US 12,094,132 B2
Vehicular vision system
Bishnu Raveendran, Rochester, MI (US)
Assigned to MAGNA ELECTRONICS INC., Auburn Hills, MI (US)
Filed by Magna Electronics Inc., Auburn Hills, MI (US)
Filed on Nov. 15, 2023, as Appl. No. 18/509,412.
Application 18/509,412 is a division of application No. 17/305,162, filed on Jul. 1, 2021, granted, now 11,823,395.
Claims priority of provisional application 62/705,527, filed on Jul. 2, 2020.
Prior Publication US 2024/0087143 A1, Mar. 14, 2024
Int. Cl. G06T 7/246 (2017.01); B60H 1/00 (2006.01); B60Q 9/00 (2006.01); B60R 1/24 (2022.01); B60R 1/27 (2022.01); B60R 25/31 (2013.01); G01C 21/28 (2006.01); G01C 21/34 (2006.01); G01J 5/00 (2022.01); G06V 20/56 (2022.01); G06V 20/58 (2022.01)
CPC G06T 7/248 (2017.01) [B60H 1/00742 (2013.01); B60H 1/00792 (2013.01); B60H 1/00985 (2013.01); B60Q 9/00 (2013.01); B60R 1/24 (2022.01); B60R 25/31 (2013.01); G01C 21/28 (2013.01); G01C 21/3461 (2013.01); G06V 20/58 (2022.01); G06V 20/588 (2022.01); B60R 1/27 (2022.01); B60R 2300/8006 (2013.01); G01J 2005/0077 (2013.01); G06T 2207/30256 (2013.01); G06T 2207/30261 (2013.01); G06T 2207/30268 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A vehicular vision system, the vehicular vision system comprising:
a sensor disposed at a vehicle equipped with the vehicular vision system and having a field of sensing exterior of the vehicle, the sensor capturing sensor data;
wherein the sensor comprises a camera that views exterior of the vehicle;
an electronic control unit (ECU) comprising electronic circuitry and associated software;
wherein the electronic circuitry of the ECU comprises an image processor for processing sensor data captured by the sensor;
wherein, responsive to the vehicle being parked, captured sensor data is processed at the ECU to determine a topography of the environment at the parked vehicle;
wherein the ECU begins processing sensor data captured by the sensor to determine the topography of the environment at the parked vehicle responsive to one selected from the group consisting of (i) determining that the vehicle has been shifted into a parking gear, and (ii) the vehicle travelling below a threshold speed;
wherein the ECU, responsive to determining the topography at the parked vehicle determines presence of a hazard of the topography;
wherein the ECU, responsive to processing by the image processor of image data captured by the camera, determines presence of the hazard;
wherein the ECU begins processing image data captured by the camera to determine presence of the hazard responsive to at least one selected from the group consisting of (i) determining an attempted entry into the vehicle by a person outside of the vehicle, and (ii) a selected gear of the vehicle; and
wherein the ECU, responsive to determining presence of the hazard, notifies an occupant of the vehicle of the hazard prior to the occupant exiting the parked vehicle.