US 12,244,957 B2
Vehicular vision system with multiple cameras
Yuesheng Lu, Farmington Hills, MI (US)
Assigned to MAGNA ELECTRONICS INC., Auburn Hills, MI (US)
Filed by MAGNA ELECTRONICS INC., Auburn Hills, MI (US)
Filed on Jan. 9, 2023, as Appl. No. 18/151,544.
Application 18/151,544 is a division of application No. 17/247,488, filed on Dec. 14, 2020, granted, now 11,553,140.
Application 17/247,488 is a continuation of application No. 15/899,105, filed on Feb. 19, 2018, granted, now 10,868,974, issued on Dec. 15, 2020.
Application 15/899,105 is a continuation of application No. 13/990,902, granted, now 9,900,522, issued on Feb. 20, 2018, previously published as PCT/US2011/062834, filed on Dec. 1, 2011.
Claims priority of provisional application 61/482,786, filed on May 5, 2011.
Claims priority of provisional application 61/418,499, filed on Dec. 1, 2010.
Prior Publication US 2023/0156141 A1, May 18, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. H04N 5/262 (2006.01); B60R 1/27 (2022.01); G06T 3/4038 (2024.01); H04N 23/698 (2023.01)
CPC H04N 5/2621 (2013.01) [B60R 1/27 (2022.01); G06T 3/4038 (2013.01); H04N 23/698 (2023.01); B60R 2300/105 (2013.01); B60R 2300/306 (2013.01); B60R 2300/607 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A vehicular vision system, the vehicular vision system comprising:
a first camera disposed at a vehicle and having a sideward field of view that includes a road surface of a road along which the vehicle is traveling, the first camera capturing first image data while the vehicle is moving along the road;
a second camera disposed at the vehicle and having a rearward field of view that includes the road surface of the road along which the vehicle is traveling, the second camera capturing second image data while the vehicle is moving along the road;
wherein the sideward field of view of the first camera at least partially overlaps the rearward field of view of the second camera;
an image processor disposed at the vehicle;
wherein first image data captured by the first camera is provided to the image processor, and wherein second image data captured by the second camera is provided to the image processor;
wherein, while the vehicle is moving along the road, the image processor processes the provided first image data captured by the first camera and the provided second image data captured by the second camera;
wherein, while the vehicle is moving along the road, the vehicular vision system, via processing by the image processor of first image data captured by the first camera, determines relative movement of a road feature relative to the vehicle when the road feature is present in first image data captured by the first camera;
wherein, while the vehicle is moving along the road, the vehicular vision system, via processing by the image processor of second image data captured by the second camera, determines relative movement of the road feature relative to the vehicle when the road feature is present in second image data captured by the second camera;
wherein the determined relative movement of the road feature relative to the vehicle in first image data captured by the first camera is compared to the determined relative movement of the road feature relative to the vehicle in second image data captured by the second camera;
wherein the vehicular vision system compares the determined relative movements of the road feature relative to the vehicle to determine a relative rotation of the road feature relative to the vehicle in the second image data captured by the second camera as compared to the first image data captured by the first camera while the vehicle is moving along the road;
wherein, responsive to comparison of the determined relative movements of the road feature relative to the vehicle, at least a rotational offset of the second camera at the vehicle relative to the first camera at the vehicle is determined;
wherein, responsive to determination of the rotational offset of the second camera at the vehicle relative to the first camera at the vehicle, the first image data and the second image data are remapped based at least in part on the determined rotational offset to at least partially accommodate misalignment of the second camera relative to the first camera; and
a video display screen disposed in the vehicle and viewable by a driver of the vehicle, wherein the video display screen displays surround view video images derived from at least the first image data captured by the first camera and the second image data captured by the second camera.