A vehicular driver monitoring system includes an interior rearview mirror assembly at an interior cabin of a vehicle, with a camera at the interior rearview mirror assembly and viewing toward at least a front driver seat region of the vehicle. Image data captured by the camera is processed to monitor a driver of the vehicle. Video-calling wireless communication between an occupant of the vehicle and a party exterior of the vehicle includes wireless communication between the vehicle and an external receiver located remote from the vehicle that is based on audio speech data captured by a microphone of the vehicle, audio output by a speaker of the vehicle, image data captured by the camera and wirelessly communicated from the vehicle to the external receiver and display at a video display screen of video images based on image data wirelessly communicated from the external receiver to the vehicle.
B60R 1/29 - 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 for viewing an area inside the vehicle, e.g. for viewing passengers or cargo
A method for joining a vehicular radar sensor housing includes obtaining a first portion of a vehicular radar sensor housing and a second portion of the vehicular radar sensor housing. The first portion of the vehicular radar sensor housing includes a plastic joining surface and the second portion of the vehicular radar sensor housing includes a metal joining surface. The plastic joining portion of the first portion of the vehicular radar sensor housing is juxtaposed with the metal joining surface of the second portion of the vehicular radar sensor housing. The metal joining surface is heated, and heat is transferred from the metal joining surface to the plastic joining surface. The heat at least partially melts the plastic joining surface to thermally join the plastic joining surface and the metal joining surface.
A vehicular camera includes first and second imaging sensors respectively capturing first and second image data. Light incident at the camera passes through an optical element to be incident at a polarizing beam splitter (PBS). With the camera disposed at a vehicle, circularly polarized light reflected from an object and backscattered natural light are incident at the camera. First and second portions of the backscattered light respectively have first and second orthogonal polarization states. The circularly polarized light passes through the optical element and is incident at the PBS as linearly polarized light having the first orthogonal polarization state. The PBS directs the linearly polarized light and the first portion of the backscattered light to the first imaging sensor and directs the second portion of the backscattered light to the second imaging sensor. A vehicular vision system detects an object based on processing of the first and second image data.
B60R 1/22 - 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 for viewing an area outside the vehicle, e.g. the exterior of the vehicle
H04N 23/55 - Optical parts specially adapted for electronic image sensorsMounting thereof
A vehicular driver monitoring system includes an interior-viewing camera disposed at an interior cabin of a vehicle and viewing at least a portion of a driver of the vehicle. Image data captured by the interior-viewing camera is transferred to an electronic control unit (ECU) and is processed at the ECU. Based at least in part on processing at the ECU of image data captured by the interior-viewing camera, the vehicular driver monitoring system determines a profile associated with the driver of the vehicle. The profile includes a plurality of conditions for the driver of the vehicle. The system monitors the driver of the vehicle. Responsive to monitoring the driver of the vehicle, the vehicular driver monitoring system determines violation of a condition of the profile. Responsive to determining the violation of the condition, the vehicular driver monitoring system generates a notification.
B60R 1/12 - Mirror assemblies combined with other articles, e.g. clocks
B60R 1/29 - 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 for viewing an area inside the vehicle, e.g. for viewing passengers or cargo
B60W 40/08 - Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit related to drivers or passengers
G06V 20/59 - Context or environment of the image inside of a vehicle, e.g. relating to seat occupancy, driver state or inner lighting conditions
G06V 40/16 - Human faces, e.g. facial parts, sketches or expressions
A vehicular driving assist system includes a forward-viewing camera disposed at a windshield of an equipped vehicle and a driver-side radar sensor and a passenger-side radar sensor disposed at respective sides of the equipped vehicle. An electronic control unit (ECU) includes at least one data processor. The vehicular driving assist system, via processing at the ECU of image data captured by the forward-viewing camera, determines a traffic lane along which the equipped vehicle is traveling. When proximity of a leading vehicle ahead of the equipped vehicle occludes view by the forward-viewing camera of oncoming traffic traveling in a direction opposite to that of the equipped vehicle and traveling along a left-side adjacent traffic lane, driver-side radar data captured by the driver-side radar sensor is processed to detect an oncoming vehicle traveling in the direction opposite to that of the equipped vehicle and traveling along the left-side adjacent traffic lane.
B60W 30/09 - Taking automatic action to avoid collision, e.g. braking and steering
B60W 10/18 - Conjoint control of vehicle sub-units of different type or different function including control of braking systems
B60W 10/20 - Conjoint control of vehicle sub-units of different type or different function including control of steering systems
B60W 10/30 - Conjoint control of vehicle sub-units of different type or different function including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps
B60W 30/095 - Predicting travel path or likelihood of collision
B60W 50/16 - Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
A vehicular vision system includes a camera disposed at a vehicle equipped with the vehicular vision system. The camera views exterior of the vehicle. The camera is operable to capture frames of image data. The system includes an electronic control unit (ECU). The vehicular vision system determines, at least in part via processing at the ECU of frames of image data captured by the camera and transferred to the ECU, whether a quality of a frame of image data satisfies a quality threshold. Based at least in part on determining that the quality of the frame of image data fails to satisfy the quality threshold, the vehicular vision system enhances the frame of image data, and the enhanced frame of image data is processed at the ECU for an advanced driving assistance system (ADAS) of the vehicle.
A vehicular radar sensing system includes a radar sensor disposed at a vehicle and having a printed circuit board, which includes at least one transmitter that transmits radio signals and at least one receiver that receives radio signals. Antenna elements of a plurality of antenna elements (i) receive radio signals transmitted by the transmitter and radiate radio waves representative of the received radio signals or (ii) receive radio waves and pass radio signals representative of the received radio waves to the receiver. A first antenna element of the plurality of antenna elements is disposed at a first surface of the PCB of the radar sensor along a first plane. A second antenna element of the plurality of antenna elements is disposed at a second surface of the PCB of the radar sensor that is along a second plane that is different than the first plane.
A vehicular camera module includes a lens barrel having a first passageway accommodating a plurality of optical elements. A camera housing is formed by joining an upper cover with a lower cover. The upper cover of the camera housing includes a lens barrel receiving structure having a second passageway. The lens barrel is partially disposed in the second passageway of the lens barrel receiving structure. An annular face of an annular flange of the lens barrel is juxtaposed with an annular face of the lens barrel receiving structure. An adhesive contacts and bonds the annular faces. An imager is housed by the camera housing with its photosensor array aligned with the second passageway of the lens barrel receiving structure. The camera housing includes structure that cooperates with corresponding structure of a mounting bracket to detachably mount the vehicular camera module at an in-cabin side of a windshield of a vehicle.
A vehicular driver monitoring system includes an interior-viewing camera disposed at a vehicle and viewing at least a head region of a driver of the vehicle. An electronic control unit (ECU) includes a data processor. Image data captured by the interior-viewing camera is transferred to the ECU and is processed at the ECU. Based at least in part on processing at the ECU of image data captured by the interior-viewing camera, the vehicular driver monitoring system monitors the driver of the vehicle. At least partially responsive to monitoring the driver of the vehicle, the vehicular driver monitoring system, using a chatbot, engages the driver in conversation.
B60W 50/14 - Means for informing the driver, warning the driver or prompting a driver intervention
B60R 1/12 - Mirror assemblies combined with other articles, e.g. clocks
B60R 1/29 - 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 for viewing an area inside the vehicle, e.g. for viewing passengers or cargo
B60W 40/08 - Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit related to drivers or passengers
A vehicular vision system includes a camera disposed at a vehicle. The camera includes an imager having an array of photosensing elements arranged in a plurality of rows and a plurality of columns. The camera includes a lens array disposed at the array of photosensing elements of the imager. The lens array of the camera includes a two-dimensional array of lens elements having lens elements arranged in a plurality of rows and a plurality of columns. The array of lens elements includes at least two rows of lens elements and at least two columns of lens elements. Each lens element of the lens array is disposed over a respective sub-array of rows and columns of photosensing elements of the imager for imaging light onto the respective sub-array of rows and columns of photosensing elements of the imager. An image processor is operable to process image data captured by the camera.
B60R 11/04 - Mounting of cameras operative during driveArrangement of controls thereof relative to the vehicle
B60R 11/00 - Arrangements for holding or mounting articles, not otherwise provided for
H04N 23/45 - Cameras or camera modules comprising electronic image sensorsControl thereof for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still images
A vehicular camera includes a PCB having an imager disposed thereat, a lens barrel accommodating a lens, and a lens barrel support structure that protrudes from the PCB and at least partially circumscribes the imager. The lens barrel has an outer surface between the ends of the lens barrel. The outer surface of the lens barrel is adhesively bonded to an inner surface of the lens barrel support structure via adhesive. The outer surface of the lens barrel opposes the inner surface of the lens barrel support structure. With the adhesive in its uncured state and contacting the opposed surfaces, the imager is aligned with the lens accommodated at the lens barrel. With the imager aligned with the lens, the adhesive is cured to adhesively attach the lens barrel at the lens barrel support structure.
A vehicular camera includes a lens having a plurality of optical elements, a lens holder, and an imager printed circuit board. The lens is accommodated in a lens barrel. A cylindrical passageway of the lens holder accommodates at least a portion of the lens barrel. The imager printed circuit board has circuitry disposed thereat. The circuitry of the imager printed circuit board includes an imager that has an imaging array. A flexible electrical ribbon cable electrically connects the circuitry of the imager printed circuit board with additional circuitry of the vehicular camera. The lens is held in optical alignment with the imaging array of the imager via an adhesive. The adhesive may bond the lens barrel to the lens holder at its front side. The imager printed circuit board may be attached at the lens holder at its rear side.
A vehicular internal rearview mirror assembly includes a mirror casing accommodating an internal mirror reflective element having a dielectric mirror reflector that is transmissive to radio waves and reflective to visible light incident thereat. A radar sensor is disposed behind the internal mirror reflective element and includes (i) a plurality of radar transmitting antennas and (ii) a plurality of radar receiving antennas. The dielectric mirror reflector includes a plurality of high refractive layers and a plurality of low refractive layers. Visible light incident at an external surface of the internal mirror reflective element is reflected by the dielectric mirror reflector as visible light having a reflectance spectrum similar to that of a metallic mirrored surface. With the vehicular internal rearview mirror assembly mounted in a vehicle, presence of the radar sensor behind the internal mirror reflective element is rendered covert by the dielectric mirror reflector.
A vehicular driving assist system includes an event camera disposed at an in-cabin side of a windshield of a vehicle and viewing forward of the vehicle through the vehicle windshield. Data output by the event camera is provided to an electronic control unit (ECU). The vehicular driving assist system, responsive to processing of data output by the event camera, detects at least one object present exterior of the vehicle. Vehicle kinematic data is provided to the ECU as the vehicle is driven along a road. The vehicle kinematic data includes speed data and (i) steering angle data, (ii) yaw data, (iii) pitch data and/or (iv) roll data. Responsive at least in part to processing of data output by the event camera and to processing at the ECU of vehicle kinematic data, (i) steering of the equipped vehicle is controlled and/or (ii) braking of the equipped vehicle is controlled.
