US 9,809,168 B2
Driver assist system for vehicle
David W. Taylor, Fenton, MI (US); Kevin C. McCarthy, Tucson, AZ (US); Niall R. Lynam, Holland, MI (US); and Kenneth Schofield, Holland, MI (US)
Assigned to MAGNA ELECTRONICS INC., Auburn Hills, MI (US)
Filed by MAGNA ELECTRONICS INC., Auburn Hills, MI (US)
Filed on Apr. 18, 2016, as Appl. No. 15/131,592.
Application 15/131,592 is a continuation of application No. 14/678,145, filed on Apr. 3, 2015, granted, now 9,315,151.
Application 14/678,145 is a continuation of application No. 14/211,256, filed on Mar. 14, 2014, granted, now 9,014,966, issued on Apr. 21, 2015.
Application 14/211,256 is a continuation of application No. 14/033,963, filed on Sep. 23, 2013, granted, now 8,676,491, issued on Mar. 18, 2014.
Application 14/033,963 is a continuation of application No. 13/621,382, filed on Sep. 17, 2012, granted, now 8,543,330, issued on Sep. 24, 2013.
Application 13/621,382 is a continuation of application No. 13/399,347, filed on Feb. 17, 2012, granted, now 8,271,187, issued on Sep. 18, 2012.
Application 13/399,347 is a continuation of application No. 13/209,645, filed on Aug. 15, 2011, granted, now 8,121,787, issued on Feb. 21, 2012.
Application 13/209,645 is a continuation of application No. 12/908,481, filed on Oct. 20, 2010, granted, now 8,000,894, issued on Aug. 16, 2011.
Application 12/908,481 is a continuation of application No. 12/724,895, filed on Mar. 16, 2010, granted, now 7,822,543, issued on Aug. 26, 2010.
Application 12/724,895 is a continuation of application No. 12/405,614, filed on Mar. 17, 2009, granted, now 7,711,479, issued on May 4, 2010.
Application 12/405,614 is a continuation of application No. 11/935,800, filed on Nov. 6, 2007, granted, now 7,571,042, issued on Aug. 4, 2009.
Application 11/935,800 is a continuation of application No. 11/624,381, filed on Jan. 18, 2007, granted, now 7,490,007, issued on Feb. 10, 2009.
Application 11/624,381 is a continuation of application No. 10/645,762, filed on Aug. 20, 2003, granted, now 7,167,796, issued on Jan. 23, 2007.
Application 10/645,762 is a continuation in part of application No. 10/456,599, filed on Jun. 6, 2003, granted, now 7,004,593, issued on Feb. 28, 2006.
Application 10/456,599 is a continuation in part of application No. 10/287,178, filed on Nov. 4, 2002, granted, now 6,678,614, issued on Jan. 13, 2004.
Application 10/287,178 is a continuation of application No. 09/799,414, filed on Mar. 5, 2001, granted, now 6,477,464, issued on Nov. 5, 2002.
Application 11/624,381 is a continuation in part of application No. 10/755,915, filed on Jan. 13, 2004, granted, now 7,446,650, issued on Nov. 4, 2008.
Application 10/755,915 is a continuation of application No. 09/793,002, filed on Feb. 26, 2001, granted, now 6,690,268, issued on Feb. 10, 2004.
Application 11/624,381 is a continuation in part of application No. 10/054,633, filed on Jan. 22, 2002, granted, now 7,195,381, issued on Mar. 27, 2007.
Application 10/054,633 is a continuation in part of application No. 09/793,002, filed on Feb. 26, 2001, granted, now 6,690,268, issued on Feb. 10, 2004.
Claims priority of provisional application 60/406,166, filed on Aug. 27, 2002.
Claims priority of provisional application 60/405,392, filed on Aug. 23, 2002.
Claims priority of provisional application 60/404,906, filed on Aug. 21, 2002.
Claims priority of provisional application 60/187,960, filed on Mar. 9, 2000.
Claims priority of provisional application 60/263,680, filed on Jan. 23, 2001.
Claims priority of provisional application 60/243,986, filed on Oct. 27, 2000.
Claims priority of provisional application 60/238,483, filed on Oct. 6, 2000.
Claims priority of provisional application 60/237,077, filed on Sep. 30, 2000.
Claims priority of provisional application 60/234,412, filed on Sep. 21, 2000.
Claims priority of provisional application 60/218,336, filed on Jul. 14, 2000.
Claims priority of provisional application 60/186,520, filed on Mar. 2, 2000.
Claims priority of provisional application 60/346,733, filed on Jan. 7, 2002.
Claims priority of provisional application 60/271,466, filed on Feb. 26, 2001.
Claims priority of provisional application 60/315,384, filed on Aug. 28, 2001.
Prior Publication US 2016/0229342 A1, Aug. 11, 2016
This patent is subject to a terminal disclaimer.
