Magna Electronics Inc.

Michael Schaffner

Nikhil Gupta

Goerg Pflug

Hilda Faraji

Ghanshyam Rathi

Christian Traub

Joern Ihlenburg

A vehicular vision system includes a plurality of cameras disposed at a vehicle and capturing image data as the equipped vehicle is driven along a traffic lane of a road. Captured image data is processed to detect a rearward-approaching vehicle and determine a path of travel of the detected rearward-approaching vehicle. Responsive to determining that the path of travel of the detected rearward-approaching vehicle is along a side traffic lane adjacent to the traffic lane along which the equipped vehicle is driven, the vehicular vision system (i) displays at a video display screen video images derived at least from image data captured by the side camera that is at the side portion of the equipped vehicle that is adjacent to the side traffic lane and (ii) overlays a transparent graphic overlay overlaying the displayed video images that is based on the determined path of travel of the detected rearward-approaching vehicle.

Multi-camera vehicular vision system with graphic overlay

A method for stitching image data captured by multiple vehicular cameras includes equipping a vehicle with a vehicular vision system having a control and a plurality of cameras disposed at the vehicle so as to have respective fields of view exterior the vehicle. Image data captured by first and second cameras of the plurality of cameras is processed to detect and track an object present in and moving within an overlapping portion of the fields of view of the first and second cameras. Image data captured by the first and second cameras is stitched, via processing provided captured image data, to form stitched images. Stitching of captured image data is adjusted responsive to determination of a difference between a feature of a detected and tracked object as captured by the first camera and the feature of the detected and tracked object as captured by the second camera.

Method for stitching image data captured by multiple vehicular cameras

A method of synchronizing cameras for a vehicular vision system includes providing camera control signals to the cameras from the ECU via respective links from the ECU to the cameras. At least two of the cameras are in communication with a hub via respective links, and the ECU is in communication with the hub via a hub link. The camera control signals are provided to one camera via a link between the ECU and the camera, and are provided to at least two other cameras via the hub link and respective links between the hub and the other cameras. The camera control signals regulate timing of the respective camera via starting the camera synchronous to the ECU reference timing. Image data is captured by each camera and provided to the ECU via the respective link or links.

Method of synchronizing multiple vehicular cameras with an ECU

A method for stitching images captured by multiple vehicular cameras includes disposing a plurality of cameras at the vehicle so as to have respective fields of view exterior the vehicle. Image data captured by first and second cameras of the plurality of cameras is processed to detect an object present in an overlapping portion of the fields of view of the first and second cameras. Image data captured by the first and second cameras is stitched, via processing provided captured image data, to form stitched images. Stitching of captured image data is adjusted responsive to determination of a difference between a characteristic of a feature of a detected object as captured by the first camera and the characteristic of the feature of the detected object as captured by the second camera in order to mitigate misalignment of stitched images.

Method for stitching images captured by multiple vehicular cameras

A method of synchronizing cameras with an electronic control unit (ECU) of a vehicular vision system includes providing camera control signals to the cameras from the ECU via respective links from the ECU to the cameras, with the camera control signals regulating timing of the respective camera to be synchronous with reference timing of the ECU. The timing regulation of the cameras includes starting the camera synchronous to the ECU reference timing and holding the camera synchronous to the ECU reference timing. Image data is captured with each camera and provided to the ECU via the respective link. Image data captured by at least one of the cameras may be processed to detect an object present exterior of the vehicle.

A dynamic image stitching system for stitching images captured by cameras of a vision system for a vehicle includes a plurality of cameras disposed at the vehicle and having respective fields of view exterior the vehicle. The field of view of each side camera partially overlaps the field of view of a front camera and partially overlaps the field of view of a rear camera. Image data captured by the plurality of cameras is processed at a processor to detect an object present in an overlapping portion of the fields of view of two cameras. The processor stitches, via a stitching algorithm, image data captured by the cameras. The processor adjusts the stitching algorithm responsive to a determination of a difference between a characteristic of the feature as captured by one of the two cameras and the characteristic of the feature as captured by another of the two cameras.