B60W 40/08 - Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit related to drivers or passengers
B60R 1/08 - Rear-view mirror arrangements involving special optical features, e.g. avoiding blind spots
B60R 1/29 - 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 for viewing an area inside the vehicle, e.g. for viewing passengers or cargo
B60W 30/09 - Taking automatic action to avoid collision, e.g. braking and steering
B60W 50/14 - Means for informing the driver, warning the driver or prompting a driver intervention
G06V 20/59 - Context or environment of the image inside of a vehicle, e.g. relating to seat occupancy, driver state or inner lighting conditions
15.
VEHICULAR DRIVER MONITORING SYSTEM WITH AUTOMATIC SEAT SETTINGS
A vehicular driver monitoring system includes a camera disposed at an interior cabin of a vehicle equipped with the system and viewing at least a portion of a driver of the vehicle. The system includes an electronic control unit (ECU) including electronic circuitry and associated software. Frames of image data captured by the camera are transferred to and are processed at the ECU. The system, responsive to processing at the ECU of frames of image data captured by the camera and transferred to the ECU, determines location of the head of the driver. The system determines a configuration for a driver's seat of the vehicle based at least in part on the determined location of the head of the driver. The system adjusts the driver's seat of the vehicle using the determined configuration for the driver's seat.
A vehicular vision system includes an electronic control unit (ECU) configured, when installed in a vehicle, to connect via a plurality of coaxial cables of the vehicle with a plurality of vehicular cameras of the vehicle. Each camera is operable to capture image data. The coaxial cables (i) carry image data captured by the respective camera from the respective camera to the ECU, (ii) carries camera control data from the ECU to the respective camera and (iii) connects a DC power supply of the ECU to the respective camera for powering the respective camera. The camera control data is carried by the respective coaxial cable from the ECU to the respective camera at a control data carrier frequency that is lower than an image data carrier frequency at which image data captured by the respective camera is carried by the respective coaxial cable from the respective camera to the ECU.
A vehicular camera includes a camera housing having a front housing portion and a rear housing portion. The front housing portion includes a plurality of optical elements, a CMOS imager, and an imager printed circuit board. The CMOS imager is at a first side of the imager printed circuit board. The plurality of optical elements is held in position relative to the CMOS imager by an adhesive, whereby the imaging array at the outer side of the CMOS imager is devoid of the adhesive. The adhesive is formed by curing an adhesive material that is curable via exposure of the adhesive material to ultraviolet (UV) light. The adhesive maintains the position of the plurality of optical elements with respect to the CMOS imager during use of the vehicular camera assembly on a vehicle equipped with the vehicular camera assembly. The back housing portion is joined at the front housing portion.
G02B 7/00 - Mountings, adjusting means, or light-tight connections, for optical elements
B60R 11/04 - Mounting of cameras operative during driveArrangement of controls thereof relative to the vehicle
G02B 7/02 - Mountings, adjusting means, or light-tight connections, for optical elements for lenses
G02B 7/04 - Mountings, adjusting means, or light-tight connections, for optical elements for lenses with mechanism for focusing or varying magnification
G02B 13/00 - Optical objectives specially designed for the purposes specified below
G02B 27/00 - Optical systems or apparatus not provided for by any of the groups ,
G02B 27/62 - Optical apparatus specially adapted for adjusting optical elements during the assembly of optical systems
H04N 23/54 - Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
H04N 23/55 - Optical parts specially adapted for electronic image sensorsMounting thereof
H04N 23/57 - Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
H04N 23/63 - Control of cameras or camera modules by using electronic viewfinders
H10F 39/00 - Integrated devices, or assemblies of multiple devices, comprising at least one element covered by group , e.g. radiation detectors comprising photodiode arrays
A vehicular driver monitoring system includes a camera disposed at an interior rearview mirror assembly of a vehicle, an electronic control unit (ECU) with an image processor for processing image data captured by the camera. The camera is disposed at a mirror head of the interior rearview mirror assembly and moves in tandem with the mirror head when the mirror head is adjusted relative to a mounting portion of the interior rearview mirror assembly. The camera includes an imaging array sensor and a lens. The vehicular driver monitoring system, responsive to processing at the ECU of image data captured by the camera, monitors a body portion of a driver of the vehicle. The vehicular driver monitoring system determines that a scene viewed by the camera has changed at least in part via processing of image data captured by the camera.
A vehicular camera module includes a housing for mounting at a vehicular windshield, and an imager assembly. The imager assembly includes (i) a lens barrel accommodating a lens and (ii) an imager printed circuit board (imager PCB). An imager is disposed at a first side of the imager PCB. The imager PCB includes an imager portion at which the imager is disposed and attaching portions at respective outboard ends of the imager PCB. The imager PCB includes stress relieving portions that include a stress relieving portion between the imager portion and each of the attaching portions. Each stress relieving portion includes at least one region of the imager PCB that is more flexible than the imager portion and the respective attaching portion of the imager PCB. The attaching portions of the imager PCB are attached at the housing via respective fasteners.
B60R 1/24 - 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 for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view in front of the vehicle
B60R 11/04 - Mounting of cameras operative during driveArrangement of controls thereof relative to the vehicle
A method for structuring a vehicular driving assistance system includes determining a function of the vehicular driving assistance system. The method also includes determining one or more state transitions for a state machine of the function of the vehicular driving assistance system, where the state machine comprises a plurality of states, and where the one or more state transitions cause the state machine to transition from a state of the plurality of states to a different state of the plurality of states. The method also includes determining, based on the one or more state transitions, a current state of the plurality of states of the state machine, and generating, based on the current state of the state machine, one or more outputs for the function of the vehicular driving assistance system.
A vehicular trailer assist system includes a camera disposed at a rear portion of a vehicle and viewing at least rearward of the vehicle, and an electronic control unit (ECU), which includes an image processor for processing image data captured by the camera. The ECU executes a deep convolutional neural network (CNN) to determine, via processing of image data captured by the camera, presence of a trailer rearward of the vehicle. The CNN, responsive to processing of image data captured by the camera, determines a position of a trailer relative to the vehicle. The CNN, responsive to determining the position of the trailer, classifies the trailer into a trailer category. The ECU, responsive to the CNN determining the position of the trailer, generates an output based on the trailer classification to autonomously control the vehicle to align the vehicle with the trailer and navigate the vehicle toward the trailer.
H04N 7/18 - Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
B60W 60/00 - Drive control systems specially adapted for autonomous road vehicles
G05D 1/249 - Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons from positioning sensors located off-board the vehicle, e.g. from cameras
G06F 18/21 - Design or setup of recognition systems or techniquesExtraction of features in feature spaceBlind source separation
G06T 7/70 - Determining position or orientation of objects or cameras
G06V 10/82 - Arrangements for image or video recognition or understanding using pattern recognition or machine learning using neural networks
G06V 20/58 - Recognition of moving objects or obstacles, e.g. vehicles or pedestriansRecognition of traffic objects, e.g. traffic signs, traffic lights or roads
H04N 23/90 - Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
22.
VEHICULAR RADAR SENSOR WITH RADOME HAVING INTEGRATED STRUCTURE
A vehicular radar sensor includes transmitters and receivers, a printed circuit board (PCB), and a radome at least partially enclosing (i) the PCB, (ii) the transmitters and (iii) the receivers. The radome includes an internal surface nearest the PCB and an external surface farthest from the PCB. The radome includes a plurality of cavities at the internal side of the radome that extend partially but not entirely through a thickness of the radome. A first portion of the radio signals passes through the plurality of cavities when passing through the radome to be received by the receivers, and a second portion of the radio signals does not pass through the plurality of cavities when passing through the radome to be received at the receivers. Radar data captured by the vehicular radar sensor is based on (i) the first portion of radio signals and (ii) the second portion of radio signals.
A vehicular cabin monitoring system includes an air sensing device disposed at a vehicular component disposed within an interior cabin of a vehicle. The air sensing device samples air at the vehicular component and generates sensor data representative of a sample of air at the vehicular component. The system, via processing of captured sensor data, determines a level of air contaminant within the interior cabin that is indicative of (i) a level of contaminant particulates and/or (ii) a level of contaminant gas. The system generates an alert to a driver of the vehicle and adjusts operation of a vehicular system responsive to determination that the level of air contaminant is greater than a threshold level.
A vehicular trailering assist system includes a forward-viewing camera disposed at a vehicle and viewing at least forward of the vehicle and a rear backup camera disposed at the vehicle and viewing at least a portion of a trailer hitched to the vehicle. With the vehicle operating in a calibration state, the vehicular trailering assist system, via processing of image data captured by the rear backup camera, determines a portion of the trailer hitched to the vehicle and determines a trailer collision angle. With the trailer hitched to the vehicle and with the vehicle not operating in the calibration state, the vehicular trailering assist system, via processing of image data captured by the rear backup camera, determines a current angle of the trailer relative to a longitudinal axis of the vehicle and determines whether the determined current trailer angle is within a threshold amount of the determined trailer collision angle.
G06V 20/58 - Recognition of moving objects or obstacles, e.g. vehicles or pedestriansRecognition of traffic objects, e.g. traffic signs, traffic lights or roads
B60Q 9/00 - Arrangement or adaptation of signal devices not provided for in one of main groups
B60R 1/00 - Optical viewing arrangementsReal-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
B60R 1/26 - 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 for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view to the rear of the vehicle
G06T 7/80 - Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
G06V 10/44 - Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersectionsConnectivity analysis, e.g. of connected components
A method for assembling an imager assembly for a vehicular camera includes providing an imager printed circuit board (imager PCB), a cylindrical structure having a passageway therethrough, a lens barrel accommodating a lens, and a lens holder. The cylindrical structure is attached to the imager PCB. The lens barrel is disposed partially within the lens holder, such that a radial protrusion of the lens barrel is received within a slot of the lens holder. The engaging end of the lens holder is disposed at the cylindrical structure and the lens barrel is adjusted relative to the cylindrical structure to align the imager and the lens. With the lens aligned relative to the imager, the engaging end of the lens holder is secured to the cylindrical structure and the radial protrusion is secured within the slot of the lens holder to secure the lens barrel relative to the imager PCB.
G02B 7/02 - Mountings, adjusting means, or light-tight connections, for optical elements for lenses
G03B 30/00 - Camera modules comprising integrated lens units and imaging units, specially adapted for being embedded in other devices, e.g. mobile phones or vehicles
A vehicular trailer assist system includes a camera disposed at a vehicle and viewing at least a portion of a trailer hitched to the vehicle. With the trailer hitched to the vehicle and while the vehicle is operating in a calibration state and being driven straight, the system determines edges of the trailer. With the trailer hitched to the vehicle and after the vehicle is driven straight and while the vehicle is operating in the calibration state and being driven along a curved path, and at least in part via processing of captured frames of image data, the system determines a hitch point of the trailer hitched to the vehicle. With the vehicle not operating in the calibration state, and based in part on the determined hitch point of the trailer hitched to the vehicle, the system determines a jack-knife angle of the trailer relative to the vehicle.
G06V 10/44 - Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersectionsConnectivity analysis, e.g. of connected components
B60R 1/00 - Optical viewing arrangementsReal-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
B62D 13/00 - Steering specially adapted for trailers
G06T 7/73 - Determining position or orientation of objects or cameras using feature-based methods
G06V 10/75 - Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video featuresCoarse-fine approaches, e.g. multi-scale approachesImage or video pattern matchingProximity measures in feature spaces using context analysisSelection of dictionaries
G06V 20/56 - Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
H04N 7/18 - Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
27.
