VEHICLE VISION SYSTEM WITH UNDERCARRIAGE CAMERAS

• US 20190135216A1
• Filed: 11/01/2018
• Published: 05/09/2019
• Est. Priority Date: 11/06/2017
• Status: Active Grant

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Inventors: Church, Theodore J., McElroy, Clarence P., Phillips, Timothy M.
• Granted Patent: US 10,647,282 B2
• Time in Patent Office: Days
• 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 1/105 Optical arrangements giving a view under the vehicle, e.g. using periscopes
• CPC Class Codes: B60R 1/23 with a predetermined field of view
• CPC Class Codes: B60R 1/26 to the rear of the vehicle
• CPC Class Codes: B60R 1/27 providing all-round vision, e.g. using omnidirectional cameras
• CPC Class Codes: B60R 11/04 Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
• CPC Class Codes: B60R 21/01538 for image processing, e.g. cameras or sensor arrays
• CPC Class Codes: B60R 2300/303 using joined images, e.g. multiple camera images
• CPC Class Codes: G08G 1/165 for passive traffic, e.g. including static obstacles, trees
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection
• 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 7/183 for receiving images from a single remote source

Abstract

A vision system for a vehicle includes at least one underbody camera disposed at an underside of a vehicle and having a field of view encompassing a ground surface under the vehicle and being traveled on by the vehicle. The underbody camera captures image data as the vehicle is moving. A control includes an image processor that processes image data captured by the underbody camera. The control, responsive to processing of image data captured by the underbody camera, detects an object under the vehicle that is greater than a threshold height. The control, responsive to detection of the object, generates an output to inform a driver of the vehicle of the detected object under the vehicle.

Claims

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

an underbody camera disposed at an underside of a vehicle and having a field of view at least downward underneath the vehicle encompassing a ground surface under the vehicle and being traveled on by the vehicle, said underbody camera capturing image data as the vehicle is moving;

a control comprising an image processor that processes image data captured by said underbody camera;

wherein said control, responsive to processing of image data captured by said underbody camera, detects an object under the vehicle that is greater than a threshold height; and

wherein said control, responsive to detection of the object under the vehicle, generates an output to inform a driver of the vehicle of the detected object under the vehicle.

2. The vision system of claim 1, wherein said underbody camera is disposed along a longitudinal centerline of the vehicle and rearward of the front wheels of the vehicle and forward of the rear wheels of the vehicle.

3. The vision system of claim 1, wherein the detected object under the vehicle comprises an object that has a height greater than a predetermined threshold height.

4. The vision system of claim 1, wherein the detected object is part of rough terrain under the vehicle where the ground surface has a height change greater than a predetermined threshold height over a predetermined distance.

5. The vision system of claim 1, comprising a display device disposed in the vehicle and viewable by a driver of the vehicle, wherein said display device, responsive at least in part to the generated output, displays images derived from image data captured by said underbody camera.

6. The vision system of claim 5, wherein said display device displays images derived from image data captured by said underbody camera responsive at least in part to a user input.

7. The vision system of claim 5, wherein said display device displays images derived from image data captured by said underbody camera responsive to detection, via processing of image data captured by said underbody camera, of the object under the vehicle.

8. The vision system of claim 6, comprising a plurality of surround view cameras disposed at the vehicle and having respective sideward and/or rearward fields of view sideward and/or rearward of the vehicle.

9. The vision system of claim 8, wherein said vision system merges image data captured by said underbody camera with image data captured by at least one of said surround view cameras, and wherein said display device displays composite images derived from the merged image data.

10. The vision system of claim 1, comprising a plurality of underbody cameras disposed at the underside of the vehicle, wherein image data captured by said plurality of underbody cameras are processed at said control, and wherein said control, responsive to processing of image data captured by said plurality of underbody cameras, detects an object under the vehicle that is greater than the threshold height.

11. The vision system of claim 1, comprising at least one under-trailer camera disposed at an underside of a trailer and having a field of view underneath the trailer, wherein, when the trailer is hitched to the vehicle, said control, responsive to processing of image data captured by said under-trailer camera, detects an object under the vehicle that is greater than a threshold size, and wherein said control, responsive to detection of the object under the trailer, generates an output to inform the driver of the vehicle of the detected object under the trailer.

12. The vision system of claim 11, comprising a display device disposed in the vehicle and viewable by a driver of the vehicle, wherein, responsive at least in part to detection of the object under the trailer, said display device displays images derived from image data captured by said under-trailer camera.

13. A vision system for a vehicle, said vision system comprising:

an underbody camera disposed along a longitudinal centerline of the vehicle and rearward of front wheels of the vehicle and forward of rear wheels of the vehicle;

wherein said underbody camera has a field of view at least downward and forward underneath the vehicle encompassing a ground surface under the vehicle and being traveled on by the vehicle and encompassing at least a portion of front tires of the vehicle, said underbody camera capturing image data as the vehicle is moving;

a display device disposed in the vehicle and viewable by a driver of the vehicle, wherein said display device is operable to display video images derived from image data captured by said underbody camera; and

wherein said display device displays images derived from image data captured by said underbody camera responsive at least in part to actuation of a user input in the vehicle.

14. The vision system of claim 13, comprising a control disposed at the vehicle and having an image processor that processes image data captured by said underbody camera, wherein said control, responsive to processing of image data captured by said underbody camera, detects an object under the vehicle that is greater than a threshold height.

15. The vision system of claim 14, wherein said display device displays images derived from image data captured by said underbody camera responsive at least in part to detection, via processing of image data captured by said underbody camera, of the object under the vehicle or immediately ahead of the vehicle.

16. The vision system of claim 14, wherein said control, responsive to detection of the object under the vehicle, generates an output to inform a driver of the vehicle of the detected object under the vehicle.

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

a first underbody camera disposed along a longitudinal centerline of the vehicle and rearward of front wheels of the vehicle and forward of rear wheels of the vehicle;

wherein said first underbody camera has a field of view at least downward and forward underneath the vehicle encompassing a ground surface under the vehicle and being traveled on by the vehicle and encompassing at least a portion of front tires of the vehicle, said first underbody camera capturing image data as the vehicle is moving;

a second underbody camera disposed along the longitudinal centerline of the vehicle and rearward of the front wheels of the vehicle and forward of the rear wheels of the vehicle;

wherein said second underbody camera has a field of view at least downward and rearward underneath the vehicle encompassing the ground surface under the vehicle and being traveled on by the vehicle and encompassing at least a portion of rear tires of the vehicle, said second underbody camera capturing image data as the vehicle is moving;

a control disposed at the vehicle and having an image processor that processes image data captured by said first and second underbody cameras;

wherein said control, responsive to processing of image data captured by said first underbody camera and/or said second underbody camera, detects an object that is present in the field of view of said first underbody camera and/or said second underbody camera and that is greater than a threshold height; and

wherein said control, responsive to detection of the object under the vehicle, generates an output to inform a driver of the vehicle of the detected object.

18. The vision system of claim 17, comprising a display device disposed in the vehicle and viewable by the driver of the vehicle, wherein said display device displays images derived from image data captured by said first underbody camera and/or said second underbody camera.

19. The vision system of claim 18, wherein said display device displays images derived from image data captured by said first underbody camera and/or said second underbody camera responsive at least in part to detection, via processing of image data captured by said first underbody camera and/or said second underbody camera, of the object.

20. The vision system of claim 18, wherein said display device displays images derived from image data captured by said first underbody camera and/or said second underbody camera responsive at least in part to actuation of a user input in the vehicle.