FORWARD FACING SENSING SYSTEM FOR VEHICLE

• US 20160139263A1
• Filed: 01/25/2016
• Published: 05/19/2016
• 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 9,335,411 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 for a vehicle includes a radar sensor device disposed at the vehicle and having a sensing direction forward of the vehicle and an image sensor disposed behind the vehicle windshield so as to view forward of the vehicle through the windshield. A control includes an image processor operable to analyze image data captured by the image sensor in order to, at least in part, detect an object present forward of the vehicle. The control, responsive at least in part to processing of captured image data by the image processor and to sensing by the radar sensor, determines that a potentially hazardous condition may exist in the path of forward travel of the vehicle. The radar sensor device and the image sensor collaborate in a way that enhances determination of existence of the potentially hazardous condition in the path of forward travel of the vehicle.

Claims

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

a radar sensor device disposed within an interior cabin of a vehicle equipped with said forward facing sensing system, and wherein said radar sensor device has a sensing direction forward of the equipped vehicle;

wherein said radar sensor device comprises an array antenna;

wherein said radar sensor device transmits at a frequency of at least 20 GHz;

an image sensor disposed within the interior cabin of the equipped vehicle behind the vehicle windshield and wherein said image sensor views forward of the equipped vehicle through the vehicle windshield;

wherein said image sensor comprises a pixelated imaging array sensor comprising a plurality of photo-sensing pixels;

a control comprising an image processor, said image processor operable to analyze image data captured by said image sensor in order to, at least in part, detect an object present forward of the equipped vehicle in its direction of forward travel;

wherein said image processor comprises an image processing chip that processes image data captured by said image sensor utilizing object detection software;

wherein said control, responsive at least in part to processing of captured image data by said image processor and to sensing by said radar sensor, 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 at least one of (i) a pedestrian in the path of forward travel of the equipped vehicle and (ii) a deer in the path of forward travel of the equipped vehicle;

wherein said radar sensor device and said image sensor collaborate in a way that enhances determination of existence of the potentially hazardous condition in the path of forward travel of the equipped vehicle;

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

wherein said radar sensor device and said image sensor are housed in a self-contained unit disposed behind and attached at the vehicle windshield of the equipped vehicle, and wherein said self-contained unit mounts at the vehicle windshield of the equipped vehicle and is removable therefrom as a unit for at least one of service and replacement; and

wherein said control at least in part controls an adaptive cruise control system of the equipped vehicle.

2. The sensing system of claim 1, wherein said image processor is operable to undertake enhanced processing of pixel outputs of pixels of said image sensor that are within a sub-array of said pixelated imaging array.

3. The sensing system of claim 2, wherein an object associated with said potentially hazardous condition is detected at least at said sub-array of said pixelated imaging array.

4. The sensing system of claim 1, wherein said radar sensor device utilizes digital beam forming.

5. The sensing system of claim 1, wherein said radar sensor device utilizes digital beam steering.

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

7. The sensing system of claim 1, wherein said potentially hazardous condition comprises a pedestrian in the path of forward travel of the equipped vehicle, and wherein said radar sensor device and said image sensor collaborate in a way that enhances sensing capability of said sensing system for the pedestrian in the path of forward travel of the equipped vehicle.

8. The sensing system of claim 1, wherein said potentially hazardous condition comprises a deer in the path of forward travel of the equipped vehicle, and wherein said radar sensor device and said image sensor collaborate in a way that enhances sensing capability of said sensing system for the deer in the path of forward travel of the equipped vehicle.

9. The sensing system of claim 1, wherein the vehicle windshield comprises an opaque layer generally where said self-contained unit is disposed behind the vehicle windshield, and wherein said opaque layer comprises a light-transmitting aperture, and wherein, with said self-contained unit attached at the vehicle windshield, said image sensor views forward of the equipped vehicle via said light-transmitting aperture.

10. The sensing system of claim 1, wherein said radar sensor device transmits at a frequency of at least 60 GHz.

11. The sensing system of claim 10, wherein said radar sensor device transmits at a frequency of at least 77 GHz.

12. The sensing system of claim 1, wherein said image sensor views through the vehicle windshield at a location that is at or near where an interior rearview mirror assembly of the equipped vehicle is located at the vehicle windshield.

13. The sensing system of claim 1, wherein said image processor and said common circuitry are housed in said self-contained unit disposed behind and attached at the vehicle windshield of the equipped vehicle.

14. The sensing system of claim 1, wherein said image processor processes image data captured by said image sensor for an automatic headlamp control system of the equipped vehicle.