Int. Cl. G01C 21/00 (2006.01); B60R 1/00 (2006.01); B60C 23/04 (2006.01); B60N 2/44 (2006.01); B60Q 1/26 (2006.01); B60Q 9/00 (2006.01); B60R 1/08 (2006.01); B60R 1/12 (2006.01); G01C 21/36 (2006.01); H04N 7/18 (2006.01); B60R 11/04 (2006.01); G06K 9/00 (2006.01); B60Q 5/00 (2006.01); G01S 13/86 (2006.01); G06T 5/00 (2006.01); H04N 5/232 (2006.01); H04N 5/247 (2006.01); H04N 5/265 (2006.01); G01C 21/20 (2006.01); G01C 21/26 (2006.01)
CPC B60R 1/00 (2013.01) [B60C 23/0408 (2013.01); B60N 2/448 (2013.01); B60Q 1/2665 (2013.01); B60Q 5/006 (2013.01); B60Q 9/00 (2013.01); B60R 1/088 (2013.01); B60R 1/12 (2013.01); B60R 11/04 (2013.01); G01C 21/00 (2013.01); G01C 21/36 (2013.01); G01C 21/365 (2013.01); G01S 13/862 (2013.01); G01S 13/865 (2013.01); G01S 13/867 (2013.01); G06K 9/00805 (2013.01); G06T 5/006 (2013.01); H04N 5/23293 (2013.01); H04N 5/247 (2013.01); H04N 5/265 (2013.01); H04N 7/181 (2013.01); H04N 7/183 (2013.01); B60R 2001/1215 (2013.01); B60R 2001/1253 (2013.01); B60R 2300/105 (2013.01); B60R 2300/207 (2013.01); B60R 2300/301 (2013.01); B60R 2300/406 (2013.01); B60R 2300/806 (2013.01); B60R 2300/8066 (2013.01); B60R 2300/8093 (2013.01); G01C 21/20 (2013.01); G01C 21/26 (2013.01); G06T 2207/30252 (2013.01)] 32 Claims
OG exemplary drawing
 
1. A driver assist system for a vehicle, said driver assist system comprising:
a forward-viewing color video camera disposed at a vehicle equipped with said driver assist system;
said forward-viewing color video camera having a field of view exterior of the equipped vehicle;
wherein said forward-viewing color video camera is disposed at a front portion of the equipped vehicle and has a field of view at least forward of the equipped vehicle;
said forward-viewing color video camera comprising a lens and a two-dimensional array of photosensing elements arranged in rows of photosensing elements and columns of photosensing elements;
wherein said forward-viewing color video camera is part of a multi-camera vision system of the equipped vehicle, said multi-camera vision system comprising at least three other color video cameras;
wherein each of said three other color video cameras has a field of view exterior of the equipped vehicle;
wherein a first one of said three other color video cameras is mounted at a driver-side of the equipped vehicle and a second one of said three other color video cameras is mounted at a passenger-side of the equipped vehicle and a third one of said three other color video cameras comprises a rear backup camera mounted at a rear portion of the equipped vehicle;
wherein the first one of said three other color video cameras mounted at the driver-side has a field of view at the driver-side of the equipped vehicle and the second one of said three other color video cameras mounted at the passenger-side has a field of view at the passenger-side of the equipped vehicle;
wherein the field of view of the first one of said three other color video cameras that is mounted at the driver-side overlaps the field of view of said rear backup camera, and wherein the field of view of the second one of said three other color video cameras that is mounted at the passenger-side overlaps the field of view of said rear backup camera;
at least one non-visual sensor;
a video display screen viewable by a driver of the equipped vehicle when the driver is normally operating the equipped vehicle;
wherein said video display screen comprises a multi-pixel display screen;
wherein, during a parking maneuver of the equipped vehicle, images derived, at least in part, from image data captured by at least some cameras of said multi-camera vision system of the equipped vehicle are displayed by said video display screen to assist the driver in operating the equipped vehicle;
wherein at least one indication is provided to the driver of the equipped vehicle during the parking maneuver;
wherein at least one of (a) said at least one indication comprises an indication provided, at least in part, responsive to detection by said non-visual sensor of at least one object external of the equipped vehicle and (b) said at least one indication comprises an indication provided, at least in part, responsive to image processing by an image processor of image data captured by at least one camera of said multi-camera vision system;
wherein a unitary image is synthesized from image data captured by said multi-camera vision system of the equipped vehicle;
wherein said synthesized image approximates a view as would be seen by a virtual camera at a single location exterior of the equipped vehicle;
wherein said synthesized image is displayed by said video display screen that is viewable by the driver of the equipped vehicle when normally operating the equipped vehicle;
wherein distortion of images derived, at least in part, from image data captured by at least some cameras of said multi-camera vision system of the equipped vehicle, and displayed by said video display screen, is electronically corrected;
wherein the field of view of said rear backup camera encompasses a ground area to the rear of the equipped vehicle having a width at least substantially an entire rear fender width of the equipped vehicle; and
wherein the field of view of said forward-viewing color video camera encompasses a ground area to the front of the equipped vehicle having a width at least substantially an entire front fender width of the equipped vehicle.