VALEO EXHIBIT 1001
`Valeo v. Magna
`IPR2015-____
`VALEO EX. 1001_001
`
`

`

`US 8,643,724 B2
`
`Page2
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`(56)
`
`References Cited
`
`U.S.PATENT DOCUMENTS
`
`4,214,266 A
`4,218,698 A
`4236 099 A
`4:247:870 A
`4,249,160 A
`4,266,856 A
`4,277,804 A
`4,281,898 A
`4,288,814 A
`4,355,271 A
`4,357,558 A
`4,381,888 A
`4420238 A
`4,431,896 A
`4,443:057 A
`4,460,831 A
`4,481,450 A
`4,491,390 A
`4,512,637 A
`4,529,275 A
`4,529,873 A
`4,546,551 A
`4,549,208 A
`4,571,082 A
`4,572,619 A
`4,580,875 A
`4,600,913 A
`4,603,946 A
`4,614,415 A
`4,620,141 A
`4,623,222 A
`4,626,850 A
`4629941 A
`4:630’109 A
`4,632,509 A
`4,638,287 A
`4,647,161 A
`4653316 A
`4:669:825 A
`4669 826 A
`4:671’615 A
`4,672,457 A
`4676 601 A
`4:690:508 A
`4,692,798 A
`4697 883 A
`4:701:022 A
`4,713,685 A
`4,717,830 A
`4,727,290 A
`4,731,669 A
`4,741,603 A
`4,768,135 A
`4,772,942 A
`4789 904 A
`4:793:690 A
`4,817,948 A
`4,820,933 A
`4825232 A
`4:838:650 A
`4,847,772 A
`4,855,822 A
`4,859,031 A
`4,862,037 A
`4,867,561 A
`4,871,917 A
`4,872,051 A
`4,881,019 A
`4,882,565 A
`4,886,960 A
`4,891,559 A
`4,892,345 A
`4,895,790 A
`4,896,030 A
`4,900,133 A
`
`7/1980 Myers
`8/1980 Baltetal.
`11/1980 Rosenblum
`1/1981 Gabel eta1.
`2/1981 Chilvers
`5/1981 Wainwright
`7/1981 Robison
`8/1981 Ochiai
`9/1981 Ta11eyeta1.
`10/1982 Noack
`11/1982 Massoni eta1.
`5/1983 Monnyama
`12/1983 Felix
`2/1984 Lodetti
`4/1984 Bauer
`7/1984 Oettinger et al.
`11/1984 Watanabe et 31.
`1/1985 Tong-Shen
`4/1985 Ballmer
`7/1985 Ballmer
`7/1985 Ballmer
`10/1985 Franks
`10/1985 Kamejimaetal.
`2/1986 Downs
`2/1986 Reininger
`4/1986 Bechtel
`7/1986 Caine
`8/1986 Kato
`9/1986 Hyatt
`10/1986 McCumberetal.
`11/1986 Itoh
`12/1986 Chey
`12/1986 Ellis
`12/1986 Barton
`12/1986 Ohmi
`1/1987 Umebayashi et al.
`3/1987 Muller
`3/1987 Fukuhara
`@987 “Oh
`6/1987 Itoh
`6/1987 Fukada
`6/1987 Hyatt
`6/1987 Itoh
`9/1987 Jacob
`9/1987 Seko eta1.
`10/1987 Suzuki
`10/1987 Jacob
`12/1987 Nishimura eta1.
`1/1988 Botts
`2/1988 Smith
`3/1988 Hayashi et a1.
`5/1988 Miyagi
`8/1988 Kretschmer et al.
`9/1988 Tuck
`12/1988 Peterson
`”/1988 Gahan
`4/1989 Simonelli
`4/1989 Hong
`4/1989 Howdle
`6/1989 Stewart
`7/1989 Michalopoulos et a1.
`8/1989 NarendIa eta1.
`8/1989 Berman eta1.
`8/1989 Farber et 31.
`9/1989 Fujiietal.
`10/1989 O’Farrell et a1.
`10/1989 Dye
`11/1989 Shiraishi et a1.
`11/1989 Gallmeyer
`12/1989 Molyneux
`1/1990 Matsumoto et al.
`1/1990 Rachae1,111
`1/1990 Swanson et 31.
