Multi-camera vision system for a vehicle

• US 9,796,331 B2
• Filed: 09/12/2016
• Issued: 10/24/2017
• Est. Priority Date: 08/21/2002
• Status: Expired due to Term

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Inventors: Karner, Lee, Schofield, Kenneth, Lynam, Niall R.
• Primary Examiner(s): Perungavoor, Sath V
• Assistant Examiner(s): Brown, Jr., Howard D
• Application Number:
  US15/262,480
• Publication Number:
  US 20160375830A1
• Time in Patent Office: 407 Days
• CPC Class Codes: B29C 45/0017 moulding interconnected elements which are movable with respect to one another, e.g. chains or hinges
• CPC Class Codes: B29C 45/14639 for obtaining an insulating effect, e.g. for electrical components
• CPC Class Codes: B29C 45/14754 being in movable or releasable engagement with the coating, e.g. bearing assemblies
• CPC Class Codes: B29C 45/1671 with an insert
• CPC Class Codes: B29L 2011/0058 Mirrors
• CPC Class Codes: B29L 2031/30 Vehicles, e.g. ships or aircraft, or body parts thereof vanes or blades B29L2031/08, air bags B29L2022/027
• CPC Class Codes: B60C 9/00 Reinforcements or ply arrangement of pneumatic tyres inserts having reinforcing means B60C5/08; bead structure, e.g. turnup or overlap construction, B60C15/00
• CPC Class Codes: B60Q 9/00 Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00 , e.g. haptic signalling
• 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 1/04 mounted inside vehicle B60R1/025, B60R1/08 take precedence
• CPC Class Codes: B60R 1/06 mounted on vehicle exterior B60R1/025, B60R1/08 take precedence
• CPC Class Codes: B60R 1/12 Mirror assemblies combined with other articles, e.g. clocks
• CPC Class Codes: B60R 1/26 to the rear of the vehicle
• CPC Class Codes: B60R 11/04 Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
• CPC Class Codes: B60R 2001/1215 with information displays
• 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 2001/1269 with sun visors
• CPC Class Codes: B60R 2011/0033 Rear-view mirrors
• CPC Class Codes: B60R 2300/105 : using multiple cameras
• CPC Class Codes: B60R 2300/308 : by overlaying the real scene, e.g. through a head-up display on the windscreen
• CPC Class Codes: B60R 2300/8026 : in addition to a rear-view mirror system
• CPC Class Codes: B60R 2300/8066 : for monitoring rearward traffic
• CPC Class Codes: B60R 2300/808 : for facilitating docking to a trailer
• CPC Class Codes: B60R 2300/8093 : for obstacle warning
• CPC Class Codes: G06T 2207/10016 : Video; Image sequence
• CPC Class Codes: G06T 2207/30232 : Surveillance
• CPC Class Codes: G06T 2207/30261 : Obstacle
• CPC Class Codes: G06T 7/13 : Edge detection
• CPC Class Codes: G06T 7/70 : Determining position or orientation of objects or cameras camera calibration G06T7/80
• 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: G08G 1/165 : for passive traffic, e.g. including static obstacles, trees
• CPC Class Codes: G08G 1/166 : for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 : Driving aids for lane monitoring, lane changing, e.g. blind spot detection
• CPC Class Codes: G09G 2300/023 : Display panel composed of stacked panels
• CPC Class Codes: G09G 2300/0456 : with a reflective area and a transmissive area combined in one pixel, such as in transflectance pixels
• CPC Class Codes: G09G 2340/12 : Overlay of images, i.e. displayed pixel being the result of switching between the corresponding input pixels
• CPC Class Codes: G09G 2380/10 : Automotive applications
• CPC Class Codes: G09G 3/001 : using specific devices not provided for in groups G09G3/02 - G09G3/36, e.g. using an intermediate record carrier such as a film slide; Projection systems; Display of non-alphanumerical information, solely or in combination with alphanumerical information, e.g. digital display on projected diapositive as background slide projectors per se G03B23/00 = 42 HP
• CPC Class Codes: G09G 3/346 : based on modulation of the reflection angle, e.g. micromirrors micromirrors devices per se G02B26/0833
• CPC Class Codes: G09G 5/026 : Control of mixing and/or overlay of colours in general G09G5/022 and G09G5/024 take precedence
• 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 multi-camera vision system for a vehicle includes a plurality of video cameras having respective fields of view external of the vehicle. Captured image data is provided to and processed at a central data processor in order to detect objects that are within the field of view of at least some of the video cameras. The vehicle is equipped with a sensor system having at least one non-visual sensor that senses sensor data in a region external of the vehicle. The sensed sensor data is provided to the central data processor. A potential hazard present exterior the vehicle is determined to exist via processing at the central data processor of at least one of received image data and received sensor data.

