Object detection system for vehicle

• US 7,720,580 B2
• Filed: 12/22/2005
• Issued: 05/18/2010
• Est. Priority Date: 12/23/2004
• Status: Active Grant

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Donnelly Corporation (Magna International Incorporated)
• Inventors: Higgins-Luthman, Michael J.
• Primary Examiner(s): Tran; Khoi
• Assistant Examiner(s): Figueroa; Jaime
• Application Number:
  US11/315,675
• Publication Number:
  US 20060184297A1
• Time in Patent Office: 1,608 Days
• Field of Search: 701/23, 701/28, 701/41, 701/49, 701/300, 701/301, 250/208.1, 250/214.R, 250/214.P, 340/435, 340/436, 382/199
• US Class Current: 701/28
• 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 1/12 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

An imaging system for a vehicle includes an imaging array sensor and a control. The image array sensor comprises a plurality of photo-sensing pixels and is positioned at the vehicle with a field of view exteriorly of the vehicle. The imaging array sensor is operable to capture an image of a scene occurring exteriorly of the vehicle. The captured image comprises an image data set representative of the exterior scene. The control algorithmically processes the image data set to a reduced image data set of the image data set. The control processes the reduced image data set to extract information from the reduced image data set. The control selects the reduced image data set based on a steering angle of the vehicle.

Claims

1. An imaging system for a vehicle comprising:

an imaging array sensor comprising a plurality of photo-sensing pixels, said imaging array sensor being positioned at the vehicle and having a field of view exteriorly of the vehicle, said imaging array sensor being operable to capture an image of a scene occurring exteriorly of the vehicle, said captured image comprising an image data set representative of the exterior scene;

a control for processing said captured image, said control algorithmically processing said image data set to a reduced image data set of said image data set, said control processing said reduced image data set to extract information from said reduced image data set, said control selecting said reduced image data set based on a steering angle of the vehicle;

wherein said control processes said image data set to determine a location of a portion of the equipped vehicle relative to said imaging array sensor as mounted at the vehicle, and wherein said control establishes a calibration for said imaging array sensor that, responsive to processing of said image data set to determine the location of the portion of the equipped vehicle, verifies that said imaging array sensor is mounted at the vehicle within a desired tolerance; and

wherein said control, responsive to a determination that said imaging array sensor is not mounted and aligned within said desired tolerance, is operable to adjust at least one of said image data set and said image processing to at least partially compensate for the detected misalignment of said imaging array sensor.

2. The imaging system of claim 1, wherein said control is operable to select said reduced image data set in response to a change in the travel speed of the vehicle.

3. The imaging system of claim 1, wherein said imaging array sensor has a field of view at a side of the vehicle.

4. The imaging system of claim 3, wherein said control processes zones of the images to detect an object in the adjacent lane.

5. The imaging system of claim 1, wherein said control is operable to adjust said image processing to account for misalignment of said image array sensor at the vehicle.

6. The imaging system of claim 1, wherein said control is operable to distinguish between objects in the field of view of said image array sensor and shadows of objects.

7. The imaging system of claim 1, wherein said control is operable to switch between daytime and nighttime algorithms in response to an ambient light level at the vehicle.

8. The imaging system of claim 1, wherein said control is operable to detect headlamps of vehicles in the field of view.

9. The imaging system of claim 1, wherein said control is operable to alert the driver of the vehicle that an object is detected in said exterior scene.

10. The imaging system of claim 9, wherein said exterior scene is at a side of the vehicle, said control being operable to alert the driver in response to at least one of (a) the driver of the controlled vehicle actuating a turn signal toward the side of the vehicle at which the object is detected;

and (b) the driver of the controlled vehicle steering the controlled vehicle toward the side of the vehicle at which the object is detected.

11. The imaging system of claim 1, wherein said control applies an edge detection algorithm to process said reduced image data set.

12. The imaging system of claim 1, wherein said reduced image data set is representative of a target zone of said captured image.

