Vehicle imaging system

Patent metadata

Field	Value
Publication number	US-9509957-B2
Application number	US-201313866376-A
Country	US
Kind code	B2
Filing date	Apr 19, 2013
Priority date	Jul 24, 2008
Publication date	Nov 29, 2016
Grant date	Nov 29, 2016

Abstract

A vision system for a vehicle includes an image sensor and image processor. The image sensor is disposed at the vehicle and has a field of view exterior of the vehicle for capturing image data of a scene forward of the vehicle. The field of view encompasses at least a portion of a road surface ahead of and in the direction of travel of the vehicle. The image processor processes captured image data. Responsive to image processing of captured image data by the image processor, the vehicle vision system determines the presence of an animal on the road surface within the field of view. At least in part responsive to determination of the animal on the road surface within the field of view, the vehicle vision system at least one of (a) generates an alert and (b) controls the vehicle.

First claim

The invention claimed is:

1. A vision system for a vehicle, said vehicle vision system comprising:
an image sensor and image processor, wherein said image sensor is disposed at a vehicle equipped with said vehicle vision system, said image sensor having a field of view exterior of the equipped vehicle for capturing image data of a scene forward of the equipped vehicle, said field of view encompassing at least a portion of a road surface ahead of and in the direction of travel of the equipped vehicle, said image processor processing captured image data;
wherein, responsive to image processing of captured image data by said image processor, said vehicle vision system detects the presence of an animal on the road surface within said field of view;
wherein, responsive at least in part to processing by said image processor of captured image data, said vehicle vision system determines whether the detected animal present on the road surface within said field of view is a live animal or a dead animal;
wherein said vehicle vision system reacts differently depending on whether the detected animal present on the road surface within said field of view is determined to be a live animal or a dead animal;
wherein, at least in part responsive to determination that the detected animal present on the road surface is a dead animal, said vehicle vision system determines a location of the dead animal relative to a path of the equipped vehicle;
wherein, at least in part responsive to determination that the detected animal present on the road surface is a dead animal on the road surface within said field of view and that the dead animal is in the path of the equipped vehicle, said vehicle vision system at least one of (a) generates an alert to alert a driver of the equipped vehicle of the presence of the dead animal and (b) controls the equipped vehicle to avoid hitting the dead animal with the equipped vehicle; and
wherein, at least in part responsive to determination that the detected animal present on the road surface is a live animal, said vehicle vision system controls the equipped vehicle to avoid hitting the determined live animal with the equipped vehicle.

2. The vehicle vision system of claim 1 , wherein said vehicle vision system is responsive at least in part to a selected level of risk for that the driver selects to take when operating the equipped vehicle.

3. The vehicle vision system of claim 1 , wherein said vehicle vision system reacts differently depending on the type of animal that is determined, and wherein, at least in part responsive to determination that the detected animal present on the road surface is a selected type of animal on the road surface within said field of view, said vehicle vision system controls the equipped vehicle to provide evasive action to avoid hitting the determined type of animal with the equipped vehicle, and wherein, at least in part responsive to determination that the detected animal present on the road surface is another type of animal on the road surface within said field of view, said vehicle vision system does not control the equipped vehicle to avoid hitting the determined other type of animal.

4. The vehicle vision system of claim 1 , wherein, at least in part responsive to determination that the detected animal present on the road surface is a live animal on the road surface within said field of view, said vehicle vision system controls the equipped vehicle to provide evasive action to avoid hitting the determined live animal.

5. The vehicle vision system of claim 1 , comprising:
at least two image sensors having at least one of (a) a forward field of view and capturing image data of a scene forward of the equipped vehicle, (b) a rearward field of view and capturing image data of a scene rearward of the equipped vehicle and (c) a sideward field of view and capturing image data of a scene to the side of the equipped vehicle; and
a display displaying the captured images as a merged image with image stitching of the component images to minimize effects of image stitching.

6. The vehicle vision system of claim 1 , wherein, at least in part responsive to determination of a live animal within said field of view, said vehicle vision system generates an alert.

7. The vehicle vision system of claim 1 , wherein said vehicle vision system estimates a separation gap between the equipped vehicle and a leading vehicle.

8. The vehicle vision system of claim 7 , wherein said separation gap is adjusted based on a current driving condition.

9. The vehicle vision system of claim 7 , wherein said vehicle vision system adjusts said separation gap based on a driving capability of the driver of the equipped vehicle.

10. The vehicle vision system of claim 1 , wherein said vehicle vision system determines movement of an object within said field of view.

11. The vehicle vision system of claim 10 , wherein said vehicle vision system determines sliding of an object on the road surface within said field of view.

12. The vehicle vision system of claim 1 , wherein said vehicle vision system is part of an adaptive cruise control system of the equipped vehicle.

13. The vehicle vision system of claim 1 , wherein said vehicle vision system is operable to adjust an adaptive cruise control system of the equipped vehicle responsive to determination of a road condition ahead of the equipped vehicle.

14. The vehicle vision system of claim 13 , wherein said vehicle vision system is operable to change a separation gap between the equipped vehicle and a vehicle ahead of the equipped vehicle based, at least in part, on an estimated stopping distance of the equipped vehicle.

15. A vision system for a vehicle, said vehicle vision system comprising:
an image sensor and image processor, wherein said image sensor is disposed at a vehicle equipped with said vehicle vision system, said image sensor having a field of view exterior of the equipped vehicle for capturing image data of a scene forward of the equipped vehicle, said field of view encompassing at least a portion of a road surface ahead of and in the direction of travel of the equipped vehicle, said image processor processing captured image data;
wherein, responsive to image processing of captured image data by said image processor, said vehicle vision system detects the presence of an animal on the road surface within said field of view;
wherein, responsive at least in part to processing by said image processor of captured image data, said vehicle vision system determines whether the detected animal present on the road surface within said field of view is a live animal or a dead animal;
wherein said vehicle vision system reacts differently depending on whether the detected animal present on the road surface within said field of view is determined to be a live animal or a dead animal;
wherein, at least in part responsive to determination that the detected animal present on the road surface is a dead animal, said vehicle vision system determines a location of the dead animal relative to a path of a tire of the equipped vehicle;
wherein, at least in part responsive to determination that the detected animal present on the road surface is a dead animal on the road surface within said field of view and that the dead animal is in the path of the tire of the equipped vehicle, said vehicle vision system at least one of (a) generates an alert to alert a driver of the equipped vehicle of the presence of the dead animal and (b) controls the equipped vehicle to avoid hitting the dead animal with the tire of the equipped vehicle; and
wherein, at least in part responsive to determination

Assignees

• Magna Electronics Inc
• Magna Electronics Inc

Inventors

• Higgins-Luthman Michael J
• Lu Yuesheng

Classifications

• B60R1/12

  Mirror assemblies combined with other articles, e.g. clocks · CPC title

• B60W2552/00

  Input parameters relating to infrastructure · CPC title

• B60R16/03

  for supply of electrical power to vehicle subsystems {or for (circuit arrangements for charging batteries H02J7/00)} · CPC title

• B60R16/0236 Primary

  for economical driving · CPC title

• B60Q2300/054

  Variable non-standard intensity, i.e. emission of various beam intensities different from standard intensities, e.g. continuous or stepped transitions of intensity · CPC title