Vehicle imaging system providing multi-stage aiming stability indication

• US 8,977,439 B2
• Filed: 06/12/2013
• Issued: 03/10/2015
• Est. Priority Date: 06/12/2012
• Status: Active Grant

• Current Assignee: Gentex Corporation
• Original Assignee: Genetex Incorporated
• Inventors: Falb, David M, Pierce, Phillip R
• Primary Examiner(s): Trammell, James
• Assistant Examiner(s): BRUSHABER, FREDERICK M
• Application Number:
  US13/915,829
• Publication Number:
  US 20130332034A1
• Time in Patent Office: 636 Days
• Field of Search: 701/49
• US Class Current: 701/49
• CPC Class Codes: B60R 1/04 mounted inside vehicle B60R1/025, B60R1/08 take precedence
• CPC Class Codes: B60R 1/08 involving special optical features, e.g. avoiding blind spots , e.g. convex mirrors; Side-by-side associations of rear-view and other mirrors B60R1/025, B60R1/10 take precedence
• CPC Class Codes: B60R 11/04 Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
• CPC Class Codes: B60R 2001/1253 with cameras, video cameras or video screens
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle

Abstract

A system is provided for controlling equipment of a controlled vehicle, including: an imaging system including an image sensor configured to acquire images of a scene external of the controlled vehicle and to generate image data corresponding to the acquired images; and a controller in communication with the imaging system. The controller is configured to receive and analyze the image data, to generate a control signal that is used to control the equipment, and to automatically aim the image sensor. The controller may analyze the image data to determine a stability state for the aim of the image sensor. The control signal may include an aim stability indication.

Claims

1. A system for controlling equipment of a controlled vehicle, comprising:

an imaging system including an image sensor configured to acquire images of a scene external of the controlled vehicle and to generate image data corresponding to the acquired images; and

a controller in communication with said imaging system, said controller configured to receive and analyze the image data, to generate a control signal that is used to control the equipment, and to automatically aim said image sensor,

wherein the control signal includes an aim stability indication.

2. The system of claim 1, wherein said controller determines a stability state for the aim of said image sensor by selecting from at least three states based upon a duration at which the aim has not been adjusted.

3. The system of claim 2, wherein the at least three states include stable, not stable, and semi-stable.

4. The system of claim 1, wherein the system is at least one of:

a lane departure warning system, a forward collision warning system, an adaptive cruise control system, a pedestrian detection system, a night vision system, a terrain detection system, a parking assist system, a traffic sign recognition system, a reverse camera display system, and an exterior light control system.

5. The system of claim 1, wherein:

the system is an exterior light control system, the equipment includes exterior lights of the controlled vehicle, and the control signal is an exterior light control signal that is used to control the exterior lights.

6. A system for controlling equipment of a controlled vehicle, comprising:

an imaging system including an image sensor configured to acquire images of a scene external of the controlled vehicle and to generate image data corresponding to the acquired images; and

a controller in communication with said image sensor, said controller configured to receive and analyze the image data, to generate a control signal that is used to control the equipment, and to automatically aim said image sensor,

wherein said controller analyzes the image data to determine a stability state for the aim of said image sensor,

wherein said controller determines the stability state for the aim of said image sensor by selecting from at least three states based upon a duration at which the aim has not been adjusted.

7. The system of claim 6, wherein the at least three states include stable, not stable, and semi-stable.

8. The system of claim 6, wherein the control signal includes an aim stability indication that indicates the stability state.

9. The system of claim 6, wherein the system is at least one of:

a lane departure warning system, a forward collision warning system, an adaptive cruise control system, a pedestrian detection system, a night vision system, a terrain detection system, a parking assist system, a traffic sign recognition system, a reverse camera display system, and an exterior light control system.

10. The system of claim 6, wherein:

the system is an exterior light control system, the equipment includes exterior lights of the controlled vehicle, and the control signal is an exterior light control signal that is used to control the exterior lights.

