U.S. patent application number 14/169329 was filed with the patent office on 2014-08-07 for vehicle data recording system.
This patent application is currently assigned to MAGNA ELECTRONICS INC.. The applicant listed for this patent is MAGNA ELECTRONICS INC.. Invention is credited to Arno Krapf, Hossam Mahmoud, Christian Traub.
Application Number | 20140218529 14/169329 |
Document ID | / |
Family ID | 51258924 |
Filed Date | 2014-08-07 |
United States Patent
Application |
20140218529 |
Kind Code |
A1 |
Mahmoud; Hossam ; et
al. |
August 7, 2014 |
VEHICLE DATA RECORDING SYSTEM
Abstract
A vision system for a vehicle includes at least one camera
having a field of view exterior the vehicle. An image processor is
operable to process image data captured by the camera. When the
vehicle is parked, a control controls the camera to capture frames
of image data at a first capture rate. The control compares a frame
of captured imaged data to at least one previous frame of captured
image data. Responsive to the comparison determining a change in
the frames of captured image data beyond a threshold degree of
change, (i) the control increases the capture rate to a second
capture rate, (ii) the at least one camera captures frames of image
data at the second capture rate and (iii) the control activates a
recording device to record images captured by the camera at the
second capture rate.
Inventors: |
Mahmoud; Hossam; (Goethestr,
DE) ; Traub; Christian; (Windach, DE) ; Krapf;
Arno; (Darmstadt, DE) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
MAGNA ELECTRONICS INC. |
HOlly |
MI |
US |
|
|
Assignee: |
MAGNA ELECTRONICS INC.
Holly
MI
|
Family ID: |
51258924 |
Appl. No.: |
14/169329 |
Filed: |
January 31, 2014 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
61893489 |
Oct 21, 2013 |
|
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|
61760364 |
Feb 4, 2013 |
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Current U.S.
Class: |
348/148 |
Current CPC
Class: |
H04N 5/23245 20130101;
H04N 7/181 20130101; B60R 1/00 20130101; H04N 5/23241 20130101;
H04N 5/232411 20180801; B60R 2300/30 20130101 |
Class at
Publication: |
348/148 |
International
Class: |
H04N 7/18 20060101
H04N007/18 |
Claims
1. A vision system for a vehicle, said vehicle vision system
comprising: at least one camera disposed at a vehicle equipped with
said vehicle vision system, wherein said at least one camera has a
field of view exterior the equipped vehicle and is operable to
capture image data; an image processor operable to process image
data captured by said at least one camera; a recording device
operable to record images captured by said at least one camera; a
control controlling operation of said at least one camera; wherein
said control, responsive to a determination that the equipped
vehicle is in a parked state, controls said at least one camera to
capture frames of image data at a first capture rate; wherein,
responsive to image processing of captured image data, said control
compares a frame of captured image data to at least one previous
frame of captured image data; and wherein, responsive to said
comparison determining a change in the frames of captured image
data beyond a threshold degree of change, (i) said control
increases the capture rate to a second capture rate, (ii) said at
least one camera captures frames of image data at said second
capture rate and (iii) said control activates said recording device
to record images captured at said second capture rate.
2. The vehicle vision system of claim 1, wherein, responsive to
determination of said threshold degree of change, said control
activates at least one other camera or sensor to capture data and
said recording device records information captured by said at least
one other camera or sensor.
3. The vehicle vision system of claim 1, wherein said first capture
rate is less than or equal to about five frames per second and
wherein said second capture rate is greater than or equal to about
10 frames per second.
4. The vehicle vision system of claim 1, wherein said control is
operable to determine a repeating movement in a region encompassed
by the field of view of said at least one camera, and wherein,
responsive to said determination of a repeating movement, said
control ignores the portion of captured image data that corresponds
to that region.
5. The vehicle vision system of claim 1, wherein said control,
responsive to determination of a threshold level of repeating
activity at at least a portion of captured image data, increases
the threshold degree of change.
6. The vehicle vision system of claim 1, wherein said control,
responsive to a determination of a pedestrian in the field of view
of said at least one camera, generates a signal to other vehicles
indicative of the determined pedestrian.
7. The vehicle vision system of claim 1, wherein said control,
responsive to a signal received from another vehicle that is
indicative of a determination of a pedestrian at or near the other
vehicle who is moving towards the path of travel of the equipped
vehicle, generates an alert to the driver of the equipped
vehicle.
8. The vehicle vision system of claim 1, wherein said control,
responsive to determination of an interruption in a signal
communicated to said control from a remote transmitter, at least
temporarily disables an access system of the equipped vehicle.
9. The vehicle vision system of claim 8, wherein, responsive to
determination of the interruption of the signal communicated to
said control, a person situated remote from the equipped vehicle is
alerted.
10. The vehicle vision system of claim 9, wherein said person is
alerted via a hand held device.
11. The vehicle vision system of claim 1, wherein said at least one
camera comprises a plurality of cameras having respective exterior
fields of view, said cameras comprising at least a part of a
surround view system of the equipped vehicle.
12. The vehicle vision system of claim 1, wherein said at least one
camera comprises a forward viewing camera of the equipped vehicle,
and wherein said image processor processes captured image data when
the vehicle is operating for at least one of (i) a headlamp control
system of the equipped vehicle, (ii) a lane change assistance
system of the equipped vehicle and (iii) a lane departure warning
system of the equipped vehicle.
13. The vehicle vision system of claim 1, wherein said at least one
camera comprises a rearward viewing camera of the equipped vehicle,
and wherein said image processor processes captured image data when
the vehicle is operating for at least one of (i) a rear backup
assist system of the equipped vehicle and (ii) a surround view
system of the equipped vehicle.
14. A vision system for a vehicle, said vehicle vision system
comprising: a plurality of cameras disposed at a vehicle equipped
with said vehicle vision system, wherein said cameras having
respective fields of view exterior the equipped vehicle and is
operable to capture image data; an image processor operable to
process image data captured by said cameras; a recording device
operable to record images captured by said cameras; a control
controlling operation of said cameras; wherein said control,
responsive to a determination that the equipped vehicle is in a
parked state, controls said cameras to capture respective frames of
image data at a first capture rate; wherein, responsive to image
processing of image data captured by said cameras, said control
compares a frame of image data captured by an individual camera to
at least one previous frame of image data captured by that
individual camera; and wherein, responsive to said comparison
determining a change in the frames of image data captured by an
individual camera beyond a threshold degree of change, (i) said
control increases the capture rate to a second capture rate for at
least that individual camera, (ii) at least that individual camera
captures frames of image data at said second capture rate and (iii)
said control activates said recording device to record images
captured at said second capture rate by at least that individual
camera.
15. The vehicle vision system of claim 14, wherein, responsive to
determination of said threshold degree of change in frames of image
data captured by an individual camera, (i) said control increases
the capture rate of the others of said cameras to said second
capture rate, (ii) the others of said cameras capture frames of
image data at said second capture rate and (iii) said recording
device records images captured at said second capture rate by the
others of said cameras.
16. The vehicle vision system of claim 14, wherein said control,
responsive to determination of a threshold level of repeating
activity at at least a portion of image data captured by at least
one of said cameras, increases the threshold degree of change.
17. The vehicle vision system of claim 14, wherein said control,
responsive to a determination of a pedestrian in the field of view
of at least one of said cameras, generates a signal to other
vehicles indicative of the determined pedestrian.
18. The vehicle vision system of claim 14, wherein said plurality
of cameras and said image processor comprise at least a part of a
surround view system of the equipped vehicle.
19. A vision system for a vehicle, said vehicle vision system
comprising: a plurality of cameras disposed at a vehicle equipped
with said vehicle vision system, wherein said cameras having
respective fields of view exterior the equipped vehicle and is
operable to capture image data; an image processor operable to
process image data captured by said cameras; wherein said plurality
of cameras and said image processor comprise at least a part of a
surround view system of the equipped vehicle; a recording device
operable to record images captured by said cameras; a control
controlling operation of said cameras; wherein said control,
responsive to a determination that the equipped vehicle is in a
parked state, controls said cameras to capture respective frames of
image data at a first capture rate; wherein, responsive to image
processing of image data captured by said cameras, said control
compares a frame of image data captured by an individual camera to
at least one previous frame of image data captured by that
individual camera; and wherein, responsive to said comparison
determining a change in the frames of image data captured by an
individual camera beyond a threshold degree of change, (i) said
control increases the capture rate to a second capture rate for at
least that individual camera, (ii) at least that individual camera
captures frames of image data at said second capture rate and (iii)
said control activates said recording device to record images
captured at said second capture rate by at least that individual
camera; wherein said control, responsive to determination of a
threshold level of repeating activity at at least a portion of
captured image data of at least one of said cameras, increases the
threshold degree of change.