`1/1990 Miyaji
`2/1990 Bennan
`
`4,907,870 A
`4,910,591 A
`4,916,374 A
`4,917,477 A
`4,937,796 A
`4,953,305 A
`4,956,591 A
`4,961,625 A
`4,967,319 A
`4,970,653 A
`4,971,430 A
`4,974,078 A
`4,987,357 A
`4,987,410 A
`4,991,054 A
`5,001,558 A
`5,003,288 A
`5,012,082 A
`5,016,977 A
`5027001 A
`5,027,200 A
`5,044,706 A
`5050966 A
`5055568 A
`5,059,877 A
`5,064,274 A
`5071154 A
`5,086,253 A
`5,096,287 A
`5,097,362 A
`5,121,200 A
`5,124,549 A
`5,130,709 A
`5448914 A
`5,168,378 A
`5,170,374 A
`5,172,235 A
`5,177,685 A
`5,182,502 A
`5484956 A
`5,189,561 A
`5,193,000 A
`5,193,029 A
`5,204,778 A
`5,208,701 A
`5,214,408 A
`5,245,422 A
`5,253,109 A
`5,276,389 A
`5,285,060 A
`5,289,182 A
`5,289,321 A
`5,305,012 A
`5,307,136 A
`5,309,137 A
`5,313,072 A
`5325996 A
`5,325,386 A
`5,329,206 A
`5,331,312 A
`5,336,980 A
`5,341,437 A
`5,351,044 A
`5,355,118 A
`5,374,852 A
`5,386,285 A
`5394333 A
`5,406,395 A
`5,408,346 A
`5410346 A
`5,414,257 A
`5,414,461 A
`5,416,313 A
`5,416,318 A
`5,416,478 A
`5,424,952 A
`5,426,294 A
`5,430,431 A
`5,434,407 A
`
`3/1990 Brucker
`3/1990 Petrossian etal.
`4/1990 Schierbeek
`4/1990 Bechtel et a1.
`6/1990 Tendler
`9/1990 VanLenteetal.
`9/1990 Schierbeeketal.
`10/1990 Woodetal.
`10/1990 Seko
`11/1990 Kenue
`11/1990 Lynfls
`_
`11/1990 Tsal
`“1991 Masakl
`1/1991 Bermanetal.
`2/1991 Walters
`3/1991 Burleyeta1
`3/1991 Wilhelm
`4/1991 Watanabe
`5/1991 Baudeetal.
`6/1991 T011364
`6/1991 Petrossmn etal.
`9/1991 Chen
`9/1991 Berman
`10/1991 French
`10/1991 Teder
`11/1991 Alten
`12/1991 Chen
`2/1992 Lawler
`3/1992 Kakinamiet a1.
`3/1992 Lynfils
`6/1992 C1101
`6/1992 Michaels et 31.
`7/1992 Toyamaetal.
`9/1992 Lynam
`12/1992 Black
`12/1992 Shimohigashietal.
`12/1992 Wilmetal.
`1/1993 Davisetal.
`1/1993 Slotkowski etal.
`2/1993 Langlals 6131
`2/1993 H9118
`3/1993 L1pt0n etal.
`3/1993 Schofield
`4/1993 Bechtel
`5/1993 Maeda
`5/1993 Asayama
`9/1993 BorcheIts et a1.
`10/1993 O’Farrell
`1/1994 Levers
`2/1994 Larson et a1.
`2/1994 Brillardetal.
`2/1994 Seem
`4/1994 Fans
`4/1994 Saneyoshi
`5/1994 Kaleara
`5/1994 Vachss
`6/1994 Pakett
`6/1994 Jewell et al.
`7/1994 Slotkowski etal.
`7/1994 Kudoh
`8/1994 Levers
`8/1994 Nakayama
`9/1994 Mathuret al.
`10/1994 Fukuhara
`12/1994 Parkes
`1/1995 Asayama
`2/1995 K90
`4/1995 WllSOH etal.
`4/1995 Trisseletal.
`4/1995 Saneyoshi et 31
`5/1995 Stanton
`5/1995 Kishi eta1.
`5/1995 Larson et al.
`5/1995 Hegyi
`5/1995 Morinaga
`6/1995 Asayama
`6/1995 Kobayashiet 31.
`7/1995 Nelson
`7/1995 Bauer et a1.
`
`VALEO EX. 1001_002
`VALEO EX. 1001_002
`
`

`

`US 8,643,724 B2
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`Page 3
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`(56)
`
`References Cited
`
`U.S. PATENT DOCUMENTS
`
`5,440,428 A
`5,444,478 A
`5,451,822 A
`5,457,493 A
`5 461357 A
`5:461:361 A
`5,469,298 A
`5,471,515 A
`5,475,494 A
`5,487,116 A
`5,498,866 A
`5,500,766 A
`5 510983 A
`5:515:448 A
`5,521,633 A
`5 528 698 A
`5:529:138 A
`5,530,240 A
`5,530,420 A
`5,535,314 A
`5,537,003 A
`5 539 397 A
`5:541:590 A
`5,550,677 A
`5,555,312 A
`5 555 555 A
`5568027 A
`5:5745443 A
`5,581:464 A
`5 594 222 A
`5614788 A
`5’619’370 A
`5:634:709 A
`5,642,299 A
`5 648 835 A
`5’650’944 A
`5:660:454 A
`5,661,303 A
`5,666,028 A
`5,668,663 A
`5,670,935 A
`5,675,489 A
`5,677,851 A
`5,699,044 A
`5,715 093 A
`5,724,187 A
`5724316 A
`5:737:226 A
`5,757,949 A
`5,760,826 A
`5760 828 A
`5,760,931 A
`5’760’962 A
`5:761:094 A
`5,765,116 A
`5,781,437 A
`5,786,772 A
`5,790,403 A
`5,790,973 A
`5 793 308 A
`5:793:420 A
`5,796,094 A
`5,798,575 A
`5 835 255 A
`5:837:994 A
`5,844,505 A
`5,844,682 A
`5,845,000 A
`5,848,802 A
`5,850,176 A
`5,850,254 A
`5,867,591 A
`5,877,707 A
`5,877,897 A
`5,878,370 A
`
`8/1995 Hegg et a1.
