mounted video camera operable to capture video image data at least sideward of the equipped vehicle during the maneuver of the equipped vehicle;

a display device comprising a video screen operable to display video images for viewing by a driver of the equipped vehicle who is operating the equipped vehicle;

a central data processor disposed in the equipped vehicle;

wherein captured image data is provided to said central data processor;

wherein image data captured by said front-mounted video camera, said first side-mounted video camera, said second side-mounted video camera and said rear-mounted video camera is processed at said central data processor to generate video images for display on said video screen that inform the driver of the environment in which the equipped vehicle is being operated;

wherein image data captured by said front-mounted video camera, said first side-mounted video camera, said second side-mounted video camera and said rear-mounted video camera is processed at said central data processor in order to detect objects that are within the combined field of view of said front-mounted video camera, said first side-mounted video camera, said second side-mounted video camera and said rear-mounted video camera;

wherein detection of objects via processing at said central data processor of captured image data comprises use of an edge detection algorithm;

wherein the equipped vehicle is further equipped with at least one non-visual sensor selected from the group consisting of (i) a radar sensor and (ii) an ultrasonic sensor;

wherein said at least one non-visual sensor captures sensor data in a region external of the equipped vehicle;

wherein captured sensor data is provided to said central data processor;

wherein an alert to the driver of the equipped vehicle is generated when, via processing at said central data processor of at least one of received image data and received sensor data, a potential hazard is determined to exist; and

wherein said rear-mounted video camera has a field of view that encompasses at least a portion of a vehicle bumper of the equipped vehicle.

2. The multi-camera vision system of claim 1, wherein said display device is disposed at an interior rearview mirror assembly of the equipped vehicle and wherein at least one of (a) said display device displays video images for viewing through a mirror reflective element of said interior rearview mirror assembly by the driver of the equipped vehicle and (b) said display device automatically extends from said interior rearview mirror assembly responsive to the vehicle transmission being shifted into reverse gear, and wherein said interior rearview mirror assembly comprises a molded plastic mounting arm having at least one ball member at at least one end thereof and having electrical conducting elements extending therethrough, and wherein a mirror mounting portion is molded over said ball member, and wherein said mounting arm comprises a mounting arm polymeric material having a first linear mold shrinkage factor and a first flexural modulus, and wherein said mirror mounting portion comprises a mirror mounting polymeric material having a second linear mold shrinkage factor and a second flexural modulus, and wherein said second linear mold shrinkage factor is greater than said first linear mold shrinkage factor, and wherein said second flexural modulus is lower than said first flexural modulus.

3. The multi-camera vision system of claim 1, wherein said rear-mounted video camera comprises a rear backup camera and wherein an overlay is displayed with video images captured by said rear backup camera to guide the driver when hitching a trailer to a trailer hitch of the equipped vehicle.

4. The multi-camera vision system of claim 3, wherein said overlay aids in guiding connection of the trailer hitch of the equipped vehicle to a trailer tongue of the trailer.

5. The multi-camera vision system of claim 1, wherein said video screen of said display device comprises a backlit thin film transistor LCD video screen backlit by a plurality of white light emitting light emitting diodes.

6. The multi-camera vision system of claim 5, wherein said plurality of white light emitting light emitting diodes comprises an array of at least four white light emitting light emitting diodes.

7. The multi-camera vision system of claim 6, wherein said display device is operable to display video images with a display intensity, as viewed by the driver of the equipped vehicle, greater than 200 candelas/sq. meter.

8. The multi-camera vision system of claim 6, wherein said display device is operable to display video images with a display intensity, as viewed by the driver of the equipped vehicle, greater than 400 candelas/sq. meter.

9. The multi-camera vision system of claim 1, wherein said rear-mounted video camera comprises a rear backup camera.

10. The multi-camera vision system of claim 1, wherein data is provided to said central data processor via a vehicle network of the equipped vehicle.

11. The multi-camera vision system of claim 1, wherein said potential hazard arises from presence of rear-approaching traffic in side and rear lanes to the equipped vehicle.

12. The multi-camera vision system of claim 11, wherein an alert to the driver of the equipped vehicle is generated when, via processing at said central data processor of received image data and received sensor data, a potential hazard is determined to exist.