20. The vehicle vision system of claim 19, wherein, responsive to
determination of said threshold degree of change in frames of image
data captured by an individual camera, (i) said control increases
the capture rate of the others of said cameras to said second
capture rate, (ii) the others of said cameras capture frames of
image data at said second capture rate and (iii) said recording
device records images captured at said second capture rate by the
others of said cameras.
Description
CROSS REFERENCE TO RELATED APPLICATIONS
[0001] The present application claims the filing benefits of U.S.
provisional applications, Ser. No. 61/893,489, filed Oct. 21, 2013,
and Ser. No. 61/760,364, filed Feb. 4, 2013, which are hereby
incorporated herein by reference in their entireties.
FIELD OF THE INVENTION
[0002] The present invention relates to imaging systems or vision
systems for vehicles.
BACKGROUND OF THE INVENTION
[0003] Use of imaging sensors in vehicle imaging systems is common
and known. Examples of such known systems are described in U.S.
Pat. Nos. 5,949,331; 5,670,935; and/or 5,550,677, which are hereby
incorporated herein by reference in their entireties.
SUMMARY OF THE INVENTION
[0004] The present invention provides a vision system or imaging
system for a vehicle that utilizes one or more cameras to capture
images exterior of the vehicle, and provides the communication/data
signals, including camera data or image data that may be displayed
or processed to provide the desired display images and/or
processing and control, depending on the particular application of
the camera and vision or imaging system. The present invention
provides a vehicle data recording system that is operable to record
data captured by one or more cameras or image-based sensors and/or
one or more other sensors or non-image based sensors of the
vehicle. The system of the present invention provides a triggering
means to trigger or initiate data capture for a parked vehicle in a
manner that captures data responsive to a triggering event
indicative of a change in the scene at or around the vehicle.
[0005] According to an aspect of the present invention, a vision
system for a vehicle includes at least one camera disposed at a
vehicle equipped with the vehicle vision system. The at least one
camera has a field of view exterior the equipped vehicle and is
operable to capture image data. An image processor is operable to
process image data captured by the at least one camera and a data
recording device is operable to record image data captured by the
at least one camera. A control controls operation of the at least
one camera and, responsive to a determination that the equipped
vehicle is in a parked state, the control controls the at least one
camera to capture frames of image data at a first capture rate.
Responsive to image processing of captured image data, the control
compares a frame of captured imaged data to at least one previous
frame of captured image data. Responsive to the comparison
determining a change in the frames of captured image data beyond a
threshold degree of change, (i) the control increases the capture
rate to a second capture rate, (ii) the at least one camera
captures frames of image data at the second capture rate and (iii)
the control activates the data recording device to record the
images captured at the second capture rate.
[0006] Thus, the present invention periodically or episodically
captures frames of image data and processes the captured image data
to determine when a threshold degree of change occurs in the scene
being monitored by the camera (such as when a person walks by or up
to the parked vehicle). When such a threshold degree of change
occurs, the system increases the rate of capture (such as from
capturing one frame every second or every five seconds or the like
to capturing at least 20 frames per second or at least 30 frames
per second or the like) and records the captured image data (such
as captured video image data) on the data recording device. Thus,
the system reduces the power consumption of the parked vehicle by
episodically capturing image data at a slower rate and only
captures video images and activates the data recording device when
the system determines that there is a threshold or significant
change in the frames of image data captured by the camera or
cameras.
[0007] These and other objects, advantages, purposes and features
of the present invention will become apparent upon review of the
following specification in conjunction with the drawings.
BRIEF DESCRIPTION OF THE DRAWINGS
[0008] FIG. 1 is a plan view of a vehicle with a vision system and
imaging sensors or cameras that provide exterior fields of view in
accordance with the present invention;
[0009] FIG. 2 is a chart showing the processing steps that the data
recording system of the present invention undergoes at an
activating time t.sub.a;
[0010] FIG. 3 is a chart showing a time pattern for the cyclical
wake up and sleep pattern for the data recording system of the
present invention;
[0011] FIG. 4 is an image showing the initial environmental scene
at the time the vehicle is parked;
[0012] FIG. 5 is an image showing the environmental scene at a
later time after the vehicle is parked;
[0013] FIG. 6 shows the scene or image of FIG. 4 when mosaiced in
accordance with the present invention;
[0014] FIG. 7 shows the scene or image of FIG. 5 when mosaiced in
accordance with the present invention;
[0015] FIG. 8 shows the result when calculating the difference
between the images of FIGS. 7 and 6 (the image in FIG. 8 was
inverted for clarity) in accordance with the present invention;
[0016] FIG. 9A shows the image of FIG. 8, with the brightness of
some of the different pixels/areas marked by inclining numbers in
accordance with the present invention;
[0017] FIG. 9B is a sectional cut out of the image of FIG. 9A, with
the different pixels/areas enlarged in accordance with the present
invention;
[0018] FIG. 10A is the image of FIG. 9A after a contrast
enhancement;
[0019] FIG. 10B is a cut out of the same region shown in FIG. 9B as
cut out of FIG. 10A;
[0020] FIGS. 11A and 11B show the same images of FIGS. 9B and 10B,
respectively, with the brightness value labels adapted to the new
light settings;
[0021] FIG. 12 is a flow chart of a decision process of the data
recording system of the present invention;
[0022] FIG. 13 is an exemplary branch in the field of view of a
sensor of the data recording system of the present invention;
[0023] FIG. 14 is a mosaiced difference image showing the
differences that may be detected by movement of the branch in FIG.
13;
[0024] FIG. 15 is a counter table for pixel locations;
[0025] FIGS. 16A-17B show counter tables and triggerings that may
occur due to a waving branch such as like that shown in FIGS. 13
and 14;
[0026] FIG. 18 is a cropped image of the image of FIG. 4;
[0027] FIG. 19 is a mosaiced image of the image of FIG. 18;
[0028] FIG. 20 is a chart showing sensitivity modes for the data
recording system of the present invention as implemented on an
electrical vehicle or the like;
[0029] FIG. 21 is a schematic of a jammer attack scenario, where
the vehicle is equipped with a jammer detector of the present
invention; and
[0030] FIG. 22 is a schematic showing a scene where a crowd of
pedestrians 90 is about to enter a road with a vehicle 22
approaching, where the pedestrians may be sensed by other vehicles
and such information may be communicated to the approaching vehicle
in accordance with the present invention.
DESCRIPTION OF THE PREFERRED EMBODIMENTS
[0031] A driver assist system and/or vision system and/or object
detection system and/or alert system may operate to capture images
exterior of the vehicle and process the captured image data to
detect objects at or near the vehicle and in the predicted path of
the vehicle, such as to assist a driver of the vehicle in
maneuvering the vehicle in a rearward direction. The object
detection may utilize detection and analysis of moving vectors
representative of objects detected in the field of view of the
vehicle camera, in order to determine which detected objects are
objects of interest to the driver of the vehicle, such as when the
driver of the vehicle undertakes a reversing maneuver.
[0032] Referring now to the drawings and the illustrative
embodiments depicted therein, a vehicle 10 includes an imaging
system or vision system 12 that includes one or more imaging
sensors or cameras (such as a rearward facing imaging sensor or
camera 14a and/or a forwardly facing camera 14b at the front (or at
the windshield) of the vehicle, and/or a sidewardly/rearwardly
facing camera 14c, 14b at the sides of the vehicle), which capture
images exterior of the vehicle, with the cameras having a lens for
focusing images at or onto an imaging array or imaging plane of the
camera (FIG. 1). The vision system 12 is operable to process image
data captured by the cameras and may provide displayed images at a
display device 16 for viewing by the driver of the vehicle.
Optionally, the vision system may process image data to detect
objects, such as objects to the rear of the subject or equipped
vehicle during a reversing maneuver, or such as approaching or
following vehicles or vehicles at a side lane adjacent to the
subject or equipped vehicle or the like.
[0033] Vehicles are often equipped with cameras and other
environmental sensors. Such cameras and/or sensors are typically
deactivated or off or in a sleep mode when the vehicle is parked
and turned off in order to save energy and reduce electrical power
consumption. Some systems of a vehicle may stay awake when the
vehicle is parked or may stay partially/intermittently/periodically
awake when the vehicle is parked or may be awakable or episodically
awakable, such as responsive to an external trigger or the like,
such as a vehicle door lock system or vehicle alarm system or the
like.
