Patente

A driver assistance system of a vehicle includes at least one vehicle environmental sensor having a field of sensing exterior of the vehicle. A sensor data processor is operable to process sensor data captured by the sensor. When the vehicle is operated, the sensor data processor receives captured sensor data that is representative of the vehicle surrounding scene. The sensor data processor fuses the sensor data with map data to generate an annotated master map of the scene captured by the sensor. A display device is operable to display information for viewing by a driver of the vehicle. The displayed information is derived at least in part from the annotated master map and is displayed for viewing by the driver of the vehicle who is executing a maneuver of the vehicle.  ▲ 

A vision system for a vehicle includes a camera disposed at the vehicle and having a field of view exterior of the vehicle. The camera includes an RGB photosensor array having multiple rows of photosensing elements and multiple columns of photosensing elements. An in-line dithering algorithm is applied to individual lines of photosensing elements of the photosensor array in order to reduce at least one of color data transmission and color data processing. The in-line dithering algorithm includes at least one of an in-row dithering algorithm that is applied to individual rows of photosensing elements of the photosensor array and an in-column dithering algorithm that is applied to individual columns of photosensing elements of the photosensor array. The in-line dithering algorithm may be operable to determine most significant bits and least significant bits of color data of photosensing elements of the photosensor array.  ▲ 

A vision system of a vehicle includes a camera disposed at a vehicle and having a field of view exterior of the vehicle. The camera includes an imaging array having a plurality of photosensing elements arranged in a two dimensional array of rows and columns. The imaging array includes a plurality of sub-arrays comprising respective groupings of neighboring photosensing elements. An image processor is operable to perform a discrete cosine transformation of captured image data, and a Markov model compares at least one sub-array with a neighboring sub-array. The image processor is operable to adjust a classification of a sub-array responsive at least in part to the discrete cosine transformation and the Markov model.  ▲ 

A vehicle vision system includes a plurality of cameras disposed at a vehicle and having respective exterior fields of view and a display screen for displaying images derived from captured image data in a surround view format where captured image data is merged to provide a single composite display image from a virtual viewing position. A gesture sensing device is operable to sense a gesture made by the driver of the vehicle. A control provides a selected displayed image for viewing by the driver to assist the driver during a particular driving maneuver. The control is responsive to sensing by the gesture sensing device, whereby the driver can adjust the displayed image by at least one of (a) touch and (b) gesture to adjust at least one of (i) a virtual viewing location, (ii) a virtual viewing angle, (iii) a degree of zoom and (iv) a degree of panning.  ▲ 

A vehicle vision system includes a plurality of cameras having respective fields of view exterior of the vehicle. A processor is operable to process image data captured by the cameras and to generate images of the environment surrounding the vehicle. The processor is operable to generate a three dimensional vehicle representation of the vehicle. A display screen is operable to display the generated images of the environment surrounding the vehicle and to display the generated vehicle representation of the equipped vehicle as would be viewed from a virtual camera viewpoint. At least one of (a) a degree of transparency of at least a portion of the displayed vehicle representation is adjustable by the system, (b) the vehicle representation comprises a vector model and (c) the vehicle representation comprises a shape, body type, body style and/or color corresponding to that of the actual equipped vehicle.  ▲ 

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 camera disposed at a vehicle and having a field of view. The camera is operable to capture image data. The camera includes a pixelated array of photosensing elements. A lens array may be disposed at the pixelated array of photosensing elements. The lens array includes an array of lens elements for imaging light onto respective sub-arrays of photosensing elements of the pixelated array of photosensing elements. An image processor is operable to process captured image data and, responsive at least in part to image processing of captured image data, the vehicular vision system is operable to determine distance to an object present in the field of view of the camera.  ▲ 

A vehicular vision system includes a plurality of imaging sensors disposed at the vehicle and a display screen disposed in the vehicle. A processing system is operable to process captured image data and to combine and/or manipulate captured image data to provide a three-dimensional representation of the exterior scene for display at the display screen. The processing system is operable to process the captured image data in accordance with a curved surface model, and is operable to process the image data to provide the three-dimensional representation as if seen by a virtual observer from a first virtual viewing point exterior of the vehicle having a first viewing direction. The processing system is operable to adjust the curved surface model when displaying the three-dimensional representation from a second virtual viewing point exterior of the vehicle having a second viewing direction to provide enhanced display of the images.  ▲ 

A driver assistance system for a vehicle includes a plurality of sensors disposed at a vehicle and operable to detect objects at least one of ahead of the vehicle and sideward of the vehicle. The driver assistance system includes a data processor operable to process data captured by the sensors to determine the presence of objects ahead and/or sideward of the vehicle. Responsive to the data processing, the driver assistance system is operable to determine at least one of respective speeds of the determined objects and respective directions of travel of the determined objects. The driver assistance system is operable to determine respective influence values for the determined objects. Responsive to the respective determined speeds and/or directions of travel of the determined objects and responsive to the determined respective influence values, at least one path of travel for the vehicle is determined that limits conflict with the determined objects.  ▲ 

A vehicle vision system includes at least two cameras having exterior fields of view and an image processor that processes captured image data and compares image data in overlapping regions of fields of views of two or more adjacent or neighboring cameras at a vehicle (such as a corner region near a corner of the vehicle where a portion of the field of view of a side camera of the vehicle overlaps a portion of the field of view of a front or rear camera of the vehicle). The system processes a common data sub-set and different data sub-sets of image data captured by the cameras at the overlapping regions, and processes the common data sub-set differently from the other data sub-sets. The system may generate a synthesized image derived from the data sub-sets for displaying images at a display screen for viewing by the driver of the vehicle.  ▲ 

A driver assist system for a vehicle includes an object detection sensor disposed at the vehicle and having an exterior field of view and a receiver operable to receive a wireless communication from a communication device remote from the vehicle. The wireless communication is associated with a driving condition of another vehicle and/or a road condition of interest to the driver of the vehicle. A control is operable to process data captured by the object detection sensor to detect an object exterior of the vehicle. The driver assist system is operable to adjust the data processing responsive at least in part to the received wireless communication. Responsive to the data processing, an alert is operable to alert the driver of the vehicle of a potential hazard and/or a system of the vehicle is operable to control a vehicle function to mitigate or avoid a potential hazard condition.  ▲