VEHICULAR CABIN MONITORING SYSTEM WITH LIGHT CONTROL BASED ON OCCUPANT LOCATION
A vehicular cabin monitoring system includes a camera disposed within a cabin of a vehicle. Image data captured by the camera is transferred to and is processed at an electronic control unit (ECU). A light emitter that, when electrically operated to emit nonvisible light, illuminates at least a portion of the interior cabin that is viewed by the camera with nonvisible light. The vehicular cabin monitoring system, via processing at the ECU of image data captured by the camera and transferred to the ECU, determines illuminance of nonvisible light at a region of interest within the illuminated portion of the interior cabin that is viewed by the camera. The vehicular cabin monitoring system, responsive to determining that the illuminance of nonvisible light at the region of interest is greater than a threshold illuminance, reduces intensity of nonvisible light emitted by the light emitter.
H05B 45/12 - Controlling the intensity of the light using optical feedback
B60Q 3/72 - Arrangement of lighting devices for vehicle interiorsLighting devices specially adapted for vehicle interiors characterised by the purpose for preventing the driver from being dazzled
B60R 21/015 - Electrical circuits for triggering safety arrangements in case of vehicle accidents or impending vehicle accidents including means for detecting the presence or position of passengers, passenger seats or child seats, e.g. for disabling triggering
G01J 1/42 - Photometry, e.g. photographic exposure meter using electric radiation detectors
H05B 47/11 - Controlling the light source in response to determined parameters by determining the brightness or colour temperature of ambient light
H05B 47/125 - Controlling the light source in response to determined parameters by determining the presence or movement of objects or living beings by using cameras
H05B 47/155 - Coordinated control of two or more light sources
A vehicular camera system includes a camera module having an imager assembly, a main circuit board and a camera housing. The imager assembly includes (i) an imager disposed on an imager circuit board and (ii) a lens barrel and (iii) a lens holder. The imager assembly includes a flexible ribbon cable that electrically connects to an electrical connector at a multilayered PCB of the main circuit board. The camera housing includes an upper cover and a lower cover and has a forward portion and a rearward portion. The main circuit board is accommodated within the forward and rearward portions, and the imager is disposed at the rearward portion and is not disposed at the forward portion of the camera housing. The lens holder is attached at the upper cover by at least one fastener. The imager circuit board is attached at the lens holder by at least one fastener.
B60K 35/28 - Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor characterised by the type of the output information, e.g. video entertainment or vehicle dynamics informationOutput arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor characterised by the purpose of the output information, e.g. for attracting the attention of the driver
B60K 35/60 - Instruments characterised by their location or relative disposition in or on vehicles
H04N 23/52 - Elements optimising image sensor operation, e.g. for electromagnetic interference [EMI] protection or temperature control by heat transfer or cooling elements
H04N 23/54 - Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
H04N 23/55 - Optical parts specially adapted for electronic image sensorsMounting thereof
H04N 23/57 - Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
A vehicular vision system includes a camera disposed at a vehicle and capturing image data. The vehicular vision system, via processing at an electronic control unit of a first frame of image data captured by the camera, detects a first object exterior of the vehicle and determines an attribute of the first object. The vehicular vision system, via processing at the electronic control unit of a second frame of image data captured by the camera, detects a second object exterior of the vehicle and determines an attribute of the second object. The system determines whether the second object is part of the first object. The vehicular vision system, responsive to determining that the second object is part of the first object, merges the attribute of the first object with the attribute of the second object and tracks the first object in subsequent frames of captured image data.
A vehicular sensing system, responsive to processing image data captured by a forward-viewing camera at a first time, generates a first set of lane geometries representing curvature and location of a portion of at least one traffic lane of a road respective to a first position of the equipped vehicle at the first time. The vehicular sensing system, via processing motion data representative of motion of the equipped vehicle, tracks the first set of lane geometries. Based on processing of the motion data and the tracked first set of lane geometries, the vehicular sensing system generates a second set of lane geometries representing the curvature and location of the portion of the at least one traffic lane respective to a second position of the vehicle at a second time. The vehicular sensing system determines a blind zone based on the generated second set of lane geometries.
A vehicular multi-sensor system includes a plurality of vehicular cameras disposed at a vehicle and viewing exterior the vehicle. Image data captured by the vehicular cameras is provided to a central control module via respective wired connections. At least one radar sensor is disposed at the vehicle and senses exterior the vehicle. Vehicle data relating to operation of the vehicle and radar data captured by the radar sensor is provided to the central control module. During a forward driving maneuver of the vehicle, and responsive at least in part to processing of image data captured by a forward-viewing vehicular camera and radar data captured by a front radar sensor, an object present exterior of the vehicle is detected. During a backup reverse maneuver of the vehicle, video images based on image data captured by a rearward-viewing vehicular backup camera are displayed at a video display screen of the vehicle.
G06V 20/58 - Recognition of moving objects or obstacles, e.g. vehicles or pedestriansRecognition of traffic objects, e.g. traffic signs, traffic lights or roads
B60Q 9/00 - Arrangement or adaptation of signal devices not provided for in one of main groups
B60R 1/12 - Mirror assemblies combined with other articles, e.g. clocks
B60R 1/26 - 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 for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view to the rear of the vehicle
B60R 1/27 - 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 for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view providing all-round vision, e.g. using omnidirectional cameras
B60R 1/28 - 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 for viewing an area outside the vehicle, e.g. the exterior of the vehicle with an adjustable field of view
B60W 10/04 - Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
B60W 10/18 - Conjoint control of vehicle sub-units of different type or different function including control of braking systems
B60W 10/20 - Conjoint control of vehicle sub-units of different type or different function including control of steering systems
B60W 40/02 - Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit related to ambient conditions
B60W 50/00 - Details of control systems for road vehicle drive control not related to the control of a particular sub-unit
G05D 1/81 - Handing over between on-board automatic and on-board manual control
H04N 23/63 - Control of cameras or camera modules by using electronic viewfinders
H04N 23/90 - Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
A vehicular cabin monitoring system includes at least one interior-viewing camera viewing at least a driver and a passenger of a vehicle. Image data captured by the at least one interior-viewing camera is transferred to an electronic control unit (ECU) and is processed at the ECU. Based at least in part on processing at the ECU of image data captured by the at least one interior-viewing camera, the vehicular cabin monitoring system monitors the driver of the vehicle. Based at least in part on processing at the ECU of image data captured by the at least one interior-viewing camera, the system monitors the passenger of the vehicle. Based at least in part on monitoring of the driver, the system classifies the driver as being at least one selected from the group consisting of overloaded, attentive and distracted.
G06V 20/59 - Context or environment of the image inside of a vehicle, e.g. relating to seat occupancy, driver state or inner lighting conditions
B60R 11/00 - Arrangements for holding or mounting articles, not otherwise provided for
B60R 11/02 - Arrangements for holding or mounting articles, not otherwise provided for for radio sets, television sets, telephones, or the likeArrangement of controls thereof
B60R 11/04 - Mounting of cameras operative during driveArrangement of controls thereof relative to the vehicle
G05B 13/02 - Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
G06V 40/10 - Human or animal bodies, e.g. vehicle occupants or pedestriansBody parts, e.g. hands
G06V 40/16 - Human faces, e.g. facial parts, sketches or expressions
G06V 40/20 - Movements or behaviour, e.g. gesture recognition
33.
VEHICULAR INTERIOR CABIN MONITORING SYSTEM WITH WATER SENSOR
A vehicular sensing system includes at least one water sensor disposed at an interior of a vehicle. An electronic control unit (ECU) includes electronic circuitry and associated software. Responsive to receiving at the ECU an output of the at least one water sensor, presence of water within the equipped vehicle is determined. Responsive to determination of presence of water within the equipped vehicle, an alert indicating presence of water within the interior of the equipped vehicle is generated. Responsive to determining that an occupant is not present within the equipped vehicle when presence of water is determined within the equipped vehicle, a function of the equipped vehicle may be controlled and/or an alert may be communicated to a user device of a user associated with the equipped vehicle.
E05F 15/71 - Power-operated mechanisms for wings with automatic actuation responsive to temperature changes, rain, wind or noise
B60Q 1/50 - Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
B60Q 5/00 - Arrangement or adaptation of acoustic signal devices
B62D 25/24 - Superstructure sub-units with access openings having movable or removable closures
A vehicular vision system includes a camera disposed at a vehicle with an extender platform that is movable between an extended state and a retracted state. With the extender platform in the extended state, the camera is at an extended position that is at a distance above the roof of the equipped vehicle. With the extender platform in the retracted state, the camera is at a retracted position that is closer to the roof of the equipped vehicle than when the camera is at the extended position. The camera, when in the extended position, has a field of view that encompasses the equipped vehicle and a region at least partially surrounding the equipped vehicle. The system displays, when the extender platform is in the extended state, at a display disposed within the equipped vehicle, a bird's-eye view of the equipped vehicle derived from the image data captured by the camera.
B60R 11/04 - Mounting of cameras operative during driveArrangement of controls thereof relative to the vehicle
B60R 1/27 - 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 for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view providing all-round vision, e.g. using omnidirectional cameras
B60R 11/00 - Arrangements for holding or mounting articles, not otherwise provided for
A vehicular driving assist system includes a sensor disposed at a vehicle. The vehicular driving assist system determines first and second sets of angular velocities via processing sensor data captured by the sensor. The first set of angular velocities is determined at a first time and the second set of angular velocities is determined at a second time that is after the first time. The vehicular driving assist system converts the first and second sets of angular velocities into respective first and second sets of Cartesian velocities, and pairs each angular velocity from the first set of angular velocities with a corresponding angular velocity from the second set of angular velocities to generate a set of paired Cartesian velocities. The vehicular driving assist system determines velocity of a detected object based on the set of paired Cartesian velocities and controls the equipped vehicle based on the determined velocity.
A vehicular electronic control unit (ECU) includes a housing that accommodates a printed circuit board (PCB). At least one heat-generating electronic component is disposed on the PCB. The ECU includes a plurality of heat dissipating fins disposed at an exterior side of the housing. The heat dissipating fins are disposed within a fluid chamber at the housing, and heat is dissipated from the heat dissipating fins via coolant that flows within the fluid chamber along and between individual heat dissipating fins of the plurality of heat dissipating fins. An inlet port provides flow of coolant into the fluid chamber, and an outlet port provides flow of coolant out of the fluid chamber. The heat dissipating fins provide a multi-channel flow path for coolant within the fluid chamber between the inlet port and the outlet port.
A vehicular electronic control unit includes a plurality of coaxial connectors that connect via respective single core coaxial cables of a plurality of single core coaxial cables with respective individual vehicular cameras of the plurality of vehicular cameras. Each single core coaxial cable that carries DC power from the vehicular electronic control unit to its respective vehicular camera. Each single core coaxial cable carries to the vehicular electronic control unit image data captured by an imager of the respective vehicular camera. Each single core coaxial cable carries control data from the vehicular electronic control unit to its respective vehicular camera. Image data carried at least by the single core coaxial cable connecting a forward-viewing vehicular camera of the plurality of vehicular cameras with the vehicular electronic control unit is processed at the vehicular electronic control unit for at least one driver assist system of the vehicle.