[0034] The vehicle data or damage recording system of the present
invention uses the on board cameras and environmental sensors of an
equipped vehicle to record the scene at or around the equipped
vehicle at a time when (or just before) the vehicle is hit by
another vehicle, animal or person. The system of the present
invention thus uses the camera or cameras already present on the
vehicle. For example, the camera or cameras used by the recording
system may be part of a multi-camera vision system or surround view
system or rear backup aid system or forward facing camera system of
the vehicle (and may utilize aspects of the systems described in
U.S. Pat. No. 7,855,755, which is hereby incorporated herein by
reference in its entirety). Such use of cameras already present on
the vehicle for other purposes reduces the cost of the recording
system, since no dedicated cameras are needed for the recording
system when the recording system is added to the vehicle.
[0035] Employment of an advanced wake up algorithm allows the
system to record the environmental scene before the vehicle is hit.
The present invention thus may provide identification of the
opponent or collider or the opponent's license plate or the like,
such as in "hit-and-run" situations or the like.
[0036] At the time the equipped vehicle identifies that it may
likely be hit or was hit, the system of the vehicle may start to
record the environmental scene. The system may record image data
captured by some or all of the vehicle installed cameras (and/or
remote cameras within a communication range of the equipped vehicle
(such as with a X2Car communication range), such as traffic
monitoring cameras at intersections or security cameras at
buildings, parking lots and/or the like). Optionally, outputs of
other environmental sensors of the vehicle, such as ultrasound
sensors, capacitive proximity sensors, touch sensors, heartbeat
sensors (such as sensors utilizing aspects of the sensors and
systems described in U.S. Pat. No. 8,258,932, which is hereby
incorporated herein by reference in its entirety), RADAR sensors,
LADAR sensors, LIDAR sensors, time of flight (TOF) sensors,
structured light sensors and/or infrared sensors or the like, may
be engaged and may be recorded as well.
[0037] The trigger that the vehicle was (or imminently may be) hit
or damaged may come from a vehicle alarm system, which may include
or may be responsive to sensors for vibration, level changing,
glass breaking, unauthorized door or ignition lock actuation or
compartment ultrasound disturbances and/or the like.
[0038] Optionally, the data recording system of the present
invention may include or utilize a sensing system that uses
capacitive sensors, which may be installed in or at the rear bumper
of the vehicle and/or the door handles of the vehicle (and
typically operable to detect a person's hand at the door handle to
open the vehicle door), but are not exclusively for triggering the
recording system or the vehicle alarm system.
[0039] Alternatively, or in addition to such capacitive sensors,
the trigger may be achieved by the image processing devices of the
vehicle that are operable to process image data captured by the
vehicle camera or cameras. Such image processing devices may take
reference images from the environmental scene at the time the
vehicle is parked, such as shown in FIG. 4. The object detection
may determine non-moving or steady objects that are within
detection range or field of view of the camera or cameras. The
image data representative of the scene and/or the images of the
scene may be stored as an initial reference (such as, for example,
the image shown in FIG. 4). Other sensor data, such as the distance
or level (to anything in the vehicle's environment) detected by
different ultrasound sensors may be stored as well. In order to
keep the electrical power consumption low, the system may operate
to wake up in a cyclical pattern.
[0040] FIG. 3 shows a typical time pattern for the cyclical wake up
and sleep pattern for the system of the present invention. As shown
in FIG. 3, there are active or awake time phases t.sub.a and
inactive or asleep time phases t.sub.i. For saving electrical
energy of the vehicle's battery, the inactive phases are meant to
be much longer than the active phases. Optionally, and desirably,
the system may reduce or shut off as much power consumption as
possible during the inactive time phases. Thus, it is envisioned
that the life time of some components may be reduced due to
excessive restarting or rebooting. Also, the initialization time of
some image processing functional components may be comparably long
so a shorter shut off time period may not be suitable. The imager,
controllers and static memory components may suffer the most. Thus,
the present invention preferably provides a good or acceptable
balance by keeping the imager operating and avoiding the need of
the processing unit except to run cyclically for the recording
system, mostly on a field-programmable gate array (FPGA).
[0041] The data recording system may comprise one or more
excitation status flags or state machines, the states of which
equate to elapsed time, the environmental input and battery charge
status. At cyclical wake ups, the system may enter an active or
awake time phase t.sub.a, and may activate the vehicle cameras, the
environmental sensors and the image processing device such as in
the example shown in FIG. 2. In such an example, the processing
steps may be: [0042] (1) wake up; [0043] (2) initialize camera(s);
[0044] (3) capture image(s); [0045] (4) transfer image (to
processing unit if not processed locally in camera); [0046] (5)
filter image (Gaus filter/Box filter/Mosaicing); [0047] (6) load
compare image (if not temporarily stored earlier); [0048] (7)
calculate difference image (or other suitable object detection);
[0049] (8) load ignore mask table; [0050] (9) decide whether to
initiate recording mode (video image capturing) jump to recording
procedure (and exit the cyclical wake up mode); [0051] (10) update
ignore mask table; [0052] (11) store image; and [0053] (12) enter
sleep phase (t.sub.i). [0054] The captured data may initially or
provisionally be stored local or at the vehicle. The storage media
and the vehicle communication bus (such as, for example, a vehicle
CAN bus or a vehicle LIN bus or the like) may stay asleep if not
awakened or activated by entering a higher excitation state, which
may be triggered by the object detection algorithm or when the
local storage memory is nearly full (and not able to conceive
another image capture data set). When awake (time phases t.sub.a),
the data recording system may capture several images or video
images or a movie, preferably capturing at least one image from one
or more cameras (including remote cameras), and/or optionally the
system may fetch or capture or determine a status of one or more
external sensors and may compare these to earlier captured data
sets. By cyclically taking just one image at a time (such as by
capturing frames of image data with a selected or determined period
of time between captures, such as, for example, less than or equal
to about ten frames per second (fps) or about five fps about one
fps or about 0.2 fps (one frame every five seconds) or about 0.1
fps (one frame every ten seconds) or one frame per minute or one
frame per five minutes or any selected capture rate or time
interval or period, a time lapse video develops of the scene
encompassed by that camera's field of view. That time lapse video
records the good or no-change case, when no disturbances happened
nearby the parked vehicle. The time lapse may differ by the chosen
wake up time gaps or time periods between image captures.
[0055] The data captured may be stored in a FIFO memory at which
the oldest part of the lapse video and optionally other sensor data
may be overwritten by the newer ones in cases where no vehicle
alarm occurs, or alternatively the captured data may be stored in a
memory device (in all cases), and the system may periodically back
up the stored data and/or may transfer the stored data from a local
memory device (such as a vision system or vehicle inherent memory
device such as like a flash memory or solid state drive, which may
be exchangeable by the vehicle owner) to a remote or external
memory device (such as via a telematics system or other
communication or data transfer system). The captured images or
video and optionally other sensor data may be stored/transferred in
a compressed data format or as RAW or may be stored in RAW locally
and transferred compressed or may be stored compressed locally and
transferred in RAW. In cases where the system employs an object
detection algorithm, the system may store images in the area or
areas of moving objects and/or regions of interest in a high
definition and/or uncompressed format, and the system may store
images in other areas or parts of less interest at or surrounding
the vehicle in a low definition or compressed format for shrinking
the data size for storing or transmission.
[0056] The backup and storage modes or means may be customizable by
the vision system manufacturer, the OEM, the dealership, third
party services or the owner of the vehicle, and the system may
communicate a message or alert (optionally a text message or the
like or a video message or still photo or image message or the
like) to the driver or owner of the vehicle (such as to the
driver's cell phone or PDA or the like) in response to a triggering
event occurring. Accordingly, viewing-programs or apps may be
provided by the vehicle or vision system manufacturer or vendors or
by aftermarket distributers. These may provide additional services
such as a function to automatically guide the police to the vehicle
by the driver's request (such as via his or her cell phone or PDA
program or app).
[0057] An object detection (OD) algorithm or feature extractor
(such as one that may be based on optical flow, difference images
or edge detection, such as Lucas Kanade, Zobel, Laplace or such as
FAST or the like) may also be employed for comparing whether
objects have entered the scene (such as shown in FIG. 5, where two
people are walking by the vehicle) that weren't present earlier
(see FIG. 4) or which have moved since the last wake up phase. To
detect humans within an image there may be classifiers in use such
as like `Viola Jones`, `Fastest Pedestrian Detector in the West` or
HOG (Histogram of Orientated Gradients) or the like. This is the
`positive` or changed case, which leads to a sensor wake up mode
according to state (9) in FIG. 2. When a signal is generated
indicative of a determined threshold change in the frames of
captured image data, the control increases the frequency or frame
capture rate of the camera (reduces the time period between frame
captures), such as to greater than or equal to about ten fps or
about twenty fps or about thirty fps or any other selected rate or
frequency or capture rate) and activates or controls the recording
device to record the captured image data and store the captured
image data.
