Vehicular vision system

• US 8,203,440 B2
• Filed: 01/16/2012
• Issued: 06/19/2012
• Est. Priority Date: 02/26/1993
• Status: Expired due to Fees

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Donnelly Corporation (Magna International Incorporated)
• Inventors: Schofield, Kenneth, Larson, Mark L.
• Primary Examiner(s): PHAM, TOAN NGOC
• Application Number:
  US13/351,098
• Publication Number:
  US 20120113260A1
• Time in Patent Office: 155 Days
• Field of Search: 340/425.5, 340/901, 340/435, 340/461, 340/438, 340/815.4, 340/426, 340/433, 340/937, 359/604, 359/601, 359/265, 359/603, 348/148, 348/151
• US Class Current: 340/425.5
• CPC Class Codes: B60N 2/002 Seats provided with an occupancy detection means mounted therein or thereon detection means responsive to presence or absence of children B60N2/266
• CPC Class Codes: B60Q 1/04 the devices being headlights
• CPC Class Codes: B60Q 1/1423 Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic
• CPC Class Codes: B60Q 1/143 combined with another condition, e.g. using vehicle recognition from camera images or activation of wipers
• CPC Class Codes: B60Q 2300/052 Switching delay, i.e. the beam is not switched or changed instantaneously upon occurrence of a condition change
• CPC Class Codes: B60Q 2300/21 Manual control
• CPC Class Codes: B60Q 2300/312 Adverse weather
• CPC Class Codes: B60Q 2300/314 Ambient light
• CPC Class Codes: B60Q 2300/3321 Detection of streetlights
• CPC Class Codes: B60Q 2300/41 preceding vehicle
• CPC Class Codes: B60Q 2300/42 oncoming vehicle
• CPC Class Codes: B60Q 2300/43 following vehicle
• CPC Class Codes: B60Q 2400/30 Daytime running lights [DRL], e.g. circuits or arrangements therefor
• 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 1/088 using a cell of electrically changeable optical characteristic, e.g. liquid-crystal or electrochromic mirrors
• CPC Class Codes: B60R 1/12 Mirror assemblies combined with other articles, e.g. clocks
• CPC Class Codes: B60R 1/29 for viewing an area inside the vehicle, e.g. for viewing passengers or cargo
• CPC Class Codes: B60R 1/30 providing vision in the non-visible spectrum, e.g. night or infrared vision
• CPC Class Codes: B60R 11/04 Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
• CPC Class Codes: B60R 2001/1223 : with sensors or transducers
• CPC Class Codes: B60R 2001/1253 : with cameras, video cameras or video screens
• CPC Class Codes: B60R 21/01538 : for image processing, e.g. cameras or sensor arrays
• CPC Class Codes: B60R 2300/103 : using camera systems provided with artificial illumination device, e.g. IR light source
• CPC Class Codes: B60R 2300/30 : characterised by the type of image processing
• CPC Class Codes: B60R 2300/8006 : for monitoring and displaying scenes of vehicle interior, e.g. for monitoring passengers or cargo
• CPC Class Codes: B60R 2300/8026 : in addition to a rear-view mirror system
• CPC Class Codes: B60R 2300/8046 : for replacing a rear-view mirror system
• CPC Class Codes: B60R 2300/8066 : for monitoring rearward traffic
• CPC Class Codes: B60R 2300/8073 : for vehicle security, e.g. parked vehicle surveillance, burglar detection
• CPC Class Codes: B60R 2300/8093 : for obstacle warning
• CPC Class Codes: B60S 1/0822 : characterized by the arrangement or type of detection means
• CPC Class Codes: B60S 1/0844 : including a camera
• CPC Class Codes: B60S 1/0885 : the sensor being integrated in a rear-view mirror module
• CPC Class Codes: G01J 1/4204 : with determination of ambient light solar light G01J2001/4266
• CPC Class Codes: G01J 1/4228 : arrangements with two or more detectors, e.g. for sensitivity compensation
• CPC Class Codes: G06T 2207/10016 : Video; Image sequence
• CPC Class Codes: G06T 2207/30252 : Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 2207/30268 : Vehicle interior
• CPC Class Codes: G06T 7/97 : Determining parameters from multiple pictures depth or shape recovery from multiple images G06T7/55; stereo camera calibration G06T7/85
• CPC Class Codes: H04N 13/239 : using two 2D image sensors having a relative position equal to or related to the interocular distance H04N13/243 takes precedence
• CPC Class Codes: H04N 13/243 : using three or more 2D image sensors
• CPC Class Codes: H04N 2013/0081 : Depth or disparity estimation from stereoscopic image signals
• CPC Class Codes: H04N 23/63 : by using electronic viewfinders
• CPC Class Codes: H04N 25/443 : by reading pixels from selected 2D regions of the array, e.g. for windowing or digital zooming
• 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
• CPC Class Codes: H04N 7/183 : for receiving images from a single remote source