A vehicular vision system includes a camera module mounted at mounting structure that mounts at a headliner of a vehicle and that includes a light transmitting portion disposed at a windshield of the vehicle. The camera module includes a camera and circuitry including an image processor that is operable to process image data captured by the camera. The camera views forward of the vehicle through the light transmitting portion of the mounting structure and through the windshield of the vehicle. With the mounting structure mounted at the headliner region of the vehicle, and with the windshield mounted at the vehicle, the windshield is separable from the mounting structure so that the windshield is removable from the vehicle without removing the mounting structure from the vehicle and without affecting mounting of the camera module at the mounting structure.
A vehicular vision system includes an electronic control unit (ECU) disposed at a vehicle and a camera having a CMOS imaging sensor operable to capture image data. The ECU includes (i) a data processor and (ii) a DC power supply. A coaxial cable carries DC power from the DC power supply of the ECU to the camera. Image data captured by the camera is conveyed from the camera to the ECU via the coaxial cable. Calibration data may be conveyed from the camera to the ECU via the coaxial cable. The camera is in bidirectional communication with the ECU over the coaxial cable. The camera includes a data serializer and the ECU includes a data deserializer. The camera may include a front camera, a rear-viewing camera or an internal cabin surveillance camera.
H04N 23/66 - Remote control of cameras or camera parts, e.g. by remote control devices
B60R 16/02 - Electric or fluid circuits specially adapted for vehicles and not otherwise provided forArrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric
H01B 1/02 - Conductors or conductive bodies characterised by the conductive materialsSelection of materials as conductors mainly consisting of metals or alloys
H01B 3/44 - Insulators or insulating bodies characterised by the insulating materialsSelection of materials for their insulating or dielectric properties mainly consisting of organic substances plasticsInsulators or insulating bodies characterised by the insulating materialsSelection of materials for their insulating or dielectric properties mainly consisting of organic substances resinsInsulators or insulating bodies characterised by the insulating materialsSelection of materials for their insulating or dielectric properties mainly consisting of organic substances waxes vinyl resinsInsulators or insulating bodies characterised by the insulating materialsSelection of materials for their insulating or dielectric properties mainly consisting of organic substances plasticsInsulators or insulating bodies characterised by the insulating materialsSelection of materials for their insulating or dielectric properties mainly consisting of organic substances resinsInsulators or insulating bodies characterised by the insulating materialsSelection of materials for their insulating or dielectric properties mainly consisting of organic substances waxes acrylic resins
A vehicular headlamp control system includes a camera disposed at an in-cabin side of a windshield of a vehicle. The vehicle includes a headlamp that is switchable between a higher beam state and a lower beam state. The vehicular headlamp control system, with the vehicle traveling along a road, and at least in part via processing by an image processor of image data captured by the camera, detects presence of a leading vehicle traveling along the road ahead of the vehicle. Based at least in part on curvature of a curved section of the road ahead of the vehicle, the vehicular headlamp control system limits switching of the headlamp of the vehicle to the higher beam state. The curved section of the road ahead of the vehicle may be a curved on-ramp of the road or a curved off-ramp of the road.
B60Q 1/08 - Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically
B60Q 1/14 - Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights having dimming means
B60S 1/54 - Cleaning windscreens, windows, or optical devices using gas, e.g. hot air
G06V 20/56 - Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
H04N 7/18 - Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
H04N 23/81 - Camera processing pipelinesComponents thereof for suppressing or minimising disturbance in the image signal generation
41.
VEHICULAR ROUTE PLANNING SYSTEM THAT FACTORS IN RANGE VARIATIONS AND DRIVER PREFERENCE
A vehicular navigation system includes an electronic control unit (ECU) having electronic circuitry and associated software. The ECU is operable to determine routes for a vehicle equipped with the vehicular navigation system based at least in part on map data. The ECU, to route the vehicle from a starting location to an ending location, determines one or more candidate routes from the starting location to the ending location. For each determined candidate route, the ECU determines a respective energy efficiency for travel of the vehicle along the respective determined candidate route based at least in part on environmental temperature data for at least one location along the respective determined candidate route. The ECU selects one of the determined candidate routes for the vehicle to travel along based on the determined respective energy efficiency for travel of the vehicle along each determined candidate route.
A method for training a vehicular occupant monitoring system includes disposing a first camera at a test vehicle that captures first image data representative of electromagnetic radiation having a first range of wavelengths and a second camera that captures second image data representative of electromagnetic radiation having a second range of wavelengths. The method includes disposing markers at an occupant seated at the seat of the test vehicle that, based on the first range and the second range of wavelengths, are (i) represented in the second image data and (ii) not represented in the first image data. The method includes annotating, using one or more frames of captured second image data comprising the imaged markers, locations of the markers at the occupant within one or more frames of captured first image data and training the vehicular occupant monitoring system using the annotated frames.
A vehicular radar sensing system includes a radar sensor and a reflector disposed at an interior cabin of a vehicle. The reflector includes a plurality of radar-reflective portions. Transmitted radio signals from the radar sensor reflect off the radar-reflective portions of the reflector toward respective regions of interest of a plurality of regions of interest within the vehicle. Each radar-reflective portion of the plurality of radar-reflective portions of the reflector reflects transmitted radio signals toward a different respective region of interest of the plurality of regions of interest. Received radio signals include radio signals that reflect off the reflector toward the radar sensor. The vehicular radar sensing system, responsive to processing of captured radar data, determines presence of an occupant of the vehicle at one of the regions of interest of the plurality of regions of interest.
G01S 13/04 - Systems determining presence of a target
G01S 7/41 - Details of systems according to groups , , of systems according to group using analysis of echo signal for target characterisationTarget signatureTarget cross-section
G01S 13/86 - Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
G01S 13/931 - Radar or analogous systems, specially adapted for specific applications for anti-collision purposes of land vehicles
44.
TRANSPARENT ANTENNA AND REFLECTOR FOR MILLIMETER-WAVE RADAR
A vehicular radar sensing system includes a radar sensor disposed at a vehicle and that senses within an interior cabin of the vehicle. The radar sensor includes an antenna that radiates radio frequency signals within the cabin of the vehicle and that receives radio frequency signals from within the cabin of the vehicle. A printed circuit board (PCB) includes a transmitter that transmits radio frequency signals to the antenna and a receiver that receives radio frequency signals from the antenna. The radar sensor is operable to capture radar data based on the received radio frequency signals. Responsive to processing radar data captured by the radar sensor, the system determines presence of an occupant within the cabin of the vehicle. The antenna is disposed at a portion of a substrate and the portion of the substrate is at least partially transmissive of visible light incident at the portion of the substrate.
A vehicular radar sensing system includes a radar sensor disposed at a vehicle. The radar sensor transmits and receives radio signals. The vehicular radar sensing system, via processing of radar data captured by the radar sensor, detects a plurality of objects present within a field of sensing of the radar sensor. The system determines a plurality of phase delays in the radar data. Phase delays of the plurality of phase delays are associated with respective received radio signals reflected off respective detected objects of the plurality of detected objects. The vehicular radar sensing system determines a common phase delay of the plurality of phase delays that is common among the received radio signals reflected off detected objects. The system, responsive to determining that an amount of performance degradation of the radar sensor based on the blockage is greater than a threshold amount, adjusts a driving assistance system of the vehicle.
A vehicular control system includes a forward-viewing camera and a forward-sensing radar sensor disposed at a vehicle. Image data captured by the forward-viewing camera is processed at an advanced driver-assistance system (ADAS) and radar data captured by the forward-sensing radar sensor is processed at the ADAS ECU. As the vehicle travels along a road, and at least in part via processing at the ADAS ECU of (i) image data captured by the forward-viewing camera and (ii) radar data captured by the forward-sensing radar sensor, the ADAS ECU determines presence of a pothole or road debris or a speed bump ahead of the vehicle. Responsive to communication of the determined presence of the pothole or road debris or speed bump to another ECU of the vehicle, at least one selected from the group consisting of (i) the vehicle decelerates to mitigate impact and (ii) the vehicle is steered to avoid impact.
A windshield electronics module disposed at a vehicle includes a camera module having a camera housing that accommodates a camera and circuitry. The camera housing includes lower heat dissipating fins and rear heat dissipating fins. A cooling fan assembly is mounted at a lower portion of the camera housing. The cooling fan assembly draws air from an interior cabin of the vehicle via an air intake of the vehicular windshield electronics module and directs the drawn air as airflow (i) in a radial direction with respect to an axis of rotation of the fan blades, and (ii) in an axial direction with respect to the axis of rotation of the fan blades. The cooling fan assembly directs the drawn air as airflow (i) in the radial direction along and between the lower heat dissipating fins, and (ii) in the axial direction along and between the rear heat dissipating fins.
H04N 23/52 - Elements optimising image sensor operation, e.g. for electromagnetic interference [EMI] protection or temperature control by heat transfer or cooling elements
B60R 11/00 - Arrangements for holding or mounting articles, not otherwise provided for
B60R 11/04 - Mounting of cameras operative during driveArrangement of controls thereof relative to the vehicle
G03B 17/55 - Details of cameras or camera bodiesAccessories therefor with provision for heating or cooling, e.g. in aircraft
A vehicular control system includes an electronic control unit disposed at a vehicle, and a camera disposed at a windshield of the vehicle and viewing at least forward of the vehicle through the windshield. The vehicular control system is operable to at least partially control driving of the vehicle. Responsive to a blown tire of the vehicle occurring while the vehicle is traveling along a road, the vehicular control system at least partially controls driving of the vehicle along the road. The vehicular control system, while at least partially controlling driving of the vehicle along the road responsive to the blown tire of the vehicle, and at least in part via processing of image data captured by the camera, determines a target stopping location ahead of the vehicle. The vehicular control system at least partially controls driving of the vehicle to the target stopping location.
A vehicular camera includes an imaging array sensor and a microlens array that includes a plurality of microlenses disposed at the imaging array sensor. Each individual microlens is associated with a respective sub-array of photosensors of the imaging array sensor and has a respective plurality of refractive indices. The microlens array is disposed at the imaging array sensor so that light incident at the vehicular camera passes through the microlens array to be incident at the imaging array sensor. Light incident at and passing through each individual microlens is incident at the respective sub-array of the photosensors. A focus length of at least one microlens of the plurality of microlenses is different from a focus length of at least one other microlens of the plurality of microlenses. The vehicular camera is configured to be disposed at a vehicle equipped with a vehicular vision system.
A vehicular vision system includes a camera disposed at a vehicle and an electronic control unit (ECU) disposed at the vehicle remote from the camera. The ECU links to a vehicle network bus of the vehicle. The camera is connected to the ECU via an image data transmission line, which includes (i) a power-over-coaxial image data transmission line or (ii) a power-over-ethernet image data transmission line. The image data transmission line (i) transmits image data captured by the camera to the ECU and (ii) delivers electrical power from the ECU to the camera and (iii) communicates a control signal from the ECU to the camera. Captured image data is processed at the ECU for at least one driver assistance system of the vehicle. Filtering circuitry that filters electrical noise arising at least from delivery of electrical power via the image data transmission line from the ECU to the vehicular camera.
A vehicular radar sensing system includes a radar sensor disposed at a vehicle. The radar sensor includes a plurality of facets, each having an inboard surface facing toward the vehicle and an outboard surface facing away from the vehicle. A respective transmitter and a respective receiver of each facet operate to have a respective field of sensing with a respective principal sensing axis that is perpendicular to the respective facet. The vehicular sensing system, via processing of captured sensor data, (i) determines presence of a first object within a first respective field of sensing and (ii) determines presence of a second object within a second respective field of sensing. The vehicular sensing system, responsive to determining presence of the first object and the second object, controls a system of the vehicle based on the determined presence of the first object and the second object.