[0058] A simple and practical embodiment of an OD may be to use an
image difference procedure. To shrink the to-be-compared image
properties, the images may be additionally processed by a mosaicing
filter, a Gaussian filter or a box filter or the like (see step 5
in FIG. 2) before difference calculating (see step 7 in FIG. 2).
FIG. 6 shows the scene or image of FIG. 4 when mosaiced and FIG. 7
shows the scene or image of FIG. 5 when mosaiced. FIG. 8 shows the
result when calculating the difference between the images of FIGS.
7 and 6 (for better readability herein the image in FIG. 8 was
inverted, the feature information with images does not change by
that).
[0059] In FIG. 9A, the brightness of some of the interesting
pixels/areas are marked by inclining numbers, with the greater
numbers applied at the pixels or areas that have a greater
difference between the initial image (FIGS. 4 and 6) and the later
image (FIGS. 5 and 7). FIG. 9B is a sectional cut out of that same
scene, showing the difference area enlarged. FIG. 10A is the image
of FIG. 9A after a contrast enhancement (alternatively a histogram
or cut filtering may be used), and FIG. 10B is a cut out of the
same region shown in FIG. 9B as cut out of FIG. 10A, showing the
difference area enlarged. The contrast enhancement, histogram or
cut filtering may include the difference calculating step (see step
7 in FIG. 2) by choosing the according mapping parameters
initially. As can be seen with reference to these figures, it
becomes clear that the lighter areas represent areas where a low
average of differing pixels have been eliminated. Areas which have
massively changed or substantially changed (darker areas in this
inverted image) are the areas where people or objects have appeared
(real change, meant for triggering), while the rest of the scene
has stayed mostly unchanged (meant for not triggering), except for
some minor differences on strong contrast thresholds caused by
slightly inaccurate image superposition (such as image noise
natural for electronic cameras that may be widely eliminated by the
earlier filtering (see step 5 in FIG. 2)).
[0060] FIGS. 11A, 11B show the same scene of FIGS. 9A, 9B and 10A,
10B with the brightness value labels adapted to the new light
settings.
[0061] In cases where there are mosaics remaining which are not
uneven or zero or eliminated, the system may assume that something
has changed in the scene from the image in FIG. 4 to the image in
FIG. 5. The system thus may assume a motion has happened or light
conditions have abruptly changed. In cases where nothing has
changed, the system may enter a power saving sleep state (again),
and this equates to the path following `no` from the decision block
of the flow chart in FIG. 12.
[0062] The data recording system may record a fast motion flic or
video responsive to a trigger or indication that a threshold
difference was determined during the comparison of a frame of
captured image data to the previous frame or initial frame of
captured image data. This equates to the path following `yes` from
the decision block of the flow chart in FIG. 12. The decision block
of FIG. 12 requires a minimum amount of differing mosaics d.sub.x,y
to limit or substantially preclude triggering responsive to image
noise. There may be environmental scenes in which the system
becomes disturbed and/or awakened quite often. In such a situation,
the data recording system may engage the peripheral sensors, the
cameras and data buses very often, which may lead to substantial
draining of the vehicle's battery, which may lead to the
consequence that the system's or vehicle's battery power management
would have to turn off the vehicle data recording system entirely,
and possibly very soon, such as within or after about two hours (of
being awake very often or all the time).
[0063] To achieve a less substantial draining of the vehicle
battery and to provide a longer stand by time of the recording
system's functionality, the data recording system of the present
invention may be able to distinguish or sort out or suppress the
wake up (input-) events or sources. For example, in a situation
where there is a bush or branch within the camera's capturing range
or field of view, with the bush or tree or the like having a branch
or branches waving in the wind, the branch or branches may be
detected as movement of an object within two (or more) consecutive
cyclically captured image data sets by the difference comparison.
For example, the branch shown in FIG. 13 may appear as mosaiced
difference image like the image shown in FIG. 14. The system may be
operable to identify that detection area as being the source for
false triggering (wake up) by statistical means. The system may
have an array of memory in the same size ratio as the pixels on the
imager or the same size ratio as the captured mosaic image (see the
example shown in FIG. 15 having an (mosaic areas equating) array of
0x0F by 0x0F) called `d.sub.x,y`, with the size X by Y, in the flow
chart of FIG. 12. For each pixel or mosaic there may be a value
(such as, for example, four bit or the like) storing the
disturbance counter `d` event history of being a pixel or mosaic
`p` differing at the image data difference comparison
p.sub.x,y(t.sub.n)-p.sub.x,y(t.sub.n-1) when comparing the
p.sub.0,0 (upper left corner of the array) to p.sub.x,y (lower
right corner of the array). As an example, two consecutive
triggerings that may occur due to a waving branch such as like that
shown in FIGS. 13 and 14 may influence the disturbance counters
d.sub.x,y illustrated in FIGS. 16A and 17A having the resulting
disturbance counter table entries such as like those shown in FIGS.
16B and 17B accordingly.
[0064] The data recording system may include a certain event
history counter level (which may be fix or adjusted by algorithm),
such as, for example, 6 (or more or less), which leads to the
consequence that the according pixel will not be considered
(ignored) as a wake up trigger source until falling under the
counter level borderline again. Optionally, the system may include
an algorithm that may decrease the event history counter level (of
one, several or all pixels). This may happen by time, by trigger
events or by other difference pixel statistical means. In the flow
chart of FIG. 12, for example, there is a threshold `tr` of the
disturbance counter `d` (equal for all `p`) with the exemplary
value 6. That means if one pixel or mosaic's counter is exceeded so
as to be involved to trigger the resulting image difference events
over a short duration, the pixel or mosaic (if having a disturbance
counter greater than the threshold value) may be ignored by setting
its masking bit m.sub.x,y to zero. By masking the difference images
before doing the trigger decision, the specific areas become
ignored in determining the triggering. In the example over time the
area (x,y positions of d.sub.x,y) in the image covered by the
waving branch would soon have several positions which exceed the
value 5, which would result in the system ignoring that area by
masking it's pixels or mosaics. Thus, detection of the moving
branch would not trigger activation of the video image data
capture.
[0065] Optionally, another procedure may be to decrease the
disturbance event history counter. This is for re-enabling areas
which have been masked earlier when their disturbing ratio is
diminishing. In the example above, the waving branch may stop
waving due to the wind lessening. In the exemplary flow chart of
FIG. 12, the disturbance counter d.sub.x,y may be diminished by one
tenth on every disturbance event (at which a specific pixel or
mosaic isn't participating (><0)). Another divisor `r` counts
the events and how often a d.sub.x,y has changed from above the
threshold `tr` to below the threshold. The default and minimum of
`r` is 1. As soon as `r` increases, the disturbance counter will
decrease respectively slower according to the term
d.sub.x,y=d.sub.x,y-0,1/r.sub.x,y. When `r` is 2, `d` diminishes by
one every 20.sup.th disturbance event, and when `r` is 3, `d`
diminishes by one every 30.sup.th disturbance event, and so on.
This is provided to reduce or eliminate (masking) disturbance
sources which are cyclically present from time to time but not
steadily present, such as a waving branch in intermittent wind
conditions or a flickering street light, which is only on at night,
or the like.
[0066] To decrease the false case rate and the calculation resource
demand, the supervised scenery around the equipped vehicle may be
limited by cropping or masking the captured images by a static
mask. FIG. 18 shows a cropped image of FIG. 4, with its mosaiced
image shown in FIG. 19.
[0067] At times when the vehicle is parked close to a crowded
pedestrian path, such as a sidewalk at the right of the vehicle,
the ultrasound sensors of the vehicle may detect entering and
leaving objects (pedestrians) very often (leading to wake up events
triggering the cameras to capture the scene), and the system may
decide to have a higher robustness to disturbances due to such an
(input-) event source. This may be done by changing the inputs'
priority level for wake up or by employing a counter or sensitivity
state machine or algorithm. The sensitivity may be counted up (less
sensitive) when a trigger occurs by a specific input source (or
input sensor type class or such). Substantial triggering will lead
to a high level of insensitivity. The counter may be counted down
over time (such as, for example, the counter may be counted down
one increment every hour of a four bit counter). The one or all
counter may be reset by a vehicle damage alert event directly
followed by an according wake up trigger event. Optionally, the
system may employ a learning algorithm in which the initial counter
level may lead to an enhanced or optimal balance of system
awareness/inactivity and battery life. The system thus may increase
the threshold degree of differences that need to be determined
before triggering the system, such that a greater difference or
change over time is determined before the system will be awakened
or triggered.