Abstract

A vehicular vision system includes a photosensor array having a forward field of view to the exterior of the vehicle through the windshield of the vehicle. A portion of the photosensor array captures image data representative of an item of interest exterior the vehicle and within the forward field of view. A control is responsive to an output of the photosensor array and includes an image processor for processing the image data. At least responsive to the control analyzing the image data, the image sensing system senses the presence of an object within the field of view of the photosensor array, and the image sensing system, responsive at least in part to sensing the presence of the object, at least one of (i) controls a vehicle system using forward field of view information and (ii) supplements control of a vehicle system using forward field of view information.

Claims

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

a photosensor array comprising a plurality of photosensor elements arranged in a predefined arrangement;

said photosensor array having a field of view forward of the vehicle that is generally in line with the vehicle'"'"'s primary direction of forward travel;

wherein said photosensor array is disposed at an interior portion of the vehicle proximate a windshield of the vehicle and has a forward field of view to an exterior of the vehicle through the windshield of the vehicle at a windshield area that is swept by windshield wipers;

a portion of said photosensor array capturing image data representative of at least one item of interest exterior the vehicle and within said forward field of view;

a control responsive to an output of said photosensor array;

wherein said control comprises a logic and control circuit;

wherein said logic and control circuit comprises an image processor, said image processor processing at least said image data;

said control analyzing said image data so as to determine at least one of (a) presence of said at least one item of interest exterior the vehicle, (b) size of said at least one item of interest exterior the vehicle, (c) shape of said at least one item of interest exterior the vehicle, (d) contour of said at least one item of interest exterior the vehicle and (e) motion of said at least one item of interest exterior the vehicle; and

wherein, at least responsive to said control analyzing said image data, said vehicular vision system senses a presence of an object within the field of view of said photosensor array, and wherein said vehicular vision system, responsive at least in part to said vehicular vision system sensing the presence of said object, at least one of (i) controls a vehicle system using forward field of view information and (ii) supplements control of a vehicle system using forward field of view information.

2. The vehicular vision system of claim 1, wherein said control analyzes image data from at least one grouping of photosensor elements from said portion of said photosensor array so as to determine said at least one of (a) presence of said at least one item of interest exterior the vehicle, (b) size of said at least one item of interest exterior the vehicle, (c) shape of said at least one item of interest exterior the vehicle, (d) contour of said at least one item of interest exterior the vehicle and (e) motion of said at least one item of interest exterior the vehicle.

3. The vehicular vision system of claim 1, wherein said control analyzes image data from particular groupings of photosensor elements from said portion of said photosensor array while ignoring other particular groupings of photosensor elements from said portion of said photosensor array.

4. The vehicular vision system of claim 3, wherein said particular groupings of photosensor elements and said other particular groupings of photosensor elements are within a region of said photosensor array where an object of interest is expected to be imaged.

5. The vehicular vision system of claim 1, wherein said logic and control circuit, responsive to said image processing, generates at least one control output for controlling at least one vehicular light of the vehicle, and wherein said at least one control output comprises an output for controlling a vehicular lighting switch, and wherein said vehicular lighting switch controls said vehicular light of the vehicle.

6. The vehicular vision system of claim 5, wherein said at least one vehicular light comprises a headlight disposed at a front portion of the vehicle and operable to illuminate with visible light a scene forward of and in the path of travel of the vehicle.

7. The vehicular vision system of claim 6, wherein a lens images light onto said photosensor array, and wherein said imaged light includes at least in part light output by said headlight of the vehicle that is scattered by at least one of fog, snow and rain present in said field of view exterior and forward of the vehicle, and wherein said vision system recognizes scattering of light output by said headlight of the vehicle in said field of view exterior and forward of the vehicle.

8. The vehicular vision system of claim 7, wherein said vision system, responsive to said recognition of said scattering of light in said field of view exterior and forward of the vehicle, selects an appropriate vehicular lighting configuration.

9. The vehicular vision system of claim 1, wherein a manual override is provided to override said controlling of said vehicular lighting switch by said at least one control output.