A vehicular camera assembly includes a lens barrel that accommodates a lens. An imager printed circuit board (imager PCB) has an imager aligned with the lens. First and second vias are formed through the imager PCB. First and second connecting pins are electrically connected to a heating device and are received at the first and second vias of the imager PCB. The imager PCB is movable along the first and second connecting pins at least in a direction parallel to a longitudinal axis of the lens barrel. The first and second connecting pins are fixed to the imager PCB at the first and second vias. The heating device is electrically connected to circuitry of the vehicular camera assembly via the first and second connecting pins and, when the heating device is operated via the circuitry of the vehicular camera assembly, the heating device heats the lens.
H04N 23/52 - Elements optimising image sensor operation, e.g. for electromagnetic interference [EMI] protection or temperature control by heat transfer or cooling elements
A vehicular vision system includes a central video/image processor configured to connect via a plurality of bidirectional mono-coaxial cables of a vehicle with a plurality of vehicular cameras of the vehicle. The central video/image processor includes an image processor. Each respective bidirectional mono-coaxial cable connecting the central video/image processor with a respective vehicular camera (i) carries control data from the central video/image processor to the respective vehicular camera and (ii) carries image data captured by the respective vehicular camera from the respective vehicular camera to the central video/image processor. Image data captured by at least a forward-viewing camera carried to the central video/image processor via a respective bidirectional mono-coaxial cable may be processed at the image processor of the central video/image processor to detect an object present exterior of the vehicle or may be processed for a plurality of driver assistance systems of the vehicle.
G06T 7/246 - Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
G02B 3/14 - Fluid-filled or evacuated lenses of variable focal length
G06V 20/58 - Recognition of moving objects or obstacles, e.g. vehicles or pedestriansRecognition of traffic objects, e.g. traffic signs, traffic lights or roads
H04N 7/18 - Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
H04N 23/90 - Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
A vehicular vision system includes a global shutter camera disposed at a vehicle and a plurality of light emitters operable to emit light. With the vehicular vision system operating in a floodlight mode, the plurality of light emitters operates to emit light to illuminate a region. With the vehicular vision system operating in a reduced illumination mode, a reduced number of light emitters operates to emit light to illuminate a sub-region of the region. At least a portion of the sub-region is viewed by the global shutter camera, which captures image data at a frame-capture rate that is synchronized with a pulse rate of the reduced number of light emitters when the vehicular vision system is operating in the reduced illumination mode. With the vehicular vision system operating in the reduced illumination mode, image data captured by the global shutter camera is processed for a vehicle function.
B60R 1/12 - Mirror assemblies combined with other articles, e.g. clocks
B60R 1/23 - 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 for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
B60R 1/30 - 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 providing vision in the non-visible spectrum, e.g. night or infrared vision
H04N 23/56 - Cameras or camera modules comprising electronic image sensorsControl thereof provided with illuminating means
H04N 23/65 - Control of camera operation in relation to power supply
H04N 23/90 - Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
A vehicular vision system includes an electronic control unit (ECU) having a plurality of coaxial connectors. Individual vehicular cameras of a plurality of vehicular cameras are connected to respective coaxial connectors of the ECU via respective coaxial cables. Electrical power for a vehicular forward-viewing camera is carried from the ECU to the vehicular forward-viewing camera via a first coaxial cable connected to a first coaxial connector of the ECU. Image data captured by the vehicular forward-viewing camera is carried to the ECU via the first coaxial cable and is converted at a first serializer of the camera to first serialized image data and is de-serialized at a first de-serializer of the ECU to form first de-serialized image data. Responsive at least in part to processing of first de-serialized image data, an object is detected. Processing of first de-serialized image data at the ECU includes structure from motion (SFM) processing.
G06V 20/58 - Recognition of moving objects or obstacles, e.g. vehicles or pedestriansRecognition of traffic objects, e.g. traffic signs, traffic lights or roads
56.
VEHICULAR DRIVING ASSIST SYSTEM WITH TRAFFIC LIGHT RECOGNITION
A vehicular vision system includes a camera disposed at a vehicle and viewing at least forward of the vehicle. The vehicular vision system, as the vehicle travels along a traffic lane of a road and via processing of image data captured by the camera and based on map data, determines presence of a plurality of traffic lights at an intersection and identifies a target traffic light from the plurality of traffic lights that is associated with the traffic lane along which the equipped vehicle is traveling as the vehicle approaches the intersection. The vehicular vision system determines, via processing of image data captured by the camera, status of the identified target traffic light. The vehicular vision system, responsive to determining the status of the identified target traffic light, alerts a driver of the vehicle of the status of the relevant traffic light and/or controls speed of the vehicle.
G06V 20/58 - Recognition of moving objects or obstacles, e.g. vehicles or pedestriansRecognition of traffic objects, e.g. traffic signs, traffic lights or roads
B60Q 9/00 - Arrangement or adaptation of signal devices not provided for in one of main groups
B60R 11/04 - Mounting of cameras operative during driveArrangement of controls thereof relative to the vehicle
57.
VEHICULAR CAMERA ASSEMBLY WITH METAL AND PLASTIC PORTIONS
A vehicular camera assembly includes a first portion, a second portion and a lens barrel accommodating a lens. The lens barrel has a first end and a second end. The first portion of the vehicular camera assembly is formed of plastic and the second portion is formed of metal. The first portion of the vehicular camera assembly receives the first end of the lens barrel, and the lens barrel is bonded at the first portion of the vehicular camera assembly via adhesive. The first portion of the vehicular camera assembly has a first coefficient of thermal expansion (CTE), and the second portion of the vehicular camera assembly has a second CTE. The first CTE is higher than the second CTE. The adhesive has a third CTE that is higher than the second CTE.
A vehicular camera includes a housing for mounting the vehicular camera at an in-cabin side of a vehicle windshield. Width of the housing is greater than height of the housing and is greater than depth of the housing. The height of the vehicular camera is less than 35 mm. Circuitry disposed at a first side of a single circuit board accommodated by the housing includes an imager. A lens barrel accommodates a lens and protrudes outward from a front portion of the housing. Circuitry disposed at a second side of the single circuit board includes a coaxial connector that extends from the single circuit board to protrude outward from the rear portion of the housing. Image data captured by the vehicular camera is transferred via the coaxial connector to an electronic control unit that is located in the vehicle remote from where the vehicular camera is mounted.
B60R 11/04 - Mounting of cameras operative during driveArrangement of controls thereof relative to the vehicle
B60R 1/24 - 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 for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view in front of the vehicle
B60R 1/27 - 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 for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view providing all-round vision, e.g. using omnidirectional cameras
B60R 1/30 - 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 providing vision in the non-visible spectrum, e.g. night or infrared vision
B60R 1/31 - 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 providing stereoscopic vision
B60R 11/00 - Arrangements for holding or mounting articles, not otherwise provided for
B62D 65/14 - Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components the sub-units or components being passenger compartment fittings, e.g. seats, linings, trim, instrument panels
A vehicular driving assistance system, via processing of image data captured by a forward-viewing camera of a vehicle, determines traffic lane marking information ahead of the vehicle. The vehicular driving assistance system determines reliability of the determined traffic lane marking information. A predictive sensor uses map data to predict the road ahead of the vehicle. Responsive to the determined reliability of the traffic lane marking information being greater than or equal to a threshold reliability level, an ADAS controller generates ADAS control signals based at least in part on (i) processing of image data captured by the forward-viewing camera and (ii) processing of radar data captured by a plurality of radar sensors. Responsive to the determined reliability of the traffic lane marking information being less than the threshold reliability level, the ADAS controller generates the ADAS control signals based at least in part on an output of the predictive sensor.
A vehicular control system includes a plurality of exterior-viewing cameras disposed at a vehicle. The plurality of exterior-viewing cameras comprises at least one rearward-viewing camera and a forward-viewing camera. At least in part via processing at an electronic control unit (ECU) of image data captured by the cameras and transferred to the ECU, the vehicular control system (i) determines a traffic lane that the equipped vehicle is traveling in on the road the equipped vehicle is traveling along and (ii) detects a trailing vehicle present rearward of the equipped vehicle and approaching the equipped vehicle in the same traffic lane that the equipped vehicle is traveling in on the road the equipped vehicle is traveling along. The vehicular control system controls the equipped vehicle to mitigate impact by the trailing vehicle. The forward-viewing camera captures image data for at least one driving assist system of the equipped vehicle.
B60W 30/09 - Taking automatic action to avoid collision, e.g. braking and steering
B60R 1/26 - 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 for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view to the rear of the vehicle
B60T 7/22 - Brake-action initiating means for automatic initiationBrake-action initiating means for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle
B60T 8/17 - Using electrical or electronic regulation means to control braking
B60W 10/04 - Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
B60W 10/18 - Conjoint control of vehicle sub-units of different type or different function including control of braking systems
B60W 10/184 - Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
B60W 10/20 - Conjoint control of vehicle sub-units of different type or different function including control of steering systems
B60W 10/30 - Conjoint control of vehicle sub-units of different type or different function including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps
B60W 30/08 - Predicting or avoiding probable or impending collision
B60W 30/085 - Taking automatic action to adjust vehicle attitude in preparation for collision, e.g. braking for nose dropping
B60W 30/095 - Predicting travel path or likelihood of collision
B60W 50/14 - Means for informing the driver, warning the driver or prompting a driver intervention
B62D 6/00 - Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
G05D 1/617 - Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards
G06V 20/58 - Recognition of moving objects or obstacles, e.g. vehicles or pedestriansRecognition of traffic objects, e.g. traffic signs, traffic lights or roads
A vehicular trailer hitching assist system includes a rearward-viewing camera mounted at a pickup truck. Responsive to determination that the trailer coupler is exterior the bed of the pickup truck and the height of the trailer coupler is greater than a first threshold amount, a first reversing maneuver is performed to reverse the pickup truck until the trailer coupler is within the bed of the pickup truck. With the trailer coupler within the bed of the pickup truck and the height of the trailer coupler greater than a second threshold amount, a trailer height adjustment signal is generated. With the trailer coupler within the bed of the pickup truck and the determined height of the trailer coupler being less than or equal to the second threshold amount, a second reversing maneuver is performed to reverse the pickup truck to couple the trailer coupler with the hitch of the pickup truck.
B60Q 1/50 - Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
B60R 11/00 - Arrangements for holding or mounting articles, not otherwise provided for
B60R 11/04 - Mounting of cameras operative during driveArrangement of controls thereof relative to the vehicle
G06V 20/58 - Recognition of moving objects or obstacles, e.g. vehicles or pedestriansRecognition of traffic objects, e.g. traffic signs, traffic lights or roads
H04N 23/80 - Camera processing pipelinesComponents thereof
62.
VEHICULAR DRIVING ASSISTANCE SYSTEM WITH VEHICLE STATE ESTIMATION
A vehicular driving assistance system includes a camera disposed at a vehicle and an electronic control unit (ECU). The vehicular driving assistance system, responsive to processing at the ECU of image data captured by the camera, determines lane markers for a traffic lane along which the vehicle is traveling. The system, using a first Kalman filter and based on the determined lane markers, a lateral lane offset of the vehicle. The vehicular driving assistance system, responsive to processing by the data processor of GPS data, determines, using a second Kalman filter different from the first Kalman filter, a geographical location of the vehicle. The vehicular driving assistance system, based on the determined lateral lane offset of the vehicle and based on the determined geographical location of the vehicle, controls at least one selected from the group consisting of (i) steering of the vehicle and (ii) velocity of the vehicle.