[0068] When the vehicle data recording system is engaged over
several days and the vehicle is not driven to charge it's battery,
the system may raise the insensitivity level of all sensors more
and more and the system's cyclical wake up events may increase time
wise (such as, for example, from t.sub.a+t.sub.i=1 s to 2 s, 4 s, 8
s, 16 s over to 32 s and so on). After a longer time, such as over
one week or the like, the system may be switched off, whereby the
cameras may be activated when the vehicle alert or security system
engages, such as when triggered by an actually detected hit.
[0069] For applications in an electrical vehicle or the like, when
the vehicle is plugged in (charging), the data recording system may
run or operate in more sensitive (more power consuming) modes as
compared to when the vehicle is unplugged. Both are shown in an
example of FIG. 20. The activity percentage relates to the cycle
times, and less activity equates to longer times of
t.sub.a+t.sub.i, and higher activity equates to shorter times,
adjusted by t.sub.a, t.sub.i. 100% may mean that the system may
have a very short cycle time or even never turns into saving mode
but records the scene all the time.
[0070] Optionally, the system may include features to increase the
use cases, convenience and security of the system. For example, the
system may be operable to, at the time a data recording alert is
detected, send a text message over a mobile channel or a captured
movie via UMTS, LTE or the like (to alert the owner of the vehicle
of a triggering event of the data recording system), such as by
utilizing aspects of the display and data communication system
described in International Publication No. WO 2013/081985, which is
hereby incorporated herein by reference in its entirety. The image,
images or movie or data set captured by the system responsive to a
triggering event (and optionally the current vehicle location as
determined by the vehicle GPS) may be stored at a remote server for
accessibility by the vehicle's owner or may be stored at a
removable storage device as like a SD-card or the like, which may
be removed from the vehicle and taken away by the vehicle
owner.
[0071] Optionally, the vehicle owner may be able to enter settings
for backup paths, cycles, modes, trigger sensitivity modes and/or
power management modes and/or the like, according to the
vehicle/car damage recording system. Optionally, the system may
provide specified set up modes adapting the system to the local
laws and legal modalities. For example, the system may blur the
faces in its records automatically if required by the local laws
(or if elected by user set up). Optionally, the actual vehicle
location may come from a GPS receiver via a CAN bus of the vehicle
or the like. Optionally, the system may trigger other systems or
services, such as an alert system that notifies or calls the
police, a parking lot guard, security service or the like,
responsive to the vehicle being damaged or hit (or responsive to a
triggering event). Optionally, the system may detect (via image
capture by a camera of the system or vehicle), store and transmit
the image of the license plate (or information derived from image
processing of image data captured by the camera) of a hit and run
vehicle and may additionally transmit such information or image
data to the according (called) parking lot guard, security service
or police (-man or -station). The vehicle data recording system may
be part of a vehicle alarm system, a crash black box, a vehicle
system integrity device (or system), a vehicle vision system or
remote vehicle security surveillance (service) system and/or the
like.
[0072] As another aspect of the present invention, the vehicle
alert system may employ a known (commodity) jammer detector (such
as shown, for example, at
http://www.shop-alarm.de/GPS_-_GSM_-_WIFI_-_DECT_-_Bluetooth_Stoersender_-
und_Jammer_Detector.html), such as for any kind of data
transmission band jamming the vehicle is using (GPRS, GSM, WLAN,
DECT, WEP, UMTS, LTE and near field communication). Jammers may be
misused to enable vehicle thefts to overcome the vehicle security
systems or to lengthen the time they keep undiscovered, especially
for suppressing the outbounding transmissions of vehicle alerts,
images or flics to the owner or the police as described above.
Jammer detectors are able to detect the presence of jammers 40 in
range of the vehicle 10 (FIG. 21). The behavior of the vehicle
alert system of the present invention responsive to the detected
presence of a jamming device 40 in range may be to disable all
usual vehicle access functionalities. That mode may be called a
`safe one time access mode.` By that a `Keyless Entry/Go` may
become disabled, and the vehicle key remote control opening may
become disabled, and the vehicle entry access by turning the
vehicle key in the door key hole may be disabled as well. The door
dead bolts when present may be turned to lock if not done already.
FIG. 21 illustrates such a scenario. As shown in FIG. 21, the
vehicle may be equipped with such a jammer detector, whereby, if a
GSM signal between a GSM tower 50 and the vehicle 10 is jammed
(such as by any means or device for jamming or blocking or
interfering with such signals), such as by a jammer device 40 at or
near the vehicle, the vehicle owner's smart phone (here tablet) or
other personal remote communication device may generate the message
`vehicle signal lost` to the user or vehicle owner (such as
responsive to a signal indicative of the lost or interrupted
signal). The vehicle, responsive to a determination of signal
jamming, may fall into or switch to a `safe one time access mode`
to limit or substantially preclude a break in of the vehicle when
the signal is being jammed.
[0073] As another aspect of the present invention, a smart phone
app may be used for displaying the vehicle's safety status, and the
app may be set up in a way that in case a cyclic feedback from the
vehicle is interrupted or not provided (which may be caused by the
presence of a jammer within the vehicle's radio range), the app
will signal that the connection has been lost, which may indicate
that the vehicle may be in an `unsafe` or `endangered` situation.
Optionally, the status messages of a plurality of vehicles equipped
with such a system may be accessible by parking guards, security or
police services. Thus, at times when multiple vehicles report
`connection lost`, such a determination or event may be a trigger
for elevated scrutiny or security at or to the area where the
reported vehicles are located.
[0074] As another aspect of the present invention, when the
presence of the jammer may be not detectable any more, the vehicle
may remain in the `safe one time access mode`, and may not be
openable by key or remote device. To unlock the `safe one time
access mode`, the driver may have to enter a PUC (personal unlock
code). The PUC may be one the driver may have entered earlier,
preferably a one time usable PUC may be generated and transmitted
by a remote service server (provided by the vision system
manufacturer or vendors, OEM, or third party service) to the
vehicle or to the driver's mobile device (with unique device ID as
unique identification) upon request. The server may only serve the
PUC to earlier exclusively dedicated individuals. At the time
someone requests a one time PUC, the server may enter a dialog for
making sure no unauthorized user is attempting to acquire a PUC.
That may be done in a known manner by requesting key data only a
dedicated person can know, and these may have been entered earlier.
The key data may be, for example, the date of birth, town of birth,
maiden name, favorite pet's name, best friend in college or the
like.
[0075] As another aspect of the present invention, the `safe one
time access mode` may have additional or alternative safety hurdles
to overcome before unlocking beside the PUC entry, such as like
identifying by dedicating a person's face detection, retina,
fingerprint or by body shape classification, such as by utilizing
aspects of the systems described in U.S. provisional application
Ser. No. 61/842,644, filed Jul. 3, 2013, which is hereby
incorporated herein by reference in its entirety.
[0076] As another aspect of the present invention, this function
may be implemented in conjunction with or incorporated in or may be
part of or used in combination with a keyless entry/go access
admission system with visual driver identification, such as
described in U.S. provisional application Ser. No. 61/845,061,
filed Jul. 11, 2013 (Attorney Docket MAG04 P-2145), which is hereby
incorporated herein by reference in its entirety.
[0077] As another aspect of the present invention, the above
vehicle park surveillance system (and optionally the above access
admission system) may find use in conjunction with a power lift
gate triggering and object collision prevention system, such as
described in U.S. patent Ser. No. 14/159,772, filed Jan. 21, 2014
(Attorney Docket MAG04 P-2215), which is hereby incorporated herein
by reference in its entirety.
[0078] The Technische Universitat Munchen (TUM) published a
solution for preventing pedestrians (as well as animals, cyclists
and cars, hereinafter referred to as pedestrians) from hazards due
to being hidden behind objects by carrying a transponder (which may
be incorporated in a cell phone or the like) and permanently
providing the actual position of it (and by that the carrying
pedestrian) for being received by vehicle driver assistant systems
for warning or actively preventing collisions by braking and
assumingly invasive steering (see
http://www.tum.de/die-tum/aktuelles/pressemitteilungen/kurz/article/31294-
/, which is hereby incorporated herein by reference in its
entirety). However, the requirement that the pedestrians must
always carry a transponder in order to be detected by the driver
assistant systems of vehicles is a suboptimal solution.