15. The sensing system of claim 1, wherein said common circuitry includes said image processor.

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

a radar sensor device disposed within an interior cabin of a vehicle equipped with said forward facing sensing system, and wherein said radar sensor device has a sensing direction forward of the equipped vehicle;

wherein said radar sensor device comprises an array antenna;

wherein said radar sensor device transmits at a frequency of at least 20 GHz;

an image sensor disposed within the interior cabin of the equipped vehicle and wherein said image sensor views forward of the equipped vehicle through the vehicle windshield;

wherein said image sensor comprises a pixelated imaging array sensor comprising a plurality of photo-sensing pixels;

a control comprising an image processor, said image processor operable to analyze image data captured by said image sensor in order to, at least in part, detect an object present forward of the equipped vehicle in its direction of forward travel;

wherein said image processor comprises an image processing chip that processes image data captured by said image sensor utilizing object detection software;

wherein said control, responsive at least in part to processing of captured image data by said image processor and to sensing by said radar sensor, 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 a pedestrian in the path of forward travel of the equipped vehicle;

wherein said radar sensor device and said image sensor collaborate in a way that enhances determination of existence of the potentially hazardous condition in the path of forward travel of the equipped vehicle;

wherein said radar sensor device and said image sensor are housed in a self-contained unit disposed behind and attached at the vehicle windshield of the equipped vehicle, and wherein said self-contained unit mounts at the vehicle windshield of the equipped vehicle and is removable therefrom as a unit for at least one of service and replacement;

wherein the vehicle windshield comprises an opaque layer generally where said self-contained unit is disposed behind the vehicle windshield, and wherein said opaque layer comprises a light-transmitting aperture, and wherein, with said self-contained unit attached at the vehicle windshield, said image sensor views forward of the equipped vehicle via said light-transmitting aperture; and

wherein said image sensor views through the vehicle windshield at a location that is near where an interior rearview mirror assembly of the equipped vehicle is located at the vehicle windshield.

17. The sensing system of claim 16, wherein said image processor is housed in said self-contained unit disposed behind and attached at the vehicle windshield of the equipped vehicle.

18. The sensing system of claim 17, wherein said radar sensor device and said image sensor share, at least in part, common circuitry, and wherein said circuitry comprises said image processor.

19. The sensing system of claim 18, wherein said control at least in part controls an adaptive cruise control system of the equipped vehicle.

20. The sensing system of claim 19, wherein said radar sensor device transmits at a frequency of at least 60 GHz and wherein said radar sensor device utilizes digital beam forming.

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

a radar sensor device disposed within an interior cabin of a vehicle equipped with said forward facing sensing system, and wherein said radar sensor device has a sensing direction forward of the equipped vehicle;

wherein said radar sensor device comprises an array antenna;

wherein said radar sensor device transmits at a frequency of at least 60 GHz;

an image sensor disposed within the interior cabin of the equipped vehicle and wherein said image sensor views forward of the equipped vehicle through the vehicle windshield;

wherein said image sensor comprises a pixelated imaging array sensor comprising a plurality of photo-sensing pixels;

a control comprising an image processor, said image processor operable to analyze image data captured by said image sensor in order to, at least in part, detect an object present forward of the equipped vehicle in its direction of forward travel;

wherein said image processor comprises an image processing chip that processes image data captured by said image sensor utilizing object detection software;

wherein said control, responsive at least in part to processing of captured image data by said image processor and to sensing by said radar sensor, 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 a pedestrian in the path of forward travel of the equipped vehicle;

wherein said radar sensor device and said image sensor collaborate in a way that enhances determination of existence of the potentially hazardous condition in the path of forward travel of the equipped vehicle;

wherein said radar sensor device and said image sensor are housed in a self-contained unit disposed behind and attached at the vehicle windshield of the equipped vehicle, and wherein said self-contained unit mounts at the vehicle windshield of the equipped vehicle and is removable therefrom as a unit for at least one of service and replacement;

wherein the vehicle windshield comprises an opaque layer generally where said self-contained unit is disposed behind the vehicle windshield, and wherein said opaque layer comprises a light-transmitting aperture, and wherein, with said self-contained unit attached at the vehicle windshield, said image sensor views forward of the equipped vehicle via said light-transmitting aperture;

wherein said image sensor views through the vehicle windshield at a location that is near where an interior rearview mirror assembly of the equipped vehicle is located at the vehicle windshield; and

wherein said image processor processes image data captured by said image sensor for an automatic headlamp control system of the equipped vehicle.

22. The sensing system of claim 21, wherein said image processor is housed in said self-contained unit disposed behind and attached at the vehicle windshield of the equipped vehicle, and wherein said radar sensor device and said image sensor share, at least in part, common circuitry, and wherein said circuitry comprises said image processor.

23. The sensing system of claim 22, wherein said control at least in part controls an adaptive cruise control system of the equipped vehicle.

24. The sensing system of claim 23, wherein said image processor is operable to undertake enhanced processing of pixel outputs of pixels of said image sensor that are within a sub-array of said pixelated imaging array.

25. The sensing system of claim 24, wherein the pedestrian is detected at least at said sub-array of said pixelated imaging array.

26. The sensing system of claim 23, wherein said radar sensor device comprises a phased array antenna.