A vehicular cabin monitoring system includes a vehicular interior rearview mirror assembly configured for mounting at an interior portion of an equipped vehicle and having a mirror head accommodating an electrochromic mirror reflective element, a driver monitoring camera that is operable to capture image data, and a near infrared light emitter that, when electrically operated to emit near infrared light, illuminates at least the head of the driver. With the vehicular interior rearview mirror assembly mounted at the interior portion of the equipped vehicle, and as the equipped vehicle travels along a road, image data captured by the driver monitoring camera is processed at an electronic control unit to detect light emanating from at least one headlamp of at least one trailing vehicle traveling along the road behind the equipped vehicle.
B60R 1/30 - 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 providing vision in the non-visible spectrum, e.g. night or infrared vision
B60R 1/12 - Mirror assemblies combined with other articles, e.g. clocks
B60R 1/29 - 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 for viewing an area inside the vehicle, e.g. for viewing passengers or cargo
B60R 11/00 - Arrangements for holding or mounting articles, not otherwise provided for
B60R 11/04 - Mounting of cameras operative during driveArrangement of controls thereof relative to the vehicle
G06V 20/59 - Context or environment of the image inside of a vehicle, e.g. relating to seat occupancy, driver state or inner lighting conditions
G06V 40/20 - Movements or behaviour, e.g. gesture recognition
A vehicular multi-sensor sensing system includes a plurality of sensors disposed at an equipped vehicle and sensing forward of the vehicle. Data based at least in part on processing of sensor data captured by at least one of the sensors is wirelessly transmitted from the equipped vehicle to a remote server. The wirelessly transmitted data is conjuncted to a current geographic location of the equipped vehicle along a road being travelled by the equipped vehicle. The remote server merges data wirelessly transmitted from the equipped vehicle to the remote server with data wirelessly transmitted from a plurality of other vehicles traveling along the road along which the equipped vehicle is traveling, and processes the merged data to determine at least one characteristic along the road being travelled by the equipped vehicle.
B60W 30/09 - Taking automatic action to avoid collision, e.g. braking and steering
B60W 10/18 - Conjoint control of vehicle sub-units of different type or different function including control of braking systems
B60W 10/20 - Conjoint control of vehicle sub-units of different type or different function including control of steering systems
B60W 50/14 - Means for informing the driver, warning the driver or prompting a driver intervention
G06F 17/00 - Digital computing or data processing equipment or methods, specially adapted for specific functions
G06V 20/58 - Recognition of moving objects or obstacles, e.g. vehicles or pedestriansRecognition of traffic objects, e.g. traffic signs, traffic lights or roads
A vehicular sensing system includes a sensor disposed at a vehicle. The vehicular sensing system generates a three-dimensional point cloud of data representing a three-dimensional scene exterior of the vehicle within a field of sensing of the sensor. The virtual range image includes a set of points representing the three-dimensional point cloud of data. The system, for each respective point, classifies the respective point as occluded or non-occluded. The system determines one or more occlusion regions based on the classification for the respective points. Each occlusion region includes a region that is within the field of sensing of the sensor but that is not sensed by the sensor due to an object obstructing the sensor from the sensing region. The system tracks a moving detected object as it enters an occlusion region and predicts where the moving detected object will exit from the occlusion region.
G06V 20/58 - Recognition of moving objects or obstacles, e.g. vehicles or pedestriansRecognition of traffic objects, e.g. traffic signs, traffic lights or roads
B60W 10/04 - Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
B60W 10/20 - Conjoint control of vehicle sub-units of different type or different function including control of steering systems
G01S 13/89 - Radar or analogous systems, specially adapted for specific applications for mapping or imaging
G01S 13/931 - Radar or analogous systems, specially adapted for specific applications for anti-collision purposes of land vehicles
G06T 7/246 - Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
66.
VEHICULAR BLIND SPOT MONITORING SYSTEM WITH ENHANCED LANE AND ROAD EDGE DETERMINATION
A vehicular sensing system includes a camera and a radar sensor disposed at a vehicle. The vehicular sensing system, responsive to processing of radar data, determines presence of an object within a blind spot of a driver of the equipped vehicle that is at least sideward of the equipped vehicle. The vehicular sensing system, responsive to processing of image data, determines that the equipped vehicle is within a traffic lane that borders an edge of a road. The vehicular sensing system, responsive to determining that the detected object is not sideward of a side of the equipped vehicle that is closest to the edge of the road, generates a blind spot warning. The vehicular sensing system, responsive to determining that the detected object is sideward from the side of the equipped vehicle that is closest to the edge of the road, suppresses the blind spot warning.
A vehicular sensing system includes a sensor disposed at a vehicle and capturing sensor data. The vehicular sensing system, responsive to detecting an object present exterior of the vehicle, and based on a predicted path of travel of the equipped vehicle approaching the detected object, estimates a distance between the detected object and a lateral outermost part of the equipped vehicle at a side of the equipped vehicle that, as the equipped vehicle moves along the predicted path of travel and approaches the detected object, will be closest to the detected object. The vehicular sensing system determines that the distance between the lateral outermost part of the equipped vehicle and the detected object is less than a threshold distance.
A vehicular sensing system includes a camera disposed at a vehicle and capturing image data. The system includes a radar sensor sensing exterior of the equipped vehicle, the radar sensor capturing radar data. The system includes a display disposed within the vehicle and viewable by a driver of the vehicle. The vehicular sensing system, responsive to processing by a data processor of image data captured by the camera and of radar data captured by the radar sensor, fuses the image data and the radar data. The vehicular sensing system detects an object within the field of view of the camera and the field of sensing of the radar sensor and determines height of the detected object relative to the ground. The display displays information pertaining to the determined height of the detected object relative to the ground.
G01S 13/86 - Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
G01S 13/931 - Radar or analogous systems, specially adapted for specific applications for anti-collision purposes of land vehicles
G06V 10/80 - Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level
A vehicular sensing system includes a camera and a radar sensor disposed at a vehicle. The system determines a plurality of data points that each represents a respective position on a respective lane marker of the road relative to the equipped vehicle. The system, for each data point of the plurality of data points, tracks the respective positions on respective lane markers relative to the equipped vehicle. The system detects presence of another vehicle rearward of the equipped vehicle, and determines location of the detected other vehicle relative to the tracked respective positions on respective lane markers that are located rearward of the equipped vehicle. The vehicular sensing system determines a collision threat for a lane change maneuver by the equipped vehicle based on the tracked respective positions. Responsive to determining that the detected object is not a collision threat, the system maneuvers the vehicle to an adjacent
A vehicular occupant health monitoring system includes a heartbeat sensor disposed at a vehicle and operable to capture sensor data measuring an aspect associated with the heart of an occupant of the vehicle. An electronic control unit (ECU) includes a processor operable to process sensor data captured by the heartbeat sensor and provided to the ECU. The ECU retrieves a profile associated with an occupant from a plurality of profiles, the retrieved profile including nominal health data of the occupant. The vehicular occupant health monitoring system determines whether the measured aspect associated with the heart of the occupant is abnormal. The nominal health data is updated based on processing at the ECU of additional sensor data captured by the heartbeat sensor. Responsive to determining the measured aspect associated with the heart of the occupant is abnormal, speed of the vehicle is prohibited from exceeding a predetermined threshold.
B60W 40/08 - Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit related to drivers or passengers
H04W 4/02 - Services making use of location information
H04W 4/90 - Services for handling of emergency or hazardous situations, e.g. earthquake and tsunami warning systems [ETWS]
A vehicular interior cabin monitoring system includes an interior rearview mirror assembly with a mirror head that accommodates a camera and a plurality of sets of light sources. The system includes a plurality of electronic switches. Each of the electronic switches (i) is connected in parallel across a respective set of light sources and (ii) is connected in series with at least one other set of light sources when at least one other electronic switch operates in its opened state. With each electronic switch operating in its respective opened state, electrical current provided by the current driver passes through the individual light sources of the plurality of sets of lights sources. The system is (i) operable to provide an occupant detection function for detecting an occupant present within an interior cabin of the vehicle and (ii) operable to provide a driver monitoring function for monitoring a driver of the vehicle.
A vehicular interior rearview mirror assembly includes a mirror head adjustably attached at a mounting base. The mirror head includes a mirror reflective element having a reflector-coated glass substrate having a front side and a rear side separated by a thickness of the glass substrate. A driver monitoring camera is accommodated by the mirror head and views through a camera region of the glass substrate of the mirror reflective element. A refraction-compensating element is disposed between a lens of the driver monitoring camera and the camera region of the glass substrate of the mirror reflective element. The refraction-compensating element has a first side and a second side that is not parallel to the first side. The refraction-compensating element offsets refraction of light that passes through the camera region of the glass substrate of the mirror reflective element.
G02B 7/182 - Mountings, adjusting means, or light-tight connections, for optical elements for prismsMountings, adjusting means, or light-tight connections, for optical elements for mirrors for mirrors
G02B 27/00 - Optical systems or apparatus not provided for by any of the groups ,
H04N 7/18 - Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
H04N 23/21 - Cameras or camera modules comprising electronic image sensorsControl thereof for generating image signals from infrared radiation only from near infrared [NIR] radiation
H04N 23/55 - Optical parts specially adapted for electronic image sensorsMounting thereof
H04N 23/56 - Cameras or camera modules comprising electronic image sensorsControl thereof provided with illuminating means
H04N 23/695 - Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
73.
VEHICULAR CONTROL SYSTEM WITH ENHANCED LANE CENTERING
A vehicular control system includes a camera disposed at a windshield of a vehicle and viewing forward of the vehicle. The system includes an electronic control unit (ECU) that, via processing of image data captured by the camera and transferred to the ECU, determines lane markers of a traffic lane along a road being traveled by the vehicle. The ECU determines a lane quality value based at least in part on determining fading of one or more lane markers of the traffic lane of the road and/or determining vanishing of one or more lane markers of the traffic lane of the road. When the lane quality value exceeds a threshold value, the system provides a steering command to a steering system of the vehicle to adjust a heading of the vehicle to center the vehicle within the traffic lane of the road being traveled by the vehicle.
G06T 7/70 - Determining position or orientation of objects or cameras
G06V 20/58 - Recognition of moving objects or obstacles, e.g. vehicles or pedestriansRecognition of traffic objects, e.g. traffic signs, traffic lights or roads
74.
Vehicular driving assist system with enhanced data processing
A vehicular driving assistance system includes an exterior viewing camera disposed at a vehicle and viewing exterior of the vehicle. Image data captured by the camera is provided to and processed at an electronic control unit (ECU). The ECU performs processing tasks for multiple vehicle systems. The ECU prioritizes processing of a plurality of tasks including a higher priority task and a lower priority task. Responsive to prioritization by the ECU of the higher priority task, the system (i) processes captured image data at the ECU for the higher priority task and the (ii) uploads captured image data to the cloud for processing at a remote processor. Processing of uploaded captured image data at the remote processor comprises at least one selected from the group consisting of (i) data negotiation, (ii) data collection, (iii) load analysis, (iv) load distribution and (v) monitoring.