10. The vehicular vision system of claim 1, wherein said image processor (i) receives said image data output from said photosensor array, (ii) compares the received image data with stored data, and (iii) outputs a vehicle equipment control signal based on the comparison.

11. The vehicular vision system of claim 10, wherein said image processor compares the received image data with stored image data.

12. A vehicular vision system for a vehicle, said vehicular vision system comprising:

a photosensor array comprising a plurality of photosensor elements arranged in a predefined arrangement;

said photosensor array having a field of view forward of the vehicle that is generally in line with the vehicle'"'"'s primary direction of forward travel;

wherein said photosensor array is disposed at an interior portion of the vehicle proximate a windshield of the vehicle and has a forward field of view to an exterior of the vehicle through the windshield of the vehicle at a windshield area that is swept by windshield wipers;

wherein a lens images light onto said photosensor array;

a portion of said photosensor array capturing image data representative of at least one item of interest exterior the vehicle and within said forward field of view;

a control responsive to an output of said photosensor array;

wherein said control comprises an image processor, said image processor processing at least said image data;

wherein said control analyzes said image data and wherein, at least responsive to said control analyzing said image data, said vehicular vision system senses a presence of an object within the field of view of said photosensor array, and wherein said vehicular vision system, responsive at least in part to said vehicular vision system sensing the presence of said object, at least one of (i) controls a vehicle system using forward field of view information and (ii) supplements control of a vehicle system using forward field of view information;

wherein said image processor (i) receives said image data output, from said photosensor array, (ii) compares the received image data with stored data, and (iii) outputs a vehicle equipment control signal based on the comparison; and

wherein said control, responsive to said image processing, generates at least one control output for controlling at least one vehicular light of the vehicle.

13. The vehicular vision system of claim 12, wherein said vehicle system comprises a headlight disposed at a front portion of the vehicle and operable to illuminate with visible light a scene forward of and in the path of travel of the vehicle, and wherein said control, responsive to said image processing, generates at least one control output for controlling said headlight of the vehicle.

14. The vehicular vision system of claim 12, wherein said control analyzes said image data so as to determine at least one of (a) presence of said at least one item of interest exterior the vehicle, (b) size of said at least one item of interest exterior the vehicle, (c) shape of said at least one item of interest exterior the vehicle, (d) contour of said at least one item of interest exterior the vehicle and (e) motion of said at least one item of interest exterior the vehicle.

15. The vehicular vision system of claim 12, wherein said control analyzes image data from particular groupings of photosensor elements from said portion of said photosensor array while ignoring other particular groupings of photosensor elements from said portion of said photosensor array.

16. The vehicular vision system of claim 12, wherein said imaged light includes at least in part light output by said headlight of the vehicle that is scattered by at least one of fog, snow and rain present in said field of view exterior and forward of the vehicle, and wherein said vision system recognizes scattering of light output by said headlight of the vehicle in said field of view exterior and forward of the vehicle.

17. The vehicular vision system of claim 16, wherein said vision system, responsive to said recognition of said scattering of light in said field of view exterior and forward of the vehicle, selects an appropriate vehicular lighting configuration.

18. The vehicular vision system of claim 12, wherein said at least one vehicular light comprises a headlight disposed at a front portion of the vehicle and operable to illuminate with visible light a scene forward of and in the path of travel of the vehicle.

19. The vehicular vision system of claim 18, wherein said at least one control output comprises an output for controlling a vehicular lighting switch, and wherein said vehicular lighting switch controls said headlight of the vehicle.

20. A vehicular vision system for a vehicle, said vehicular vision system comprising:

a photosensor array comprising a plurality of photosensor elements arranged in a predefined arrangement;

said photosensor array having a field of view forward of the vehicle that is generally in line with the vehicle'"'"'s primary direction of forward travel;

wherein said photosensor array is disposed at an interior portion of the vehicle proximate a windshield of the vehicle and has a forward field of view to an exterior of the vehicle through the windshield of the vehicle at a windshield area that is swept by windshield wipers;

said photosensor array capturing image data within said forward field of view;

a control responsive to an output of said photosensor array;

wherein said control comprises an image processor, said image processor processing at least said image data;

wherein said control analyzes said image data and wherein, at least responsive to said control analyzing said image data, said vehicular vision system senses a presence of an object within the field of view of said photosensor array, and wherein said vehicular vision system, responsive at least in part to said vehicular vision system sensing the presence of said object, at least one of (i) controls a vehicle system using forward field of view information and (ii) supplements control of a vehicle system using forward field of view information;

wherein said control analyzes said image data so as to determine motion of said object exterior the vehicle within the field of view of said photosensor array; and

wherein said control, responsive to said image processing, generates at least one control output for controlling at least one vehicular light of the vehicle, and wherein said at least one vehicular light comprises a headlight disposed at a front portion of the vehicle and operable to illuminate with visible light a scene forward of and in the path of travel of the vehicle.