11. A method for determining a stability state for the aim of an image sensor of a controlled vehicle, comprising:

(a) acquiring an image of a scene external of the controlled vehicle using the image sensor and generating image data corresponding to the acquired image;

(b) receiving and analyzing the image data in a controller to detect an aim point within the image data based on at least one position of at least one object detected in the acquired image;

(c) acquiring a subsequent image of the scene external of the controlled vehicle using the image sensor and generating subsequent image data corresponding to the subsequently acquired image;

(d) receiving and analyzing the subsequent image data in the controller to detect a subsequent aim point within the subsequent image data based on at least one position of at least one object detected in the subsequently acquired image;

(e) determining whether a position of the detected subsequent aim point has changed from that of the previous aim point so as to cause an auto aim position to change;

(f) repeating steps (c) through (e) while tracking a number of sequential times that it is determined in step (e) that a position of the detected subsequent aim point has not changed from that of the previous aim point so as to cause an auto aim position to change; and

(g) determining a stability state for the aim of the image sensor based at least in part upon an auto aim stability count corresponding to the number of sequential times that it is determined in step (e) that a position of the detected subsequent aim point has not changed from that of the previous aim point so as to cause an auto aim position to change.

12. The method of claim 11, and further comprising the step of selecting a stability state from at least the following states:

a not stable state;

a semi-stable state; and

a stable state.

13. The method of claim 12, wherein the step of selecting a stability state comprises:

selecting the semi-stable state if the auto aim stability count reaches a first threshold, selecting the stable state if the auto aim stability count reaches a second threshold, and otherwise selecting the not stable state.

14. The method of claim 11, and further comprising:

generating a control signal that is used to control equipment of the controlled vehicle in response to analysis of the image data, wherein the control signal includes an aim stability indication representing the selected stability state.

15. A non-transitory computer readable medium having stored thereon software instructions that, when executed by a processor, cause the processor to determine a stability state for the aim of an image sensor of a controlled vehicle, by executing the steps comprising:

(a) acquiring an image of a scene external of a controlled vehicle using the image sensor and generating image data corresponding to the acquired image;

(b) receiving and analyzing the image data in the processor to detect an aim point within the image data based on at least one position of at least one object detected in the acquired image;

(c) acquiring a subsequent image of the scene external of the controlled vehicle using the image sensor and generating subsequent image data corresponding to the subsequently acquired image;

(d) receiving and analyzing the subsequent image data in the processor to detect a subsequent aim point within the subsequent image data based on at least one position of at least one object detected in the subsequently acquired image;

(e) determining whether a position of the detected subsequent aim point has changed from that of the previous aim point so as to cause an auto aim position to change;

(f) repeating steps (c) through (e) while tracking a number of sequential times that it is determined in step (e) that a position of the detected subsequent aim point has not changed from that of the previous aim point so as to cause an auto aim position to change; and

(g) determining a stability state for the aim of the image sensor based at least in part upon an auto aim stability count corresponding to the number of sequential times that it is determined in step (e) that a position of the detected subsequent aim point has not changed from that of the previous aim point so as to cause an auto aim position to change.

16. The non-transitory computer readable medium of claim 15, and further comprising the step of selecting a stability state from at least the following states:

a not stable state;

a semi-stable state; and

a stable state.

17. The non-transitory computer readable medium of claim 16, wherein the step of selecting a stability state comprises:

selecting the semi-stable state if the auto aim stability count reaches a first threshold, selecting the stable state if the auto aim stability count reaches a second threshold, and otherwise selecting the not stable state.

18. The non-transitory computer readable medium of claim 15, and further comprising:

generating a control signal that is used to control equipment of the controlled vehicle in response to analysis of the image data, wherein the control signal includes an aim stability indication representing the selected stability state.

19. The non-transitory computer readable medium of claim 15, wherein the image sensor is a part of at least one of:

a lane departure warning system, a forward collision warning system, an adaptive cruise control system, a pedestrian detection system, a night vision system, a terrain detection system, a parking assist system, a traffic sign recognition system, a reverse camera display system, and an exterior light control system.