G06N 3/043 - Architecture, e.g. interconnection topology based on fuzzy logic, fuzzy membership or fuzzy inference, e.g. adaptive neuro-fuzzy inference systems [ANFIS]
B60W 30/00 - Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
G05D 1/81 - Handing over between on-board automatic and on-board manual control
G06F 9/50 - Allocation of resources, e.g. of the central processing unit [CPU]
G06N 7/02 - Computing arrangements based on specific mathematical models using fuzzy logic
A vehicular driver monitoring system includes a driver monitoring camera and an illumination source accommodated within a movable head of an interior rearview mirror assembly of a vehicle. The illumination source is electrically activatable to emit near-infrared (NIR) light that illuminates with near-infrared (NIR) light at least the eyes of a driver of the vehicle. Emission of near-infrared (NIR) light by the illumination source is modulated on/off at an illumination source modulation rate. The camera frame capture rate of the driver monitoring camera is bigger than the illumination source modulation rate of near-infrared (NIR) light emitted by the illumination source. Frames of image data are captured by the camera and are processed while the illumination source is on and is emitting near-infrared (NIR) light, and frames of image data are captured by the camera and are processed while the illumination source is off and is not emitting near-infrared (NIR) light.
A vehicular occupant monitoring system includes a camera disposed at an interior rearview mirror of a vehicle. A polarization filter is disposed between an imaging array sensor of the camera and occupants of the vehicle such that light reflected off of the occupants of the vehicle passes through the polarization filter prior to reaching the imaging array sensor. The vehicular occupant monitoring system, responsive to processing by the image processor of image data captured by the camera, determines presence of an occupant of the vehicle.
A vehicular control system includes an electronic control unit (ECU) and a camera disposed at a vehicle and viewing exterior of the vehicle. The ECU includes an image processor operable to process image data captured by the camera and transferred to the ECU. The vehicular control system, responsive to processing at the ECU of image data captured by the camera, determines a condition exterior of the vehicle. The vehicular control system, based on the determined condition, switches from a power operational mode to an economy operational mode. The power operational mode provides greater performance of the vehicle compared to the economy operational mode, and the economy operational mode provides greater fuel efficiency for the vehicle compared to the power operational mode.
A vehicular electrical power generation system includes an air capture device that is disposed at a vehicle and, when the vehicle is travelling in a forward direction, receives air flow through an inlet of the air capture device. A turbine is in fluid communication with the inlet and, responsive to air flow through the turbine, generates electricity. Electricity generated by the turbine is used to at least one of electrically charge a battery of the vehicle and electrically operate a system of the vehicle.
B60R 16/03 - Electric or fluid circuits specially adapted for vehicles and not otherwise provided forArrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric for supply of electrical power to vehicle subsystems
F03D 9/32 - Wind motors specially adapted for installation in particular locations on moving objects, e.g. vehicles
A vehicular cabin monitoring system includes a radiation sensing device disposed at an interior portion of an interior cabin of a vehicle and capturing sensor data representative of electromagnetic radiation present at the radiation sensing device. An electronic control unit (ECU) includes a data processor operable to process sensor data captured by the radiation sensing device. The vehicular cabin monitoring system, based on processing at the ECU of sensor data captured by the radiation sensing device, determines an electromagnetic radiation level within the interior cabin of the vehicle. The vehicular cabin monitoring system, based on the determined electromagnetic radiation level within the interior cabin of the vehicle being greater than a threshold electromagnetic radiation level, generates an alert to a driver of the vehicle.
A vehicular vision system includes a camera module mounted at an in-cabin side of a windshield of a vehicle and an electronic control unit (ECU) comprising electronic circuitry and associated software. The ECU, responsive to processing of location data captured by a global positioning system, determines a current geographical location of the vehicle. The ECU, with the vehicle approaching an intersection of another road, and at least in part via processing at the ECU of image data captured by the camera, determines a right-of-way order of other vehicles at the intersection based on (i) the current geographical location of the vehicle and (ii) an order of arrival of the other vehicles at the intersection relative to arrival of the equipped vehicle at the intersection. Based on the determined right-of-way order of the other vehicles at the intersection, the ECU determines when the vehicle has the right-of-way at the intersection.
G06V 10/56 - Extraction of image or video features relating to colour
G06V 20/58 - Recognition of moving objects or obstacles, e.g. vehicles or pedestriansRecognition of traffic objects, e.g. traffic signs, traffic lights or roads
81.
VEHICULAR CAMERA WITH LENS BARREL ATTACHED TO IMAGER CIRCUIT BOARD
A vehicular camera includes an imager printed circuit board (PCB) having an imager disposed at a first side of the imager PCB. A metal lens barrel accommodates a lens having a plurality of lens optics disposed within the metal lens barrel between an inner end and an outer end. The inner end of the metal lens barrel is adhesively bonded to the first side of the imager PCB via an adhesive ring. The adhesive ring is disposed between the inner end of the metal lens barrel and the first side of the imager PCB and circumscribes the imager at the first side of the imager PCB to enclose a region between the imager PCB and the lens, whereby the imager is disposed within the enclosed region between the imager PCB and the lens accommodated by the metal lens barrel.
H04N 23/52 - Elements optimising image sensor operation, e.g. for electromagnetic interference [EMI] protection or temperature control by heat transfer or cooling elements
H04N 23/55 - Optical parts specially adapted for electronic image sensorsMounting thereof
H04N 23/57 - Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
A vehicular control system includes a forward-sensing sensor and a rearward-sensing sensor disposed at an equipped vehicle. The system, as the equipped vehicle travels along a traffic lane of a road, and responsive to processing of forward sensor data captured by the forward-sensing sensor, determines a condition ahead of the equipped vehicle. The system, via processing of rearward sensor data captured by the rearward-sensing sensor, determines an overtaking vehicle rearward of the equipped vehicle and overtaking the equipped vehicle to pass the equipped vehicle. Based at least in part on the determined condition and the determined overtaking vehicle, the system determines a safeness of a passing maneuver by the overtaking vehicle. Responsive to determination that it is not safe for the overtaking vehicle to pass the equipped vehicle, the system indicates to the overtaking vehicle that it is not safe for the overtaking vehicle to pass the equipped vehicle.
B60W 10/04 - Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
B60W 10/18 - Conjoint control of vehicle sub-units of different type or different function including control of braking systems
B60W 10/20 - Conjoint control of vehicle sub-units of different type or different function including control of steering systems
B60W 50/14 - Means for informing the driver, warning the driver or prompting a driver intervention
G06V 20/58 - Recognition of moving objects or obstacles, e.g. vehicles or pedestriansRecognition of traffic objects, e.g. traffic signs, traffic lights or roads
H04N 25/76 - Addressed sensors, e.g. MOS or CMOS sensors
A vehicular parking assist system includes a plurality of sensors disposed at a vehicle and sensing exterior of the vehicle. The vehicular parking assist system, via processing of captured sensor data, and while the vehicle is conducting a parking maneuver, detects an object and tracks location of the detected object relative to the vehicle until the detected object leaves a field of sensing of the at least one sensor of the plurality of sensors. The system, after the detected object leaves the field of sensing of the at least one sensor, predicts location of the detected object relative to the vehicle. The system, upon completion of the parking maneuver, determines that the detected object is hazardous based on the predicted location of the detected object relative to the vehicle, and responsive to determining that the detected object is hazardous, restricts opening of a door of the vehicle.
A camera sub-assembly for a vehicular camera includes a cylindrical lens barrel and a lens holder. The cylindrical lens barrel is received in a cylindrical lens barrel receiving structure of the lens holder. An axial face of an annular flange of the cylindrical lens barrel is juxtaposed with an axial face at the outer end of the cylindrical lens barrel receiving structure of the lens holder with an adhesive disposed therebetween. An imager is disposed at a first side of an imager printed circuit board, which is attached at the lens holder. With the cylindrical lens barrel held in position relative to the imager by the adhesive, a frontmost optical element of a plurality of optical elements accommodated by the cylindrical lens barrel is distanced further from the imager than any other optical element of the plurality of optical elements. The frontmost optical element may be a glass lens element.
H04N 23/55 - Optical parts specially adapted for electronic image sensorsMounting thereof
B60R 11/04 - Mounting of cameras operative during driveArrangement of controls thereof relative to the vehicle
G02B 7/00 - Mountings, adjusting means, or light-tight connections, for optical elements
G02B 7/02 - Mountings, adjusting means, or light-tight connections, for optical elements for lenses
G02B 7/04 - Mountings, adjusting means, or light-tight connections, for optical elements for lenses with mechanism for focusing or varying magnification
G02B 13/00 - Optical objectives specially designed for the purposes specified below
G02B 27/00 - Optical systems or apparatus not provided for by any of the groups ,
G02B 27/62 - Optical apparatus specially adapted for adjusting optical elements during the assembly of optical systems
A vehicular driving assist system includes a camera, a non-vision sensor, and an electronic control unit (ECU) disposed at a vehicle equipped with the vehicular driving assist system. Captured image data is transferred from the camera to the ECU and processed at the ECU and captured sensor data is transferred from the non-vision sensor to the ECU and processed at the ECU. Another vehicle forward of the equipped vehicle is detected via processing at the ECU of captured image data and via processing at the ECU of captured sensor data. The system determines a difference between detection of the other vehicle via processing at the ECU of transferred image data and detection of the other vehicle via processing at the ECU of transferred sensor data. The vehicular driving assist system determines misalignment of the non-vision sensor relative to the camera based at least in part on the determined difference.
A vehicular communication system includes a vehicle system of a vehicle. The vehicle system is operable to determine a service need of the vehicle. Responsive to the vehicle system of the vehicle determining the service need of the vehicle, the vehicular communication system determines a plurality of service providers (i) that can address the determined service need of the vehicle and (ii) that have at least one driver-desired characteristic of a service provider. The at least one driver-desired characteristic is provided by a driver of the vehicle and includes (i) a food service at the service provider, (ii) a clean service provider and/or (iii) a restroom at the service provider. The vehicular communication system communicates to the driver a list of the determined plurality of service providers. Responsive to the driver selecting a service provider from the list of determined service providers, the vehicle navigates to the selected service provider.
A vehicular vision system includes a camera disposed at a vehicle and capturing image data, and an electronic control unit (ECU) having an image processor for processing image data captured by the camera. The system, responsive to processing by the image processor of image data captured by the camera, saves the image data to a circular buffer that has volatile memory. The vehicular vision system, responsive to a trigger condition indicating a deficiency in an advanced driving assistance feature of the vehicle, transmits, via wireless communication, the saved image data from the circular buffer to a remote server. The vehicular vision system, responsive to a user input, copies the saved image data from the circular buffer to non-volatile memory disposed within the vehicle.
B60R 1/24 - 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 for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view in front of the vehicle
G10L 15/22 - Procedures used during a speech recognition process, e.g. man-machine dialog
88.
VEHICULAR VISION SYSTEM WITH INCIDENT RECORDING FUNCTION
A vehicular vision system includes a camera disposed at a vehicle and viewing forward of the vehicle. Image data captured by the camera is processed at an electronic control unit (ECU) for at least two driving assist systems of the vehicle. Image data captured by the camera is saved in volatile memory of the ECU. Responsive to occurrence of at least one emergency event, image data that is saved in volatile memory of the ECU for a first period of time prior to the occurrence of the at least one emergency event is moved to non-volatile memory of the ECU and image data captured by the imaging array of the camera for a second period of time after occurrence of the at least one emergency event is saved in the non-volatile memory. The at least one emergency event includes a deceleration of the equipped vehicle of 0.4 g or more.
