USOO8917169B2
`
`(12) Unlted States Patent
`Scho?eld et a].
`
`(10) Patent N0.:
`(45) Date of Patent:
`
`US 8,917,169 B2
`*Dec. 23, 2014
`
`(54) VEHICULAR VISION SYSTEM
`
`(71) Applicant: Magna Electronics Inc., Auburn Hills,
`MI (U S)
`
`(72) Inventors: Kenneth Scho?eld, Holland, MI (U S);
`Mark L. Larson, Grand Haven, MI (U S)
`
`340/815.4, 433, 937; 359/604, 601, 603,
`359/265; 348/148, 151
`See application ?le for complete search history.
`
`(56)
`
`References Cited
`U S PATENT DOCUMENTS
`'
`'
`
`_
`_
`(73) Asslgnee: Magna Electronics Inc., Holland, MI
`(Us)
`
`1,472,509 A 10/1923 Bitter
`2,074,251 A
`1/1936 Braun
`(Continued)
`
`( * ) Notice:
`
`Subject to any disclaimer, the term of this
`patent is extended or adjusted under 35
`U.S.C. 154(b) by 0 days.
`
`.
`.
`.
`.
`.
`This patent 1s subJect to a terminal d1s-
`Claimer_
`
`AT
`
`BE
`
`FOREIGN PATENT DOCUMENTS
`
`519193
`
`3/2011
`
`1008142 A7
`
`1/1996
`
`_
`(Continued)
`OTHER PUBLICATIONS
`
`(21) Appl. No.: 14/093,981
`
`(22) Filed:
`
`Dec. 2, 2013
`
`(65)
`
`Prior Publication Data
`
`US 2014/0084789 A1
`
`Mar. 27, 2014
`
`D
`Rl dUSA 1
`e ate
`.
`. pp ication ata
`(63) Continuation of application No. 13/680,534, ?led on
`Nov. 19, 2012, now Pat. No. 8,599,001, which is a
`.
`(Commued)
`
`(51) Int C1
`36b '
`Q 1/00
`B60Q 1/14
`
`(2006.01)
`
`(200601)
`(Continued)
`
`(52) us CL
`CPC .............. .. B60Q 1/143 (2013.01); B60N2/002
`(201301); B60Q 1/142 3 (201301); B601; 1/00
`(201301); B60]; 1/04 (201301);
`_
`(commued)
`(58) Field of Classi?cation Search
`USPC ............ .. 340/425.5, 435, 436, 901, 461, 438,
`
`“Desert Storm technology comes to the suburban drive to work”, Oct.
`17, 1991.
`
`(continued)
`
`Primary Examiner i Toan N Pham
`(74) Attorney, Agent, or Firm * Gardner, Linn, Burkhart &
`Flory’LLP
`
`ABSTRACT
`(57)
`A vehicular vision system includes a camera having a lens
`and a CMOS photosensor array having a plurality of photo
`sensor elements. The camera is disposed at an interior portion
`of a vehicle equipped with the vehicular vision system. The
`camera one of (i) views exterior of the equipped vehicle
`.
`.
`.
`.
`through the Windshield of the equ1pped vehicle and forward
`of the equipped vehicle and (11) V1ews from the W1ndsh1eld of
`the equipped vehicle into the interior cabin of the equipped
`vehicle. A control includes an image processor that processes
`image data captured by the photosensor array- The image
`processor processes captured image data to detect an object
`viewed by the camera. The photosensor array is operable at a
`plurality of exposure periods and at least one exposure period
`of the plurality of exposure periods is dynamically variable.
`
`20 Claims, 25 Drawing Sheets
`
`

`
`US 8,917,169 B2
`Page 2
`
`Related US. Application Data
`
`(56)
`
`References Cited
`
`(51)
`
`(52)
`
`continuation of application No. 13/525,763, ?led on
`Jun. 18, 2012, noW Pat. No. 8,314,689, Which is a
`continuation of application No. 13/351,098, ?led on
`Jan. 16, 2012, now Pat. No. 8,203,440, Which is a
`continuation of application No. 11/074,521, ?led on
`Mar. 8, 2005, noW Pat. No. 8,098,142, Which is a
`continuation of application No. 10/940,700, ?led on
`Sep. 14, 2004, noW Pat. No. 6,953,253, Which is a
`continuation of application No. 10/372,873, ?led on
`Feb. 24, 2003, noW Pat. No. 6,802,617, Which is a
`continuation of application No. 09/975,232, ?led on
`Oct. 11, 2001, noW Pat. No. 6,523,964, Which is a
`continuation of application No. 09/227,344, ?led on
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`Jun. 7, 1995, noW Pat. No. 5,877,897.
`
`(2006.01)
`(2006.01)
`(2006.01)
`(2006.01)
`(2006.01)
`(2006.01)
`(2006.01)
`(2006.01)
`(2006.01)
`(2006.01)
`(2006.01)
`(2006.01)
`(2011.01)
`(2006.01)
`
`Int. Cl.
`B60N 2/00
`B60R 1/00
`B60R 1/04
`B60R 1/08
`B60R 1/12
`B60R 11/04
`B60S 1/08
`G01J1/42
`G06T 7/00
`H04N 7/18
`H04N13/02
`B60Q 1/04
`H04N 5/3 74
`H04N 13/00
`US. Cl.
`CPC ................ .. B60R 1/088 (2013.01); B60R 1/12
`(2013.01); B60R 11/04 (2013.01); B60S 1/0822
`(2013.01); B60S 1/0844 (2013.01); B60S
`1/0885 (2013.01); 00111/4204 (2013.01);
`G01J1/4228 (2013.01); G06T 7/0022
`(2013.01); H04N 7/18 (2013.01); H04N 7/181
`(2013.01); H04N13/0239 (2013.01); B60Q
`1/04 (2013.01); H04N 5/374 (2013.01); H04N
`7/183 (2013.01); B60R 21/01538 (2014.01);
`B60Q 2300/052 (2013.01); B60Q 2300/21
`(2013.01); B60Q 2300/312 (2013.01); B60Q
`2300/314 (2013.01); B60Q 2300/3321
`(2013.01); B60Q 2300/41 (2013.01); B60Q
`2300/42 (2013.01); B60Q 2300/43 (2013.01);
`B60Q 2400/30 (2013.01); B60R 2001/1223
`(2013.01); B60R 2001/1253 (2013.01); B60R
`2300/103 (2013.01); B60R 2300/30 (2013.01);
`B60R 2300/8006 (2013.01); B60R 2300/8026
`(2013.01); B60R 2300/8046 (2013.01); B60R
`2300/8066 (2013.01); B60R 2300/8073
`(2013.01); B60R 2300/8093 (2013.01); H04N
`2013/0081 (2013.01); G06T2207/10016
`(2013.01); G06T 2207/30252 (2013.01); G06T
`2207/30268 (2013.01)
`USPC ...... .. 340/425.5; 340/438; 340/937; 348/148;
`348/151
`
`U.S. PATENT DOCUMENTS
`
`2,148,119
`2,339,291
`2,317,400
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`2/1939
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`5/1952
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`3/1953
`1/1958
`10/1958
`10/1958
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`6/1967
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`8/1973
`11/1974
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`1/1977
`7/1977
`8/1977
`9/1977
`11/1977
`11/1978
`3/1979
`12/1979
`4/1980
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`7/1980
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`Grist
`Paulus et a1.
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`Sitter
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`
`

`
`US 8,917,169 B2
`Page 3
`
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`>D>D>D>D>D>>>>>>>>>>>>>>>>>D>>D>>>m>>>D>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
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