13. The multi-camera vision system of claim 1, wherein said at least one non-visual sensor comprises a radar sensor.

14. The multi-camera vision system of claim 1, wherein said at least one non-visual sensor comprises an ultrasonic sensor.

15. The multi-camera vision system of claim 14, wherein said sensor detects the presence of an obstacle exterior the equipped vehicle.

16. The multi-camera vision system of claim 15, wherein said rear-mounted video camera comprises a CMOS imaging array and wherein said central data processor processes fused image and sensor data.

17. A multi-camera vision system for a vehicle, said multi-camera vision system comprising:

a rear-mounted video camera at a rear portion of a vehicle equipped with said multi-camera vision system;

said rear-mounted video camera having at least a rearward field of view external of the equipped vehicle;

said rear-mounted video camera operable to capture video image data at least rearward of the equipped vehicle during a maneuver of the equipped vehicle;

a front-mounted video camera at a front portion of the equipped vehicle;

said front-mounted video camera having at least a forward field of view external of the equipped vehicle;

said front-mounted video camera operable to capture video image data at least forward of the equipped vehicle during the maneuver of the equipped vehicle;

a first side-mounted video camera at a driver-side side portion of the equipped vehicle;

said first side-mounted video camera having at least a sideward field of view external of the equipped vehicle;

said first side-mounted video camera operable to capture video image data at least sideward of the equipped vehicle during the maneuver of the equipped vehicle;

a second side-mounted video camera at a passenger-side side portion of the equipped vehicle;

said second side-mounted video camera having at least a sideward field of view external of the equipped vehicle;

said second side-mounted video camera operable to capture video image data at least sideward of the equipped vehicle during the maneuver of the equipped vehicle;

a display device comprising a video screen operable to display video images for viewing by a driver of the equipped vehicle who is operating the equipped vehicle

a central data processor disposed in the equipped vehicle;

wherein captured image data is provided to said central data processor;

wherein image data captured by said front-mounted video camera, said first side-mounted video camera, said second side-mounted video camera and said rear-mounted video camera is processed at said central data processor to generate video images for display on said video screen that inform the driver of the environment in which the equipped vehicle is being operated;

wherein image data captured by said front-mounted video camera, said first side-mounted video camera, said second side-mounted video camera and said rear-mounted video camera is processed at said central data processor in order to detect objects that are within the combined field of view of said front-mounted video camera, said first side-mounted video camera, said second side-mounted video camera and said rear-mounted video camera;

wherein detection of objects via processing at said central data processor of captured image data comprises use of an edge detection algorithm;

wherein the equipped vehicle is further equipped with at least one non-visual sensor selected from the group consisting of (i) a radar sensor and (ii) an ultrasonic sensor;

wherein said at least one non-visual sensor captures sensor data in a region external of the equipped vehicle;

wherein captured sensor data is provided to said central data processor;

wherein an alert to the driver of the equipped vehicle is generated when, via processing at said central data processor of at least one of received image data and received sensor data, a potential hazard is determined to exist;

wherein said potential hazard arises from presence of rear-approaching traffic in side and rear lanes to the equipped vehicle; and

wherein data is provided to said central data processor via a vehicle network of the equipped vehicle.

18. The multi-camera vision system of claim 17, wherein said video screen of said display device comprises a backlit thin film transistor LCD video screen backlit by a plurality of white light emitting light emitting diodes and wherein said plurality of white light emitting light emitting diodes comprises an array of at least four white light emitting light emitting diodes, and wherein said display device is operable to display video images with a display intensity, as viewed by the driver of the equipped vehicle, greater than 200 candelas/sq. meter.

19. The multi-camera vision system of claim 18, wherein said rear-mounted video camera comprises a rear backup camera and wherein said rear backup camera has a field of view that encompasses at least a portion of a vehicle bumper of the equipped vehicle.

20. The multi-camera vision system of claim 19, wherein an alert to the driver of the equipped vehicle is generated when, via processing at said central data processor of received image data and received sensor data, a potential hazard is determined to exist.

21. The multi-camera vision system of claim 20, wherein said rear-mounted video camera comprises a CMOS imaging array and wherein said central data processor processes fused image and sensor data.