Multi-camera dynamic top view vision system

A dynamic image stitching system for stitching images captured by multiple cameras of a vision system of a vehicle includes a first camera disposed at a vehicle and having a first field of view exterior the vehicle and a second camera disposed at the vehicle and having a second field of view exterior the vehicle. The first and second fields of view at least partially overlap. A processor is operable to process image data captured by the first and second cameras. The processor processes captured image data to determine characteristics of features or objects present in the overlapping region of the first and second fields of view. The processor is operable to adjust a stitching algorithm responsive to a determination of a difference between a characteristic of a feature as captured by the first camera and the characteristic of the feature as captured by the second camera.

A vehicular vision system includes a plurality of cameras disposed at the vehicle and having respective fields of view exterior of the vehicle and being operable to capture frames of image data. Image data captured by each of the cameras is provided to an ECU via an ETHERNET link from the respective camera to the ECU. At least one control signal for controlling operation of each camera is provided from the ECU to the respective camera via the respective ETHERNET link. Image data captured by at least one of the cameras is processed at the ECU to detect an object present exterior of the equipped vehicle, wherein the object is a vehicle that is approaching the equipped vehicle and that is traveling in a traffic lane adjacent to a traffic lane in which the equipped vehicle is traveling.

Vehicle vision system utilizing multiple cameras and ethernet links

A vehicle door control system includes a camera disposed at a portion of the vehicle and having a field of view that encompasses a region exterior of the vehicle that is swept by a door of the vehicle as the door is opened and closed via a powered door opening/closing system of the vehicle. An image processor is operable to process image data captured by the camera to detect an object present in the region that is swept by the door when the door is opening and to determine if the door may collide with the detected object when the door is being opened. During opening of the door and responsive to determination of a potential collision of the opening door with the detected object, the vehicle door control system positions the door at a partially open position whereby a gap is established between the door and the detected object.

Vehicle door control system

A vehicular vision system includes an image sensor operable to capture image data and an image processor operable to process frames of captured image data. The image processor is operable to detect edges or corners in the captured images. The image processor is operable to determine a number of edges detected in individual frames of captured image data. The vision system adjusts a sensitivity of the image processor responsive to the determined number of edges detected in at least one frame of captured image data. The image processor may detect up to a selected maximum number of edges in a frame of captured image data, and the vision system may adjust the sensitivity of the image processor so that the determined number of edges detected in a subsequent frame of captured image data is at or near the selected maximum number of edges.

Vehicle vision system utilizing corner detection

A vehicular vision system includes a plurality of cameras disposed at the vehicle and having respective fields of view exterior of the vehicle and being operable to capture frames of image data. Image data captured by each of the first camera is provided to an ECU via a respective ETHERNET link from the respective camera to the ECU. Control signals controlling operation of each camera are provided from the ECU to the respective camera via the respective ETHERNET link. Each camera receives from the ECU via the respective ETHERNET link a camera control signal that regulates timing of the respective camera to be synchronous with reference timing of the ECU. Regulation of timing of each camera includes starting the respective camera synchronous to the ECU reference timing and holding the respective camera synchronous to the ECU reference timing.

Vehicle vision system utilizing camera synchronization

A vehicular vision system includes an image sensor and an image processor. The image sensor is disposed at a vehicle and has an exterior field of view. The image sensor is operable to capture image data. The image processor is operable to process captured image data. The vision system is operable to automatically synchronize the image sensor to an ECU reference timing. The vision system may power on the image sensor synchronous to the ECU reference timing, and the vision system may regulate the timing of the image sensor synchronous to the ECU reference timing. The vision system may regulate the timing of the image sensor between a fast mode and a slow mode to synchronize the timing of the image sensor to the ECU reference timing.

A hatch control system for a vehicle includes a camera disposed at a rear portion of the vehicle and having a rearward field of view that encompasses a region at the rear of the vehicle that is swept by a hatch or liftgate or deck lid or door of the vehicle as the hatch is opened and closed, such as via a powered hatch opening/closing system. An image processor is operable to process image data captured by the camera to determine if an object is present in the region that is swept by the hatch to determine if the hatch may collide with the detected object when the hatch is being opened/closed. Responsive to determination of a potential collision of the hatch with a detected object, the vehicle hatch control system may stop movement of the hatch and/or may move the hatch to a holding position.

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Gross-Gerau, Germany

Michael Schaffner