21. The vehicular vision system of claim 20, wherein said control analyzes said image data so as to determine at least one of (a) size of said object exterior the vehicle, (b) shape of said object exterior the vehicle and (c) contour of said object exterior the vehicle.

22. The vehicular vision system of claim 20, wherein said control analyzes image data from particular photosensor elements of said photosensor array while ignoring other photosensor elements of said photosensor array.

23. The vehicular vision system of claim 20, wherein said control analyzes image data from particular groupings of photosensor elements of said photosensor array while ignoring other particular groupings of photosensor elements of said photosensor array.

24. The vehicular vision system of claim 20, wherein a lens images light onto said photosensor array, and wherein said imaged light includes at least in part light output by said headlight of the vehicle that is scattered by at least one of fog, snow and rain present in said field of view exterior and forward of the vehicle, and wherein said vision system recognizes scattering of light output by said headlight of the vehicle in said field of view exterior and forward of the vehicle, and wherein said vision system, responsive to said recognition of said scattering of light in said field of view exterior and forward of the vehicle, selects an appropriate vehicular lighting configuration.

25. The vehicular vision system of claim 20, wherein said at least one control output comprises an output for controlling a vehicular lighting switch, and wherein said vehicular lighting switch controls said at least one vehicular light of the vehicle.

26. A vehicular vision system for a vehicle, said vehicular vision system comprising:

a photosensor array comprising a plurality of photosensor elements arranged in a predefined arrangement;

said photosensor array having a field of view forward of the vehicle that is generally in line with the vehicle'"'"'s primary direction of forward travel;

wherein said photosensor array is disposed at an interior portion of the vehicle proximate a windshield of the vehicle and has a forward field of view to an exterior of the vehicle through the windshield of the vehicle at a windshield area that is swept by windshield wipers;

a portion of said photosensor array capturing image data representative of at least one item of interest exterior the vehicle and within said forward field of view;

a control responsive to an output of said photosensor array;

wherein said control comprises an image processor, said image processor processing at least said image data;

wherein said control analyzes said image data and wherein, at least responsive to said control analyzing said image data, said vehicular vision system senses a presence of an object within the field of view of said photosensor array, and wherein said vehicular vision system, responsive at least in part to said vehicular vision system sensing the presence of said object, at least one of (i) controls a vehicle system using forward field of view information and (ii) supplements control of a vehicle system using forward field of view information; and

wherein said control analyzes image data from particular photosensor elements of said photosensor array while ignoring other photosensor elements of said photosensor array.

27. The vehicular vision system of claim 26, wherein said control analyzes said image data so as to determine at least one of (a) size of said object exterior the vehicle, (b) shape of said object exterior the vehicle and (c) contour of said object exterior the vehicle.

28. The vehicular vision system of claim 26, wherein said control analyzes image data from particular groupings of photosensor elements of said photosensor array while ignoring other particular groupings of photosensor elements of said photosensor array.

29. The vehicular vision system of claim 26, wherein a lens images light onto said photosensor array, and wherein said imaged light includes at least in part light output by said headlight of the vehicle that is scattered by at least one of fog, snow and rain present in said field of view exterior and forward of the vehicle, and wherein said vision system recognizes scattering of light output by said headlight of the vehicle in said field of view exterior and forward of the vehicle, and wherein said vision system, responsive to said recognition of said scattering of light in said field of view exterior and forward of the vehicle, selects an appropriate vehicular lighting configuration.

30. The vehicular vision system of claim 26, wherein said control, responsive to said image processing, generates at least one control output for controlling at least one vehicular light of the vehicle.

31. The vehicular vision system of claim 30, wherein said at least one control output comprises an output for controlling a vehicular lighting switch, and wherein said vehicular lighting switch controls said at least one vehicular light of the vehicle.

32. The vehicular vision system of claim 26, wherein said photosensor array is disposed in an interior rearview mirror assembly, and wherein said interior rearview mirror assembly is attached at the windshield of the vehicle.