Claims

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

a rear-mounted video camera at a rear portion of a vehicle equipped with said multi-camera vision system;

said rear-mounted video camera having at least a rearward field of view external of the equipped vehicle;

said rear-mounted video camera operable to capture video image data at least rearward of the equipped vehicle during a maneuver of the equipped vehicle;

a front-mounted video camera at a front portion of the equipped vehicle;

said front-mounted video camera having at least a forward field of view external of the equipped vehicle;

said front-mounted video camera operable to capture video image data at least forward of the equipped vehicle during the maneuver of the equipped vehicle;

a first side-mounted video camera at a driver-side side portion of the equipped vehicle;

said first side-mounted video camera having at least a sideward field of view external of the equipped vehicle;

said first side-mounted video camera operable to capture video image data at least sideward of the equipped vehicle during the maneuver of the equipped vehicle;

a second side-mounted video camera at a passenger-side side portion of the equipped vehicle;

said second side-mounted video camera having at least a sideward field of view external of the equipped vehicle;

said second side-mounted video camera operable to capture video image data at least sideward of the equipped vehicle during the maneuver of the equipped vehicle;

a central data processor disposed in the equipped vehicle;

wherein captured image data is provided to said central data processor;

wherein image data captured by said front-mounted video camera, said first side-mounted video camera, said second side-mounted video camera and said rear-mounted video camera is processed at said central data processor;

wherein image data captured by at least some of said front-mounted video camera, said first side-mounted video camera, said second side-mounted video camera and said rear-mounted video camera is processed at said central data processor in order to detect objects that are within the field of view of at least some of said front-mounted video camera, said first side-mounted video camera, said second side-mounted video camera and said rear-mounted video camera;

wherein detection of objects via processing at said central data processor of captured image data comprises use of an edge detection algorithm;

wherein the equipped vehicle is further equipped with a sensor system comprising at least one non-visual sensor selected from the group consisting of (i) a radar sensor and (ii) an ultrasonic sensor;

wherein said at least one non-visual sensor senses sensor data in a region external of the equipped vehicle;

wherein sensed sensor data is provided to said central data processor;

wherein data is provided to said central data processor via a vehicle network of the equipped vehicle;

wherein, via processing at said central data processor of at least one of received image data and received sensor data, a potential hazard present exterior the equipped vehicle is determined to exist;

wherein said rear-mounted video camera comprises a rear backup camera; and

wherein said rear backup camera has a field of view that encompasses at least a portion of a vehicle bumper of the equipped vehicle.

2. The multi-camera vision system of claim 1, wherein said potential hazard arises from presence of rear-approaching traffic in at least one of (i) a side lane to the equipped vehicle and (ii) a rear lane to the equipped vehicle.

3. The multi-camera vision system of claim 1, wherein image data captured by at least some of said front-mounted video camera, said first side-mounted video camera, said second side-mounted video camera and said rear-mounted video camera is processed at said central data processor to generate an alert to warn a driver of the equipped vehicle who is operating the equipped vehicle of the potential hazard determined to be exterior the equipped vehicle.

4. The multi-camera vision system of claim 3, wherein video images derived from image data captured by at least some of said front-mounted video camera, said first side-mounted video camera, said second side-mounted video camera and said rear-mounted video camera are output by said central data processor for display by a display device of the equipped vehicle, and wherein said display device comprises a video screen operable to display said video images for viewing by the driver of the equipped vehicle who is operating the equipped vehicle.

5. The multi-camera vision system of claim 4, wherein said video images displayed by said video screen inform the driver of the environment in which the equipped vehicle is being operated.

