Vehicular imaging system with camera misalignment correction and capturing image data at different resolution levels dependent on distance to object in field of view

摘要

A vehicular imaging system comprises a single imaging sensor having a plurality of photosensor elements. The imaging sensor captures image data of a scene exterior of the vehicle within its field of view. Image data captured by the imaging sensor is provided to a control. The control also receives via a communication bus at least one of vehicle pitch information, vehicle yaw information and vehicle steering information. The control detects two substantially straight and converging road features along the road the vehicle is travelling and determines a point of intersection where they would converge using, at least in part, the received vehicle information and the control automatically corrects for misalignment of the imaging sensor mounted at the vehicle.

主权项

1. A vehicular imaging system comprising:
an imaging device comprising a single imaging sensor; said imaging sensor comprising a plurality of photosensor elements; said imaging device mounted at a vehicle and having a field of view exterior of said vehicle; wherein said field of view exterior of said vehicle encompasses a scene forward of said vehicle; wherein said imaging device is disposed in said vehicle behind the windshield of said vehicle and views through a portion of the windshield; wherein said portion of the windshield comprises a portion cleaned by a windshield wiper of said vehicle; wherein said imaging device comprises a CMOS imaging device; said single imaging sensor of said imaging device capturing image data within said field of view; a control receiving said image data; said control also receiving, via a communication bus of said vehicle, at least one of (i) vehicle pitch information, (ii) vehicle yaw information and (iii) vehicle steering information; said control detecting converging road features along the road said vehicle is travelling; said control determining a point of intersection where said converging road features would converge; said control automatically correcting for misalignment of said imaging device mounted at said vehicle; wherein said automatic correction for misalignment of said imaging device mounted at said vehicle comprises, at least in part, said determination by said control of where said converging road features would converge; wherein at least one of (i) said control is operable to process a reduced image data set more than other image data and (ii) said control detects an object present exteriorly of said vehicle within a target zone; wherein said control comprises an image processor, said image processor processing captured image data at at least two resolution levels, said at least two resolution levels comprising a higher resolution level of processing of captured image data by said image processor and a lower resolution level of processing of captured image data by said image processor; wherein said image processor processes captured image data at different resolution levels at least in part in response to a distance between the subject vehicle and a detected light source present in said field of view; and wherein said image processor processes captured image data at said lower resolution level responsive to the distance being below a threshold level and wherein said image processor processes captured image data at said higher resolution level responsive to the distance being above the threshold level.