A vehicular control system includes a forward-viewing camera disposed at a vehicle and viewing forward of the vehicle, a gaze detection device that views a driver of the vehicle, and an image processor operable to process captured image data. Image data captured by the gaze detection device is processed to detect a gaze direction of the driver of the vehicle. The vehicular control system, via processing by the image processor of captured image data, detects an object present ahead of the vehicle and being gazed at by the driver of the vehicle. The vehicular control system, responsive at least in part to the detected gaze direction of the driver of the equipped vehicle, and via processing by the image processor of captured image data, classifies the detected object as being one selected from the group consisting of (i) a pedestrian, (ii) a live animal and (iii) a dead animal.
B60R 16/023 - Electric or fluid circuits specially adapted for vehicles and not otherwise provided forArrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric for transmission of signals between vehicle parts or subsystems
B60Q 1/14 - Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights having dimming means
B60R 1/00 - Optical viewing arrangementsReal-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
B60R 1/062 - Rear-view mirror arrangements mounted on vehicle exterior with remote control for adjusting position
B60R 1/12 - Mirror assemblies combined with other articles, e.g. clocks
B60R 1/23 - 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 for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
B60R 16/03 - Electric or fluid circuits specially adapted for vehicles and not otherwise provided forArrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric for supply of electrical power to vehicle subsystems
B60W 30/16 - Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
A vehicular driving assist system includes a camera disposed at a vehicle. The system, while the equipped vehicle is traveling along a traffic lane, determines lane markings of the traffic lane. The system determines curvature of the traffic lane based on (i) curvature of the determined lane markings and (ii) map data representative of a current geographical location of the vehicle. The system, based at least in part on the determined curvature, determines a target velocity profile that establishes a target lateral velocity for the vehicle to follow as the vehicle travels along the traffic lane of the road. Based at least in part on the determined target velocity profile, the system decelerates the vehicle to follow the target velocity profile as the vehicle travels along the traffic lane of the road while lateral acceleration of the equipped vehicle remains below a maximum allowable lateral acceleration.
G06V 10/147 - Details of sensors, e.g. sensor lenses
G06V 10/80 - Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level
G06V 20/56 - Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
A vehicular trailering assist system includes at least one vehicle camera, an electronic control unit (ECU) and a display screen disposed at a vehicle. When a trailer hitched to the vehicle is not a trailer for which the vehicular trailering assist system has been previously calibrated, the driver is instructed to calibrate the system for the trailer. When the vehicular trailering assist system is calibrated, the system determines an obstacle-free path of travel for the vehicle and the trailer to follow to maneuver toward a target location. The system controls steering of the vehicle to maneuver the vehicle and the trailer along the determined obstacle-free path of travel. While the vehicle and the trailer are maneuvered along the determined obstacle-free path of travel, the determined obstacle-free path of travel is displayed on the display screen overlaying displayed video images derived from image data captured by the vehicle camera.
B62D 13/06 - Steering specially adapted for trailers for backing a normally-drawn trailer
B60R 1/00 - Optical viewing arrangementsReal-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
B60R 1/26 - 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 for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view to the rear of the vehicle
B60W 10/18 - Conjoint control of vehicle sub-units of different type or different function including control of braking systems
B60W 10/20 - Conjoint control of vehicle sub-units of different type or different function including control of steering systems
G01C 21/36 - Input/output arrangements for on-board computers
G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
G05D 1/249 - Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons from positioning sensors located off-board the vehicle, e.g. from cameras
G05D 1/617 - Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards
A vehicular camera module includes a main circuit board and an imager circuit board having an imager disposed thereat. A lens barrel accommodating a lens is at least partially disposed in a passageway of a lens holder. The vehicular camera module includes a housing having an upper cover and a lower cover that are joined together. Electronic circuitry disposed at a main printed circuit board of the main circuit board includes an image processor. The electronic circuitry disposed at the main printed circuit board of the main circuit board includes an image processor. With the imager operated to capture image data, captured image data is provided via a flexible ribbon cable to the electronic circuitry disposed at the main printed circuit board of the main circuit board. The imager is disposed within a rear portion of the housing and is not accommodated within a front portion of the housing.
A vehicular vision system includes a camera module mounted at an in-cabin side of a windshield of a vehicle. The camera module includes a temperature sensor. An airflow source of a heating, ventilation and air conditioning (HVAC) system of the vehicle is in fluid communication with a vent at an interior portion of the vehicle. When circuitry of the camera module is electrically operated, and when the vehicular vision system controls the HVAC system to direct airflow via the vent along a portion of the camera module, heat generated by the circuitry of the camera module during operation of the circuitry is dissipated. The vehicular vision system controls the HVAC system to direct airflow via the vent along the portion of the camera module responsive to an output of the temperature sensor being indicative of the circuitry of the camera module operating outside of a set operating temperature range.
H04N 23/52 - Elements optimising image sensor operation, e.g. for electromagnetic interference [EMI] protection or temperature control by heat transfer or cooling elements
B60S 1/02 - Cleaning windscreens, windows, or optical devices
H04N 7/18 - Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
H04N 23/57 - Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
94.
VEHICULAR CONTROL SYSTEM WITH PASSING CONTROL FUNCTION
A vehicular control system includes cameras and radar sensors disposed at an equipped vehicle. As the equipped vehicle travels forward along a traffic lane of a multi-lane road, the system, responsive at least in part to processing of image data captured by a forward-viewing camera and/or radar data captured by a forward sensing radar sensor, detects a leading vehicle traveling in the traffic lane that the equipped vehicle is traveling along. The system, responsive at least in part to processing of image data captured by a left-side camera or a right-side camera, detects another vehicle traveling in another traffic lane that is adjacent to the traffic lane along which the equipped vehicle is traveling. With the equipped vehicle operating in accordance with SAE Level 3, the system controls maneuvering of the equipped vehicle into the other traffic lane ahead of the other vehicle to pass the leading vehicle.
A vehicular radar sensing system includes a camera and at least one radar sensor having a plurality of transmitting antennas and a plurality of receiving antennas. Individual transmitting antennas are arranged in multiple rows, and individual receiving antennas are arranged in multiple columns. The multiple rows of transmitting antennas include first and second rows of transmitting antennas, each row having at least four transmitting antennas. Each column of the multiple columns of receiving antennas comprises at least four receiving antennas. The multiple columns of receiving antennas are disposed between the first row of transmitting antennas and the second row of transmitting antennas. The vehicular radar sensing system applies two dimensional multiple input multiple output processing to outputs of the receiving antennas. The vehicular radar sensing system, responsive to processing of outputs of the receiving antennas, detects at least one object present forward of the vehicle for a driving assist system.
A vehicular camera monitoring system includes a rearward-viewing camera, a driver-side camera, a passenger-side camera and a dual-mode interior rearview mirror assembly disposed at an interior cabin of a vehicle. The dual-mode interior rearview mirror assembly is operable in a mirror mode and a display mode. With the vehicle traveling along a road, and with the dual-mode interior rearview mirror assembly operating in the display mode, a video display screen displays video images derived at least in part from image data captured by the rearward-viewing camera, the driver-side camera and/or the passenger-side camera. The video display screen displays at least passenger-side video images of a passenger-side region sideward and rearward of the passenger side of the vehicle until a period of time elapses following a passenger exiting the vehicle from a passenger seat of the vehicle.
B60K 35/60 - Instruments characterised by their location or relative disposition in or on vehicles
B60R 1/26 - 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 for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view to the rear of the vehicle
B60R 1/28 - 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 for viewing an area outside the vehicle, e.g. the exterior of the vehicle with an adjustable field of view
B60R 11/04 - Mounting of cameras operative during driveArrangement of controls thereof relative to the vehicle
B60K 35/10 - Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
B60K 35/28 - Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor characterised by the type of the output information, e.g. video entertainment or vehicle dynamics informationOutput arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor characterised by the purpose of the output information, e.g. for attracting the attention of the driver
B60R 1/12 - Mirror assemblies combined with other articles, e.g. clocks
B60R 1/30 - 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 providing vision in the non-visible spectrum, e.g. night or infrared vision
97.
Vehicular driver monitoring system with camera view optimization
A vehicular driver monitoring system includes a camera disposed at a mirror head of an interior rearview mirror of a vehicle and viewing at least the head of a driver of the vehicle. The camera moves together and in tandem with the mirror head when the mirror head is adjusted by the driver of the vehicle to adjust a rearward view of the driver. Responsive to the driver of the vehicle adjusting the orientation of the mirror head, and responsive to processing at the ECU of image data captured by the camera, the vehicular driver monitoring system maintains the camera's view of at least the head of the driver as it was before the driver adjusted the orientation of the mirror head. The vehicular driver monitoring system, at least in part via processing at the ECU of image data captured by the camera, monitors the driver of the vehicle.
A vehicular vision system includes a camera module configured for mounting at an in-cabin portion of a windshield of a vehicle and including a circuit board and a camera that views forward of the vehicle and through the windshield. The camera includes a CMOS imaging sensor array. A flexible coupling is provided between the camera and the circuit board. A data processor is operable to process image data captured by the CMOS imaging sensor array. Image data captured by the CMOS imaging sensor array is encoded by a data encoder chip. Captured image data captured that is encoded at the data encoder chip is carried as a data stream from the camera module to the data processor via a cable. Communication via the cable between the camera and the data processor is bidirectional. The data processor is located in the vehicle remote from the camera module.
B60R 11/04 - Mounting of cameras operative during driveArrangement of controls thereof relative to the vehicle
B60Q 1/14 - Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights having dimming means
B60R 1/24 - 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 for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view in front of the vehicle
A vehicular control system includes a camera and a radar sensor disposed at an equipped vehicle. The system, via processing of image data and processing of sensor data, determines other vehicles present on the road ahead of the equipped vehicle. The system, responsive to determining the presence of a plurality of other vehicles present on the road, determines a threat level for each vehicle of the plurality of other vehicles. An emergency braking system of the equipped vehicle is controlled responsive to the determined threat levels. When a vehicle of the plurality of other vehicles is no longer detectable via processing of image data captured by the camera and processing of sensor data captured by the radar sensor, the system predicts a position for the no longer detectable vehicle of the plurality of other vehicles.
G06T 7/70 - Determining position or orientation of objects or cameras
G06V 20/58 - Recognition of moving objects or obstacles, e.g. vehicles or pedestriansRecognition of traffic objects, e.g. traffic signs, traffic lights or roads
A vehicular trailer angle detection system includes a camera disposed at a rear portion of a vehicle. The vehicular trailer angle detection system, via processing of frames of image data captured by the camera, tracks changes of features present in a current frame of captured image data and present in a previous frame of captured image data and determines features of the trailer based on the tracked changes of features. The determined features of the trailer have respective changes between the current frame of image data captured by the camera and the previous frame of image data captured by the camera. The vehicular trailer angle detection system determines angle of the trailer relative to the vehicle based at least in part on tracking of the determined features of the trailer over multiple captured frames of image data.
G06K 9/00 - Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
B60R 1/26 - 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 for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view to the rear of the vehicle
G06T 7/246 - Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
patents