6. The multi-camera vision system of claim 5, wherein said display device is disposed at an interior rearview mirror assembly of the equipped vehicle, and wherein at least one of (a) said display device displays video images for viewing through a mirror reflective element of said interior rearview mirror assembly by the driver of the equipped vehicle and (b) said display device automatically extends from said interior rearview mirror assembly responsive to the vehicle transmission being shifted into reverse gear, and wherein said interior rearview mirror assembly comprises a molded plastic mounting arm having at least one ball member at at least one end thereof and having electrical conducting elements extending therethrough, and wherein a mirror mounting portion is molded over said ball member, and wherein said mounting arm comprises a mounting arm polymeric material having a first linear mold shrinkage factor and a first flexural modulus, and wherein said mirror mounting portion comprises a mirror mounting polymeric material having a second linear mold shrinkage factor and a second flexural modulus, and wherein said second linear mold shrinkage factor is greater than said first linear mold shrinkage factor, and wherein said second flexural modulus is lower than said first flexural modulus.

7. The multi-camera vision system of claim 5, wherein said video images comprise an overlay that guides the driver of the equipped vehicle when hitching a trailer to a vehicle hitch of the equipped vehicle.

8. The multi-camera vision system of claim 7, wherein said overlay aids in guiding connection of the vehicle hitch of the equipped vehicle to a trailer tongue of the trailer.

9. The multi-camera vision system of claim 8, wherein said video screen of said display device comprises a backlit thin film transistor LCD video screen backlit by a plurality of white light emitting light emitting diodes.

10. The multi-camera vision system of claim 9, wherein said plurality of white light emitting light emitting diodes comprises an array of at least four white light emitting light emitting diodes.

11. The multi-camera vision system of claim 10, wherein said display device is operable to display video images with a display intensity, as viewed by the driver of the equipped vehicle, greater than 200 candelas/sq. meter.

12. The multi-camera vision system of claim 1, wherein said at least one non-visual sensor comprises a radar sensor.

13. The multi-camera vision system of claim 1, wherein said at least one non-visual sensor comprises an ultrasonic sensor.

14. The multi-camera vision system of claim 13, wherein said sensor system detects the presence of an obstacle exterior the equipped vehicle.

15. The multi-camera vision system of claim 1, wherein said rear-mounted video camera comprises a CMOS imaging array, and wherein said central data processor processes fused image and sensor data.

16. The multi-camera vision system of claim 1, wherein image data captured by at least some of said front-mounted video camera, said first side-mounted video camera, said second side-mounted video camera and said rear-mounted video camera is processed at said central data processor in order to detect an obstacle that is within the combined field of view of said front-mounted video camera, said first side-mounted video camera, said second side-mounted video camera and said rear-mounted video camera.

17. The multi-camera vision system of claim 1, wherein image data captured by at least some of said front-mounted video camera, said first side-mounted video camera, said second side-mounted video camera and said rear-mounted video camera is processed at said central data processor in order to detect a person that is within the combined field of view of said front-mounted video camera, said first side-mounted video camera, said second side-mounted video camera and said rear-mounted video camera.

18. The multi-camera vision system of claim 1, wherein a vehicle hitch is disposed at a rear portion of the equipped vehicle, and wherein the rearward field of view of said rear-mounted video camera encompasses the vehicle hitch, and wherein the vehicle hitch is configured to connect to a trailer tongue of a trailer to connect the trailer to the equipped vehicle.

19. A multi-camera vision system for a vehicle, said multi-camera vision system comprising:

a rear-mounted video camera at a rear portion of a vehicle equipped with said multi-camera vision system;

said rear-mounted video camera having at least a rearward field of view external of the equipped vehicle;

said rear-mounted video camera operable to capture video image data at least rearward of the equipped vehicle during a maneuver of the equipped vehicle;

a front-mounted video camera at a front portion of the equipped vehicle;

said front-mounted video camera having at least a forward field of view external of the equipped vehicle;

said front-mounted video camera operable to capture video image data at least forward of the equipped vehicle during the maneuver of the equipped vehicle;

a first side-mounted video camera at a driver-side side portion of the equipped vehicle;

said first side-mounted video camera having at least a sideward field of view external of the equipped vehicle;

said first side-mounted video camera operable to capture video image data at least sideward of the equipped vehicle during the maneuver of the equipped vehicle;

a second side-mounted video camera at a passenger-side side portion of the equipped vehicle;

said second side-mounted video camera having at least a sideward field of view external of the equipped vehicle;

said second side-mounted video camera operable to capture video image data at least sideward of the equipped vehicle during the maneuver of the equipped vehicle;

a central data processor disposed in the equipped vehicle;

wherein captured image data is provided to said central data processor;

wherein image data captured by said front-mounted video camera, said first side-mounted video camera, said second side-mounted video camera and said rear-mounted video camera is processed at said central data processor;