[0079] As another aspect of the present invention, one or more than
one vehicles 20a-f may be parked at a local area, and may be
equipped with the image processing system according the invention,
and thus may be operable to detect or determine objects including
pedestrians (90 in FIG. 22) by vehicle inherent sensors such as
cameras 14c (with a field of view 80) in the manner as described
above. In the illustrated scenario of FIG. 22, the parked vehicle
20a may occlude the pedestrians to the area of view of the camera
or sensor 14b of the approaching vehicle 22. The vehicles 20a-f and
22 may be equipped with the devices according the invention
including a ZigBee transmitter 70. The pedestrian's position at the
area of sensor or camera view 80 of the vehicle 20a next to them
would be determined by the vision system of the vehicle 20a, which
may have been woken up or activated upon the pedestrians entering
the scene. The ZigBee transmitters of vehicles 20b-f (which may be
parked or moving) in the neighborhood may continuously transmit the
pedestrian's position to the receiving ZigBee node 70 of the
approaching vehicle 22.
[0080] For giving support to driver assistant system of driving
vehicles in that local area, the detection information may not just
be transmitted or sent to the specific parked individual vehicle's
owner cell phone or the like, but may be sent to the driving
vehicles so that local area driver assistant systems are also
informed of the location of the detected pedestrian or pedestrians,
and such communication may be made via any suitable type or kind of
data channel (such as, for example, GPRS, GSM, WLAN, DECT, WEP,
SMS, MMS, UMTS or LTE, and/or optically transmitted or communicated
or connected inductively or by wire (especially the charging cable
data, line of an e-car power outlet connected to a common data grid
or the like)). There may be a cloud server, a mobile app, or kind
of vehicle inherent app or algorithm for both receiving (from other
driving vehicles) and transmitting (to the parked vehicle or
vehicles) the data such as shown in above referenced and
incorporated International Publication No. WO 2013/081985. The
signal may run direct from vehicle to vehicle. The signal may be
transmitted via more than one vehicle and/or infrastructure which
may act as peers in a (may be temporary) local vehicle and/or
infrastructure grid or mesh network or peer to peer network, such
as like a ZigBee network or the like. In the example of FIG. 22,
the ZigBee device 70 may be attached to or connected to or in
communication with the vision system and/or camera (such as camera
14a of vision system 12). The driver assistant systems of the
driving vehicle(s) 22 (driving in the direction of the white arrow
24 in FIG. 22) will use the received data (gray arrows 26 in FIG.
22) of detected pedestrians 90 occluded by the parked vehicles (and
thus not in the are of view 100 of the driving vehicle 22) and
especially their detected position and walking direction (black
arrow 28 in FIG. 22) to determine potential collision hazards to
the pedestrians which may be occluded from the driving vehicle's
view 100 and optional other vehicle sensors. Responsive to a
determination that the approaching or driving vehicle 22 may
collide with the pedestrian(s) as the pedestrian(s) move out from
behind the parked vehicle and into the path of travel of the
approaching vehicle, the system of the approaching vehicle may
generate an alert to the driver to warn the driver of the (as yet)
not viewable pedestrians and their approach to the path of travel
of the driven vehicle.
[0081] The camera or sensor may comprise any suitable camera or
sensor. Optionally, the camera may comprise a "smart camera" that
includes the imaging sensor array and associated circuitry and
image processing circuitry and electrical connectors and the like
as part of a camera module, such as by utilizing aspects of the
vision systems described in International Publication Nos. WO
2013/081984 and/or WO 2013/081985, which are hereby incorporated
herein by reference in their entireties.
[0082] The system includes an image processor operable to process
image data captured by the camera or cameras, such as for detecting
objects or other vehicles or pedestrians or the like in the field
of view of one or more of the cameras. For example, the image
processor may comprise an EyeQ2 or EyeQ3 image processing chip
available from Mobileye Vision Technologies Ltd. of Jerusalem,
Israel, and may include object detection software (such as the
types described in U.S. Pat. Nos. 7,855,755; 7,720,580; and/or
7,038,577, which are hereby incorporated herein by reference in
their entireties), and may analyze image data to detect vehicles
and/or other objects. Responsive to such image processing, and when
an object or other vehicle is detected, the system may generate an
alert to the driver of the vehicle and/or may generate an overlay
at the displayed image to highlight or enhance display of the
detected object or vehicle, in order to enhance the driver's
awareness of the detected object or vehicle or hazardous condition
during a driving maneuver of the equipped vehicle.
[0083] The vehicle may include any type of sensor or sensors, such
as imaging sensors or radar sensors or lidar sensors or ladar
sensors or ultrasonic sensors or the like. The imaging sensor or
camera may capture image data for image processing and may comprise
any suitable camera or sensing device, such as, for example, a two
dimensional array of a plurality of photosensor elements arranged
in at least 640 columns and 480 rows (at least a 640.times.480
imaging array, such as a megapixel imaging array or the like), with
a respective lens focusing images onto respective portions of the
array. The photosensor array may comprise a plurality of
photosensor elements arranged in a photosensor array having rows
and columns. Preferably, the imaging array has at least 300,000
photosensor elements or pixels, more preferably at least 500,000
photosensor elements or pixels and more preferably at least 1
million photosensor elements or pixels. The imaging array may
capture color image data, such as via spectral filtering at the
array, such as via an RGB (red, green and blue) filter or via a
red/red complement filter or such as via an RCC (red, clear, clear)
filter or the like. The logic and control circuit of the imaging
sensor may function in any known manner, and the image processing
and algorithmic processing may comprise any suitable means for
processing the images and/or image data.
[0084] For example, the vision system and/or processing and/or
camera and/or circuitry may utilize aspects described in U.S. Pat.
Nos. 7,005,974; 5,760,962; 5,877,897; 5,796,094; 5,949,331;
6,222,447; 6,302,545; 6,396,397; 6,498,620; 6,523,964; 6,611,202;
6,201,642; 6,690,268; 6,717,610; 6,757,109; 6,802,617; 6,806,452;
6,822,563; 6,891,563; 6,946,978; 7,859,565; 5,550,677; 5,670,935;
6,636,258; 7,145,519; 7,161,616; 7,230,640; 7,248,283; 7,295,229;
7,301,466; 7,592,928; 7,881,496; 7,720,580; 7,038,577; 6,882,287;
5,929,786 and/or 5,786,772, and/or International Publication Nos.
WO 2011/028686; WO 2010/099416; WO 2012/061567; WO 2012/068331; WO
2012/075250; WO 2012/103193; WO 2012/0116043; WO 2012/0145313; WO
2012/0145501; WO 2012/145818; WO 2012/145822; WO 2012/158167; WO
2012/075250; WO 2012/0116043; WO 2012/0145501; WO 2012/154919; WO
2013/019707; WO 2013/016409; WO 2013/019795; WO 2013/067083; WO
2013/070539; WO 2013/043661; WO 2013/048994; WO 2013/063014, WO
2013/081984; WO 2013/081985; WO 2013/074604; WO 2013/086249; WO
2013/103548; WO 2013/109869; WO 2013/123161; WO 2013/126715; WO
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P-2216); Ser. No. 14/159,772, filed Jan. 21, 2014 (Attorney Docket
MAG04 P2215); Ser. No. 14/107,624, filed Dec. 16, 2013 (Attorney
Docket MAG04 P-2206); Ser. No. 14/102,981, filed Dec. 11, 2013
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14/093,981, filed Dec. 2, 2013 (Attorney Docket MAG04 P-2197); Ser.
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Ser. No. 14/082,573, filed Nov. 18, 2013 (Attorney Docket MAG04
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11, 2013 (Attorney Docket MAG04 P-2209); Ser. No. 14/052,945, filed
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14/016,790, filed Oct. 3, 2013 (Attorney Docket MAG04 P-2139); Ser.
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Ser. No. 14/016,790, filed Sep. 3, 2013 (Attorney Docket MAG04
P-2139); Ser. No. 14/001,272, filed Aug. 23, 2013 (Attorney Docket
MAG04 P-1824); Ser. No. 13/970,868, filed Aug. 20, 2013 (Attorney
Docket MAG04 P-2131); Ser. No. 13/964,134, filed Aug. 12, 2013
(Attorney Docket MAG04 P-2123); Ser. No. 13/942,758, filed Jul. 16,
2013 (Attorney Docket MAG04 P-2127); Ser. No. 13/942,753, filed
Jul. 16, 2013 (Attorney Docket MAG04 P-2112); Ser. No. 13/927,680,
filed Jun. 26, 2013 (Attorney Docket MAG04 P-2091); Ser. No.
