US 11,794,647 B2
Vehicular vision system having a plurality of cameras
James Turk, Oakville (CA)
Assigned to MAGNA ELECTRONICS INC., Auburn Hills, MI (US)
Filed by MAGNA ELECTRONICS INC., Auburn Hills, MI (US)
Filed on Sep. 19, 2022, as Appl. No. 17/933,137.
Application 17/933,137 is a continuation of application No. 16/948,471, filed on Sep. 21, 2020.
Application 16/948,471 is a continuation of application No. 16/390,074, filed on Apr. 22, 2019, granted, now 11,447,070, issued on Sep. 20, 2022.
Application 16/390,074 is a continuation of application No. 15/644,987, filed on Jul. 10, 2017, granted, now 10,266,115, issued on Apr. 23, 2019.
Application 15/644,987 is a continuation of application No. 14/960,834, filed on Dec. 7, 2015, granted, now 9,701,246, issued on Jul. 11, 2017.
Application 14/960,834 is a continuation of application No. 14/282,029, filed on May 20, 2014, granted, now 9,205,776, issued on Dec. 8, 2015.
Claims priority of provisional application 61/825,753, filed on May 21, 2013.
Prior Publication US 2023/0010529 A1, Jan. 12, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. B60R 1/00 (2022.01)
CPC B60R 1/00 (2013.01) [B60R 2300/105 (2013.01); B60R 2300/30 (2013.01); B60R 2300/402 (2013.01); B60R 2300/802 (2013.01)] 44 Claims
OG exemplary drawing
 
1. A vehicular vision system, the vehicular vision system comprising:
a plurality of cameras disposed at a vehicle equipped with the vehicular vision system;
wherein the plurality of cameras is disposed at the vehicle so that each camera of the plurality of cameras has a respective field of view exterior of the vehicle;
wherein the plurality of cameras comprises (i) a rear camera disposed at a rear portion of the vehicle and having at least a rearward field of view and (ii) a front camera disposed at a front portion of the vehicle and having at least a forward field of view;
wherein each camera of the plurality of cameras comprises a two dimensional array having at least one million photosensing elements arranged in rows and columns;
wherein each camera of the plurality of cameras is operable to capture frames of image data;
an electronic control unit, the electronic control unit comprising an image processor operable to process frames of image data captured by the plurality of cameras and provided to the electronic control unit;
wherein vehicle data is provided to the electronic control unit via a communication bus of the vehicle;
wherein, responsive to processing at the electronic control unit of provided vehicle data, the vehicular vision system determines a vehicle motion vector during maneuvering of the vehicle;
wherein the vehicle data at least comprises (i) speed data indicative of speed of the vehicle and (ii) steering data indicative of steering of the vehicle;
wherein, responsive to image processing at the electronic control unit of frames of captured image data, the vehicular vision system determines an object present in the field of view of a camera of the plurality of cameras;
wherein the vehicular vision system determines movement of the object relative to the vehicle via image processing at the electronic control unit of at least two frames of captured image data during maneuvering of the vehicle;
wherein the vehicular vision system compares the determined relative movement of the object to the determined vehicle motion vector; and
wherein, responsive to a difference between the determined relative movement of the object and the determined vehicle motion vector, the vehicular vision system determines misalignment of the camera.