Driver assistance system for vehicle

  • US 9,940,528 B2
  • Filed: 11/20/2015
  • Issued: 04/10/2018
  • Est. Priority Date: 12/23/2004
  • Status: Active Grant
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First Claim
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1. A driver assistance system for a vehicle, said driver assistance system comprising:

  • a first camera comprising an array of photosensing pixels;

    a second camera comprising an array of photosensing pixels;

    a rear backup camera comprising an array of photosensing pixels;

    wherein said first camera is disposed at a left side of a vehicle equipped with said driver assistance system;

    wherein said first camera has a forward field of view in a direction towards the front of the equipped vehicle and has a rearward field of view in a direction towards the rear of the equipped vehicle and has a sideward field of view in a direction away from the left side of the equipped vehicle;

    a control for processing image data captured by said first camera, said control comprising an image processor;

    wherein said control is operable to determine that said first camera is misaligned when said first camera is disposed at the left side of the equipped vehicle;

    wherein said control, responsive to a determination of misalignment of said first camera, is operable to algorithmically at least partially compensate for misalignment of said first camera by at least one of (i) adjusting processing, by said image processor, of captured image data and (ii) adjusting captured image data;

    wherein, when said first camera is disposed at the left side of the equipped vehicle, a portion of the left body side of the equipped vehicle is present in the field of view of said first camera;

    wherein said second camera is disposed at a right side of the equipped vehicle;

    wherein said rear backup camera is disposed at a rear portion of the equipped vehicle generally centrally between where said left side-attached first camera and said right side-attached second camera are disposed at the vehicle;

    wherein the field of view of said left side-attached first camera overlaps with the field of view of said rear backup camera and wherein the field of view of said right side-attached second camera overlaps with the field of view of said rear backup camera;

    wherein image data captured by said left side-attached first camera, by said right side-attached second camera and by said rear backup camera is processed by said image processor of said control and, at least in part responsive to said processing by said image processor of said control, a composite image is displayed by a display disposed in the interior cabin of the equipped vehicle positioned within the driver'"'"'s physiological field of view without obstructing the driver'"'"'s view through the windshield of the equipped vehicle;

    wherein said composite image provides a view that approximates a view from a single virtual image capture device;

    wherein image data captured at least by said first camera is processed by said image processor using an edge detection algorithm to detect edges of objects exterior of the equipped vehicle, and wherein, responsive at least in part to processing, by said image processor, of captured image data, an object of interest exterior of the equipped vehicle at its left-hand side is determined;

    wherein the determined object of interest comprises another vehicle present in a traffic lane to the left of the traffic lane occupied and being traveled in by the equipped vehicle;

    wherein processing, by said image processor, using the edge detection algorithm of image data captured at least by said first camera detects vertical edges of the other vehicle; and

    wherein, via processing, by said image processor, using the edge detection algorithm to detect vertical edges, said driver assistance system distinguishes the detected vertical edges of the other vehicle from shadows and lane markings.

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