13/916,051, filed Jun. 12, 2013 (Attorney Docket MAG04 P-2081);
Ser. No. 13/894,870, filed May 15, 2013 (Attorney Docket MAG04
P-2062); Ser. No. 13/887,724, filed May 6, 2013 (Attorney Docket
MAG04 P-2072); Ser. No. 13/852,190, filed Mar. 28, 2013 (Attorney
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filed Mar. 13, 2013 (Attorney Docket MAG04 P-2060); Ser. No.
13/785,099, filed Mar. 5, 2013 (Attorney Docket MAG04 P-2017); Ser.
No. 13/779,881, filed Feb. 28, 2013 (Attorney Docket MAG04 P-2028);
Ser. No. 13/774,317, filed Feb. 22, 2013 (Attorney Docket MAG04
P-2015); Ser. No. 13/774,315, filed Feb. 22, 2013 (Attorney Docket
MAG04 P-2013); Ser. No. 13/681,963, filed Nov. 20, 2012 (Attorney
Docket MAG04 P-1983); Ser. No. 13/660,306, filed Oct. 25, 2012
(Attorney Docket MAG04 P-1950); Ser. No. 13/653,577, filed Oct. 17,
2012 (Attorney Docket MAG04 P-1948); and/or Ser. No. 13/534,657,
filed Jun. 27, 2012 (Attorney Docket MAG04 P-1892), and/or U.S.
provisional applications, Ser. No. 61/919,129, filed Dec. 20, 2013;
Ser. No. 61/919,130, filed Dec. 20, 2013; Ser. No. 61/919,131,
filed Dec. 20, 2013; Ser. No. 61/919,147, filed Dec. 20, 2013; Ser.
No. 61/919,138, filed Dec. 20, 2013, Ser. No. 61/919,133, filed
Dec. 20, 2013; Ser. No. 61/918,290, filed Dec. 19, 2013; Ser. No.
61/915,218, filed Dec. 12, 2013; Ser. No. 61/912,146, filed Dec. 5,
2013; Ser. No. 61/911, 666, filed Dec. 4, 2013; Ser. No.
61/911,665, filed Dec. 4, 2013; Ser. No. 61/905,461, filed Nov. 18,
2013; Ser. No. 61/905,462, filed Nov. 18, 2013; Ser. No.
61/901,127, filed Nov. 7, 2013; Ser. No. 61/895,610, filed Oct. 25,
2013; Ser. No. 61/895,609, filed Oct. 25, 2013; Ser. No.
61/886,883, filed Oct. 4, 2013; Ser. No. 61/879,837, filed Sep. 19,
2013; Ser. No. 61/879,835, filed Sep. 19, 2013; Ser. No.
61/878,877, filed Sep. 17, 2013; Ser. No. 61/875,351, filed Sep. 9,
2013; Ser. No. 61/869,195, filed. Aug. 23, 2013; Ser. No.
61/864,835, filed Aug. 12, 2013; Ser. No. 61/864,836, filed Aug.
12, 2013; Ser. No. 61/864,837, filed Aug. 12, 2013; Ser. No.
61/864,838, filed Aug. 12, 2013; Ser. No. 61/856,843, filed Jul.
22, 2013, Ser. No. 61/845,061, filed Jul. 11, 2013; Ser. No.
61/844,630, filed Jul. 10, 2013; Ser. No. 61/844,173, filed Jul. 9,
2013; Ser. No. 61/844,171, filed Jul. 9, 2013; Ser. No. 61/842,644,
filed Jul. 3, 2013; Ser. No. 61/840,542, filed Jun. 28, 2013; Ser.
No. 61/838,619, filed Jun. 24, 2013; Ser. No. 61/838,621, filed
Jun. 24, 2013; Ser. No. 61/837,955, filed Jun. 21, 2013; Ser. No.
61/836,900, filed Jun. 19, 2013; Ser. No. 61/836,380, filed Jun.
18, 2013; Ser. No. 61/834,129, filed Jun. 12, 2013; Ser. No.
61/833,080, filed Jun. 10, 2013; Ser. No. 61/830,375, filed Jun. 3,
2013; Ser. No. 61/830,377, filed Jun. 3, 2013; Ser. No. 61/825,752,
filed May 21, 2013; Ser. No. 61/825,753, filed May 21, 2013; Ser.
No. 61/823,648, filed May 15, 2013; Ser. No. 61/823,644, filed May
15, 2013; Ser. No. 61/821,922, filed May 10, 2013; Ser. No.
61/819,835, filed May 6, 2013; Ser. No. 61/819,033, filed May 3,
2013; Ser. No. 61/816,956, filed Apr. 29, 2013; Ser. No.
61/815,044, filed Apr. 23, 2013; Ser. No. 61/814,533, filed Apr.
22, 2013; Ser. No. 61/813,361, filed Apr. 18, 2013; Ser. No.
61/810,407, filed Apr. 10, 2013; Ser. No. 61/808,930, filed Apr. 5,
2013; Ser. No. 61/806,674, filed Mar. 29, 2013; Ser. No.
61/793,592, filed Mar. 15, 2013; Ser. No. 61/772,015, filed Mar. 4,
2013; Ser. No. 61/772,014, filed Mar. 4, 2013; Ser. No. 61/770,051,
filed Feb. 27, 2013; Ser. No. 61/766,883, filed Feb. 20, 2013;
and/or Ser. No. 61/760,366, filed Feb. 4, 2013, which are all
hereby incorporated herein by reference in their entireties. The
system may communicate with other communication systems via any
suitable means, such as by utilizing aspects of the systems
described in International Publication Nos. WO/2010/144900; WO
2013/043661 and/or WO 2013/081985, and/or U.S. patent application
Ser. No. 13/202,005, filed Aug. 17, 2011 (Attorney Docket MAG04
P-1595), which are hereby incorporated herein by reference in their
entireties.
[0085] The imaging device and control and image processor and any
associated illumination source, if applicable, may comprise any
suitable components, and may utilize aspects of the cameras and
vision systems described in U.S. Pat. Nos. 5,550,677; 5,877,897;
6,498,620; 5,670,935; 5,796,094; 6,396,397; 6,806,452; 6,690,268;
7,005,974; 7,937,667; 7,123,168; 7,004,606; 6,946,978; 7,038,577;
6,353,392; 6,320,176; 6,313,454; and 6,824,281, and/or
International Publication Nos. WO 2010/099416; WO 2011/028686;
and/or WO 2013/016409, and/or U.S. patent application Ser. No.
12/508,840, filed Jul. 24, 2009, and published Jan. 28, 2010 as
U.S. Pat. Publication No. US 2010-0020170, and/or U.S. patent
application Ser. No. 13/534,657, filed Jun. 27, 2012 (Attorney
Docket MAG04 P-1892), which are all hereby incorporated herein by
reference in their entireties. The camera or cameras may comprise
any suitable cameras or imaging sensors or camera modules, and may
utilize aspects of the cameras or sensors described in U.S. patent
application Ser. No. 12/091,359, filed Apr. 24, 2008 and published
Oct. 1, 2009 as U.S. Publication No. US-2009-0244361; and/or Ser.
No. 13/260,400, filed Sep. 26, 2011 (Attorney Docket MAG04 P-1757),
and/or U.S. Pat. Nos. 7,965,336 and/or 7,480,149, which are hereby
incorporated herein by reference in their entireties. The imaging
array sensor may comprise any suitable sensor, and may utilize
various imaging sensors or imaging array sensors or cameras or the
like, such as a CMOS imaging array sensor, a CCD sensor or other
sensors or the like, such as the types described in U.S. Pat. Nos.
5,550,677; 5,670,935; 5,760,962; 5,715,093; 5,877,897; 6,922,292;
6,757,109; 6,717,610; 6,590,719; 6,201,642; 6,498,620; 5,796,094;
6,097,023; 6,320,176; 6,559,435; 6,831,261; 6,806,452; 6,396,397;
6,822,563; 6,946,978; 7,339,149; 7,038,577; 7,004,606; 7,720,580;
and/or 7,965,336, and/or International Publication Nos.
WO/2009/036176 and/or WO/2009/046268, which are all hereby
incorporated herein by reference in their entireties.
[0086] The camera module and circuit chip or board and imaging
sensor may be implemented and operated in connection with various
vehicular vision-based systems, and/or may be operable utilizing
the principles of such other vehicular systems, such as a vehicle
headlamp control system, such as the type disclosed in U.S. Pat.
Nos. 5,796,094; 6,097,023; 6,320,176; 6,559,435; 6,831,261;
7,004,606; 7,339,149; and/or 7,526,103, which are all hereby
incorporated herein by reference in their entireties, a rain
sensor, such as the types disclosed in commonly assigned U.S. Pat.