wherein image data captured by at least some of said front-mounted video camera, said first side-mounted video camera, said second side-mounted video camera and said rear-mounted video camera is processed at said central data processor in order to detect objects that are within the field of view of at least some of said front-mounted video camera, said first side-mounted video camera, said second side-mounted video camera and said rear-mounted video camera;

wherein detection of objects via processing at said central data processor of captured image data comprises use of an edge detection algorithm;

wherein the equipped vehicle is further equipped with a sensor system comprising at least one non-visual sensor selected from the group consisting of (i) a radar sensor and (ii) an ultrasonic sensor;

wherein said at least one non-visual sensor senses sensor data in a region external of the equipped vehicle;

wherein sensed sensor data is provided to said central data processor;

wherein data is provided to said central data processor via a vehicle network of the equipped vehicle;

wherein, via processing at said central data processor of at least one of received image data and received sensor data, a potential hazard present exterior the equipped vehicle is determined to exist; and

wherein said potential hazard arises from presence of traffic in a side lane to the equipped vehicle.

20. The multi-camera vision system of claim 19, wherein image data captured by at least some of said front-mounted video camera, said first side-mounted video camera, said second side-mounted video camera and said rear-mounted video camera is processed at said central data processor to generate an alert to warn a driver of the equipped vehicle who is operating the equipped vehicle of the potential hazard determined to be exterior the equipped vehicle.

21. The multi-camera vision system of claim 20, wherein said central data processor processes fused image and sensor data.

22. The multi-camera vision system of claim 21, wherein said at least one non-visual sensor comprises a radar sensor, and wherein said sensor system detects the presence of an obstacle exterior the equipped vehicle.

23. The multi-camera vision system of claim 21, wherein said at least one non-visual sensor comprises an ultrasonic sensor, and wherein said sensor system detects the presence of an obstacle exterior the equipped vehicle.

24. The multi-camera vision system of claim 21, wherein said rear-mounted video camera comprises a rear backup camera, and wherein said rear backup camera has a field of view that encompasses at least a portion of a vehicle bumper of the equipped vehicle, and wherein video images derived from image data captured by at least some of said front-mounted video camera, said first side-mounted video camera, said second side-mounted video camera and said rear-mounted video camera are output by said central data processor for display by a display device of the equipped vehicle, and wherein said display device comprises a video screen operable to display said video images for viewing by the driver of the equipped vehicle who is operating the equipped vehicle, and wherein said video images displayed by said video screen inform the driver of the environment in which the equipped vehicle is being operated.

25. The multi-camera vision system of claim 24, wherein image data captured by at least some of said front-mounted video camera, said first side-mounted video camera, said second side-mounted video camera and said rear-mounted video camera is processed at said central data processor in order to detect an obstacle that is within the combined field of view of said front-mounted video camera, said first side-mounted video camera, said second side-mounted video camera and said rear-mounted video camera.

26. The multi-camera vision system of claim 24, wherein image data captured by at least some of said front-mounted video camera, said first side-mounted video camera, said second side-mounted video camera and said rear-mounted video camera is processed at said central data processor in order to detect a person that is within the combined field of view of said front-mounted video camera, said first side-mounted video camera, said second side-mounted video camera and said rear-mounted video camera.

27. The multi-camera vision system of claim 24, wherein a vehicle hitch is disposed at a rear portion of the equipped vehicle, and wherein the rearward field of view of said rear-mounted video camera encompasses the vehicle hitch, and wherein said video images comprise an overlay that guides the driver of the equipped vehicle when hitching a trailer to the vehicle hitch of the equipped vehicle, and wherein said overlay aids in guiding connection of the vehicle hitch of the equipped vehicle to a trailer tongue of the trailer to connect the trailer to the equipped vehicle.

28. The multi-camera vision system of claim 20, wherein said potential hazard arises from presence of rear-approaching traffic in the side lane to the equipped vehicle.