13. An imaging system for a vehicle comprising:

an imaging array sensor comprising a plurality of photo-sensing pixels, said imaging array sensor being positioned at the vehicle and having a field of view exteriorly of the vehicle, said imaging array sensor being operable to capture an image of a scene occurring exteriorly of the vehicle, said captured image comprising an image data set representative of the exterior scene;

a control for processing said captured image, said control algorithmically processing said image data set to a reduced image data set of said image data set, said reduced image data set being representative of a target zone of said captured image, said control processing said reduced image data set with an edge detection algorithm to extract information from said reduced image data set, said control selecting said reduced image data set based on a steering angle of the vehicle;

wherein said control processes said image data set to determine a location of a portion of the equipped vehicle relative to said imaging array sensor as mounted at the vehicle, and wherein said control establishes a calibration for said imaging array sensor that, responsive to processing of said image data set to determine the location of the portion of the equipped vehicle, verifies that said imaging array sensor is mounted at the vehicle within a desired tolerance; and

wherein said control, responsive to a determination that said imaging array sensor is not mounted and aligned within said desired tolerance, is operable to adjust at least one of said image data set and said image processing to at least partially compensate for the detected misalignment of said imaging array sensor.

14. The imaging system of claim 13, wherein said control is operable to select said reduced image data set in response to a change in the travel speed of the vehicle.

15. The imaging system of claim 13, wherein said imaging array sensor has a field of view at a side of the vehicle.

16. The imaging system of claim 15, wherein said control processes zones of the images to detect an object in the adjacent lane.

17. The imaging system of claim 13, wherein said control is operable to adjust said image processing to account for misalignment of said image array sensor at the vehicle.

18. The imaging system of claim 13, wherein said control is operable to distinguish between objects in the field of view of said image array sensor and shadows of objects.

19. The imaging system of claim 13, wherein said control is operable to switch between daytime and nighttime algorithms in response to an ambient light level at the vehicle.

20. The imaging system of claim 13, wherein said control is operable to alert the driver of the vehicle that an object is detected in said exterior scene.

21. The imaging system of claim 20, wherein said exterior scene is at a side of the vehicle, said control being operable to alert the driver in response to at least one of (a) the driver of the controlled vehicle actuating a turn signal toward the side of the vehicle at which the object is detected;

and (b) the driver of the controlled vehicle steering the controlled vehicle toward the side of the vehicle at which the object is detected.

22. An imaging system for a vehicle comprising:

an imaging array sensor comprising a plurality of photo-sensing pixels, said imaging array sensor being positioned at the vehicle and having a field of view exteriorly of the vehicle, said imaging array sensor being operable to capture an image of a scene occurring exteriorly of the vehicle, said captured image comprising an image data set representative of the exterior scene;

said image sensor being one of (a) part of an exterior rearview mirror assembly of the vehicle and with a field of view at least partially sideward of the vehicle, and (b) at an upper windshield area and behind the windshield of the vehicle and with a field of view forward and through the windshield;

a control for processing said captured image, said control algorithmically processing said image data set to a reduced image data set of said image data set, said control processing said reduced image data set to extract information from said reduced image data set, said control selecting said reduced image data set based on a steering angle of the vehicle;

wherein said control processes said image data set to determine a location of a portion of the equipped vehicle relative to said imaging array sensor as mounted at the vehicle, and wherein said control establishes a calibration for said imaging array sensor that, responsive to processing of said image data set to determine the location of the portion of the equipped vehicle, verifies that said imaging array sensor is mounted at the vehicle within a desired tolerance; and

wherein said control, responsive to a determination that said imaging array sensor is not mounted and aligned within said desired tolerance, is operable to adjust at least one of said image data set and said image processing to at least partially compensate for the detected misalignment of said imaging array sensor.

23. The imaging system of claim 22, wherein said image sensor is part of an exterior rearview mirror assembly of the vehicle and with a field of view at least partially sideward of the vehicle, said imaging system comprising a side object detection system for detecting objects at a side of the vehicle.

24. The imaging system of claim 22, wherein said image sensor is at an upper windshield area and behind the windshield of the vehicle and with a field of view forward and through the windshield, said imaging system comprising a lane departure warning system.