22. A multi-camera vision system for a vehicle, said multi-camera vision system comprising:

a rear-mounted video camera at a rear portion of a vehicle equipped with said multi-camera vision system;

said rear-mounted video camera having at least a rearward field of view external of the equipped vehicle;

said rear-mounted video camera operable to capture video image data at least rearward of the equipped vehicle during a maneuver of the equipped vehicle;

a front-mounted video camera at a front portion of the equipped vehicle;

said front-mounted video camera having at least a forward field of view external of the equipped vehicle;

said front-mounted video camera operable to capture video image data at least forward of the equipped vehicle during the maneuver of the equipped vehicle;

a first side-mounted video camera at a driver-side side portion of the equipped vehicle;

said first side-mounted video camera having at least a sideward field of view external of the equipped vehicle;

said first side-mounted video camera operable to capture video image data at least sideward of the equipped vehicle during the maneuver of the equipped vehicle;

a second side-mounted video camera at a passenger-side side portion of the equipped vehicle;

said second side-mounted video camera having at least a sideward field of view external of the equipped vehicle;

said second side-mounted video camera operable to capture video image data at least sideward of the equipped vehicle during the maneuver of the equipped vehicle;

a display device comprising a video screen operable to display video images for viewing by a driver of the equipped vehicle who is operating the equipped vehicle

a central data processor disposed in the equipped vehicle;

wherein captured image data is provided to said central data processor;

wherein image data captured by said front-mounted video camera, said first side-mounted video camera, said second side-mounted video camera and said rear-mounted video camera is processed at said central data processor to generate video images for display on said video screen that inform the driver of the environment in which the equipped vehicle is being operated;

wherein image data captured by said front-mounted video camera, said first side-mounted video camera, said second side-mounted video camera and said rear-mounted video camera is processed at said central data processor in order to detect objects that are within the combined field of view of said front-mounted video camera, said first side-mounted video camera, said second side-mounted video camera and said rear-mounted video camera;

wherein detection of objects via processing at said central data processor of captured image data comprises use of an edge detection algorithm;

wherein the equipped vehicle is further equipped with an ultrasonic sensor;

wherein said ultrasonic sensor captures sensor data in a region external of the equipped vehicle;

wherein captured sensor data is provided to said central data processor;

wherein an alert to the driver of the equipped vehicle is generated when, via processing at said central data processor of at least one of received image data and received sensor data, a potential hazard is determined to exist;

wherein said rear-mounted video camera has a field of view that encompasses at least a portion of a vehicle bumper of the equipped vehicle;

wherein said rear-mounted video camera comprises a rear backup camera and

wherein video images captured by said rear backup camera are displayed on said video screen when a transmission of the equipped vehicle is shifted into reverse gear by the driver of the equipped vehicle;

wherein said video screen of said display device comprises a backlit thin film transistor LCD video screen backlit by a plurality of white light emitting light emitting diodes;

wherein said plurality of white light emitting light emitting diodes comprises an array of at least four white light emitting light emitting diodes; and

wherein an overlay is displayed with video images captured by said rear backup camera to guide the driver when hitching a trailer to a trailer hitch of the equipped vehicle.

23. The multi-camera vision system of claim 22, wherein said alert is generated via a rumble/vibration transducer.

24. The multi-camera vision system of claim 22, wherein display on said video screen of video images captured by said rear-mounted video camera continues during short term forward movement of the equipped vehicle.

25. The multi-camera vision system of claim 24, wherein said display device is operable to display video images captured by said rear-mounted video camera with a display intensity, as viewed by the driver of the equipped vehicle, greater than 200 candelas/sq. meter.

26. The multi-camera vision system of claim 25, wherein data is provided to said central data processor via a vehicle network of the equipped vehicle.

27. The multi-camera vision system of claim 22, wherein said rear backup camera comprises a CMOS imaging array and wherein said central data processor processes fused image and sensor data.

28. The multi-camera vision system of claim 22, wherein said potential hazard arises from presence of rear-approaching traffic in side and rear lanes to the equipped vehicle.

29. The multi-camera vision system of claim 28, wherein an alert to the driver of the equipped vehicle is generated when, via processing at said central data processor of received image data and received sensor data, a potential hazard is determined to exist.

30. The multi-camera vision system of claim 28, wherein said rear backup camera has a field of view that encompasses at least a portion of a vehicle bumper of the equipped vehicle.