29. A multi-camera vision system for a vehicle, said multi-camera vision system comprising:

a rear-mounted video camera at a rear portion of a vehicle equipped with said multi-camera vision system;

said rear-mounted video camera having at least a rearward field of view external of the equipped vehicle;

said rear-mounted video camera operable to capture video image data at least rearward of the equipped vehicle during a maneuver of the equipped vehicle;

a front-mounted video camera at a front portion of the equipped vehicle;

said front-mounted video camera having at least a forward field of view external of the equipped vehicle;

said front-mounted video camera operable to capture video image data at least forward of the equipped vehicle during the maneuver of the equipped vehicle;

a first side-mounted video camera at a driver-side side portion of the equipped vehicle;

said first side-mounted video camera having at least a sideward field of view external of the equipped vehicle;

said first side-mounted video camera operable to capture video image data at least sideward of the equipped vehicle during the maneuver of the equipped vehicle;

a second side-mounted video camera at a passenger-side side portion of the equipped vehicle;

said second side-mounted video camera having at least a sideward field of view external of the equipped vehicle;

said second side-mounted video camera operable to capture video image data at least sideward of the equipped vehicle during the maneuver of the equipped vehicle;

a central data processor disposed in the equipped vehicle;

wherein captured image data is provided to said central data processor;

wherein image data captured by said front-mounted video camera, said first side-mounted video camera, said second side-mounted video camera and said rear-mounted video camera is processed at said central data processor;

wherein image data captured by at least some of said front-mounted video camera, said first side-mounted video camera, said second side-mounted video camera and said rear-mounted video camera is processed at said central data processor in order to detect objects that are within the field of view of at least some of said front-mounted video camera, said first side-mounted video camera, said second side-mounted video camera and said rear-mounted video camera;

wherein detection of objects via processing at said central data processor of captured image data comprises use of an edge detection algorithm;

wherein the equipped vehicle is further equipped with a sensor system comprising at least one non-visual sensor selected from the group consisting of (i) a radar sensor and (ii) an ultrasonic sensor;

wherein said at least one non-visual sensor senses sensor data in a region external of the equipped vehicle;

wherein sensed sensor data is provided to said central data processor;

wherein, via processing at said central data processor of at least one of received image data and received sensor data, a potential hazard present exterior the equipped vehicle is determined to exist;

wherein said rear-mounted video camera comprises a rear backup camera;

wherein said rear backup camera has a field of view that encompasses at least a portion of a vehicle bumper of the equipped vehicle;

wherein video images derived from image data captured by at least some of said front-mounted video camera, said first side-mounted video camera, said second side-mounted video camera and said rear-mounted video camera are output by said central data processor for display by a display device of the equipped vehicle;

wherein said display device comprises a video screen operable to display said video images for viewing by a driver of the equipped vehicle who is operating the equipped vehicle;

wherein said video images displayed by said video screen inform the driver of the environment in which the equipped vehicle is being operated;

wherein a vehicle hitch is disposed at a rear portion of the equipped vehicle, and wherein the rearward field of view of said rear-mounted video camera encompasses the vehicle hitch;

wherein the vehicle hitch is configured to connect to a trailer tongue of a trailer to connect the trailer to the equipped vehicle;

wherein said video images comprise an overlay that guides the driver of the equipped vehicle when hitching the trailer to the vehicle hitch of the equipped vehicle; and

wherein said overlay aids in guiding connection of the vehicle hitch of the equipped vehicle to a trailer tongue of the trailer.

30. The multi-camera vision system of claim 29, wherein image data captured by at least some of said front-mounted video camera, said first side-mounted video camera, said second side-mounted video camera and said rear-mounted video camera is processed at said central data processor in order to detect an obstacle that is within the combined field of view of said front-mounted video camera, said first side-mounted video camera, said second side-mounted video camera and said rear-mounted video camera.

31. The multi-camera vision system of claim 29, wherein image data captured by at least some of said front-mounted video camera, said first side-mounted video camera, said second side-mounted video camera and said rear-mounted video camera is processed at said central data processor in order to detect a person that is within the combined field of view of said front-mounted video camera, said first side-mounted video camera, said second side-mounted video camera and said rear-mounted video camera.

32. The multi-camera vision system of claim 29, wherein said rear-mounted video camera comprises a CMOS imaging array, and wherein said central data processor processes fused image and sensor data.

33. The multi-camera vision system of claim 32, wherein said at least one non-visual sensor comprises a radar sensor, and wherein said sensor system detects the presence of an obstacle exterior the equipped vehicle.

34. The multi-camera vision system of claim 33, wherein said potential hazard arises from presence of rear-approaching traffic in a side lane to the equipped vehicle.

35. The multi-camera vision system of claim 32, wherein said at least one non-visual sensor comprises an ultrasonic sensor, and wherein said sensor system detects the presence of an obstacle exterior the equipped vehicle.