Nos. 6,353,392; 6,313,454; 6,320,176; and/or 7,480,149, which are
hereby incorporated herein by reference in their entireties, a
vehicle vision system, such as a forwardly, sidewardly or
rearwardly directed vehicle vision system utilizing principles
disclosed in U.S. Pat. Nos. 5,550,677; 5,670,935; 5,760,962;
5,877,897; 5,949,331; 6,222,447; 6,302,545; 6,396,397; 6,498,620;
6,523,964; 6,611,202; 6,201,642; 6,690,268; 6,717,610; 6,757,109;
6,802,617; 6,806,452; 6,822,563; 6,891,563; 6,946,978; and/or
7,859,565, which are all hereby incorporated herein by reference in
their entireties, a trailer hitching aid or tow check system, such
as the type disclosed in U.S. Pat. No. 7,005,974, which is hereby
incorporated herein by reference in its entirety, a reverse or
sideward imaging system, such as for a lane change assistance
system or lane departure warning system or for a blind spot or
object detection system, such as imaging or detection systems of
the types disclosed in U.S. Pat. Nos. 7,720,580; 7,038,577;
5,929,786 and/or 5,786,772, and/or U.S. patent application Ser. No.
11/239,980, filed Sep. 30, 2005, now U.S. Pat. No. 7,881,496,
and/or U.S. provisional applications, Ser. No. 60/628,709, filed
Nov. 17, 2004; Ser. No. 60/614,644, filed Sep. 30, 2004; Ser. No.
60/618,686, filed Oct. 14, 2004; Ser. No. 60/638,687, filed Dec.
23, 2004, which are hereby incorporated herein by reference in
their entireties, a video device for internal cabin surveillance
and/or video telephone function, such as disclosed in U.S. Pat.
Nos. 5,760,962; 5,877,897; 6,690,268; and/or 7,370,983, and/or U.S.
patent application Ser. No. 10/538,724, filed Jun. 13, 2005 and
published Mar. 9, 2006 as U.S. Publication No. US-2006-0050018,
which are hereby incorporated herein by reference in their
entireties, a traffic sign recognition system, a system for
determining a distance to a leading or trailing vehicle or object,
such as a system utilizing the principles disclosed in U.S. Pat.
Nos. 6,396,397 and/or 7,123,168, which are hereby incorporated
herein by reference in their entireties, and/or the like.
[0087] Optionally, the circuit board or chip may include circuitry
for the imaging array sensor and or other electronic accessories or
features, such as by utilizing compass-on-a-chip or EC
driver-on-a-chip technology and aspects such as described in U.S.
Pat. No. 7,255,451 and/or U.S. Pat. No. 7,480,149; and/or U.S.
patent application Ser. No. 11/226,628, filed Sep. 14, 2005 and
published Mar. 23, 2006 as U.S. Publication No. US-2006-0061008,
and/or Ser. No. 12/578,732, filed Oct. 14, 2009 (Attorney Docket
DON01 P-1564), which are hereby incorporated herein by reference in
their entireties.
[0088] Optionally, the vision system may include a display for
displaying images captured by one or more of the imaging sensors
for viewing by the driver of the vehicle while the driver is
normally operating the vehicle. Optionally, for example, the vision
system may include a video display device disposed at or in the
interior rearview mirror assembly of the vehicle, such as by
utilizing aspects of the video mirror display systems described in
U.S. Pat. No. 6,690,268 and/or U.S. patent application Ser. No.
13/333,337, filed Dec. 21, 2011 (Attorney Docket DON01 P-1797),
which are hereby incorporated herein by reference in their
entireties. The video mirror display may comprise any suitable
devices and systems and optionally may utilize aspects of the
compass display systems described in U.S. Pat. Nos. 7,370,983;
7,329,013; 7,308,341; 7,289,037; 7,249,860; 7,004,593; 4,546,551;
5,699,044; 4,953,305; 5,576,687; 5,632,092; 5,677,851; 5,708,410;
5,737,226; 5,802,727; 5,878,370; 6,087,953; 6,173,508; 6,222,460;
6,513,252; and/or 6,642,851, and/or European patent application,
published Oct. 11, 2000 under Publication No. EP 0 1043566, and/or
U.S. patent application Ser. No. 11/226,628, filed Sep. 14, 2005
and published Mar. 23, 2006 as U.S. Publication No.
US-2006-0061008, which are all hereby incorporated herein by
reference in their entireties. Optionally, the video mirror display
screen or device may be operable to display images captured by a
rearward viewing camera of the vehicle during a reversing maneuver
of the vehicle (such as responsive to the vehicle gear actuator
being placed in a reverse gear position or the like) to assist the
driver in backing up the vehicle, and optionally may be operable to
display the compass heading or directional heading character or
icon when the vehicle is not undertaking a reversing maneuver, such
as when the vehicle is being driven in a forward direction along a
road (such as by utilizing aspects of the display system described
in PCT Application No. PCT/US2011/056295, filed Oct. 14, 2011 and
published Apr. 19, 2012 as International Publication No. WO
2012/051500, which is hereby incorporated herein by reference in
its entirety).
[0089] Optionally, the vision system (utilizing the forward facing
camera and a rearward facing camera and other cameras disposed at
the vehicle with exterior fields of view) may be part of or may
provide a display of a top-down view or birds-eye view system of
the vehicle or a surround view at the vehicle, such as by utilizing
aspects of the vision systems described in International
Publication Nos. WO 2010/099416; WO 2011/028686; WO2012/075250; WO
2013/019795; WO 2012/075250; WO 2012/145822; WO 2013/081985; WO
2013/086249; and/or WO 2013/109869, and/or U.S. patent application
Ser. No. 13/333,337, filed Dec. 21, 2011 (Attorney Docket DON01
P-1797), which are hereby incorporated herein by reference in their
entireties.
[0090] Optionally, a video mirror display may be disposed rearward
of and behind the reflective element assembly and may comprise a
display such as the types disclosed in U.S. Pat. Nos. 5,530,240;
6,329,925; 7,855,755; 7,626,749; 7,581,859; 7,446,650; 7,370,983;
7,338,177; 7,274,501; 7,255,451; 7,195,381; 7,184,190; 5,668,663;
5,724,187 and/or 6,690,268, and/or in U.S. patent application Ser.
No. 11/226,628, filed Sep. 14, 2005 and published Mar. 23, 2006 as
U.S. Publication No. US-2006-0061008; and/or Ser. No. 10/538,724,
filed Jun. 13, 2005 and published Mar. 9, 2006 as U.S. Publication
No. US-2006-0050018, which are all hereby incorporated herein by
reference in their entireties. The display is viewable through the
reflective element when the display is activated to display
information. The display element may be any type of display
element, such as a vacuum fluorescent (VF) display element, a light
emitting diode (LED) display element, such as an organic light
emitting diode (OLED) or an inorganic light emitting diode, an
electroluminescent (EL) display element, a liquid crystal display
(LCD) element, a video screen display element or backlit thin film
transistor (TFT) display element or the like, and may be operable
to display various information (as discrete characters, icons or
the like, or in a multi-pixel manner) to the driver of the vehicle,
such as passenger side inflatable restraint (PSIR) information,
tire pressure status, and/or the like. The mirror assembly and/or
display may utilize aspects described in U.S. Pat. Nos. 7,184,190;
7,255,451; 7,446,924 and/or 7,338,177, which are all hereby
incorporated herein by reference in their entireties. The
thicknesses and materials of the coatings on the substrates of the
reflective element may be selected to provide a desired color or
tint to the mirror reflective element, such as a blue colored
reflector, such as is known in the art and such as described in
U.S. Pat. Nos. 5,910,854; 6,420,036; and/or 7,274,501, which are
hereby incorporated herein by reference in their entireties.
[0091] Optionally, the display or displays and any associated user
inputs may be associated with various accessories or systems, such
as, for example, a tire pressure monitoring system or a passenger
air bag status or a garage door opening system or a telematics
system or any other accessory or system of the mirror assembly or
of the vehicle or of an accessory module or console of the vehicle,
such as an accessory module or console of the types described in
U.S. Pat. Nos. 7,289,037; 6,877,888; 6,824,281; 6,690,268;
6,672,744; 6,386,742; and 6,124,886, and/or U.S. patent application
Ser. No. 10/538,724, filed Jun. 13, 2005 and published Mar. 9, 2006
as U.S. Publication No. US-2006-0050018, which are hereby
incorporated herein by reference in their entireties.
[0092] Changes and modifications to the specifically described
embodiments may be carried out without departing from the
principles of the present invention, which is intended to be
limited only by the scope of the appended claims as interpreted
according to the principles of patent law.
* * * * *
References