`8/1995 Lelong et a1.
`9/1995 Bechtel et a1.
`10/1995 Leddy et 31.
`10/1995 Yoshioka et 31.
`10/1995 MOOre
`11/1995 Suman etal.
`“/1995 Fossum et 31.
`12/1995 Nishida et a1.
`1/1996 Nakano et a1.
`3/1996 Bendicks et 31.
`3/1996 Stonecypher
`4/1996 Iino
`5/1996 Nishitani
`5/1996 Nakajima et 31.
`6/1996 Kameiet 31.
`6/1996 Shaw etal.
`6/1996 Larson et a1.
`6/1996 Tsuchiyaetal.
`7/1996 Alves et al.
`7/1996 Bechtel et 31.
`7/1996 Asanuma et 31.
`7/1996 Nishio
`8/1996 Schofield et a1.
`9/1996 Shima et a1.
`9/1996 Sato et 31.
`10/1996 Teder
`11/1996 Hsieh
`12/1996 Wollet 31.
`1/1997 Caldwell
`3/1997 Mullins
`4997 Guinosso
`@997 Iwama
`6/1997 Hardin et a1.
`7/1997 Uzawa
`771997 Kise
`8/1997 Moriet 31.
`8/1997 Teder
`9/1997 Bechtel et al.
`9/1997 Varaprasadetal.
`9/1997 Schofieldetal.
`10/1997 Pomerleau
`10/1997 Kingdon etal.
`12/1997 Van Lente et 31.
`2/1998 Schierbeek et 31.
`3/1998 Varaprasadetal.
`3/1998 Brunts
`4/1998 Olson etal.
`5/1998 Kinoshita et a1.
`6/1998 Nayar
`6/1998 Cortes
`6/1998 Saburiet 31.
`671998 Schofieldetal.
`6/1998 Olson et a1.
`6/1998 Wilson-Jones et a1.
`7/1998 Wiemer et 31.
`7/1998 Schofieldetal.
`8/1998 Nakayama
`8/1998 Blakeretal.
`8/1998 Rosinski et 31.
`8/1998 Schmidt
`8/1998 Schofieldetal.
`8/1998 O’Farrell et a1.
`11/1998 Miles
`“/1998 StametaL
`12/1998 Van Ryzin
`12/1998 Kiyomoto et 31.
`12/1998 Breed et a1.
`12/1998 Breed et a1.
`12/1998 Kinoshita et a1.
`12/1998 Takano et a1.
`2/1999 Onda
`3/1999 Kowalick
`3/1999 Schofield et a1.
`3/1999 Olson
`
`5,883,739 A
`5,884,212 A
`5,890,021 A
`5,896,085 A
`5,899,956 A
`5,914,815 A
`5,923,027 A
`5,929,786 A
`5,940,120 A
`5,949,331 A
`5,956,181 A
`5,959,367 A
`5959555 A
`5,963,247 A
`5,964,822 A
`5,971,552 A
`5,986,796 A
`5,990,469 A
`5,990,649 A
`6,001,486 A
`6,009,336 A
`6,020,704 A
`6,049,171 A
`6066933 A
`6,084,519 A
`6,087,953 A
`6,097,023 A
`6,097,024 A
`6,116,743 A
`6,124,647 A
`6,124,886 A
`6,139,172 A
`6,144,022 A
`6,172,613 B1
`6,175,164 B1
`6,175,300 B1
`6,198,409 B1
`6,201,642 Bl
`6,222,447 B1
`6,222,460 B1
`6,243,003 B1
`6,250,148 B1
`6259412 Bl
`6,266,082 B1
`6,266,442 B1
`6,285,393 B1
`6,291,906 B1
`6,294,989 B1
`6,297,781 B1
`6,302,545 B1
`6,310,611 B1
`6,313,454 B1
`6,317,057 Bl
`6,320,176 B1
`6,320,282 B1
`6,326,613 B1
`6,329,925 B1
`6,333,759 B1
`6341523 132
`6,353,392 B1
`6,366,213 B2
`6,370,329 B1
`6,396,397 B1
`6,411,204 B1
`6,411,328 B1
`6,420,975 B1
`6,424,273 Bl
`6,428,172 B1
`6,430,303 B1
`6,433,676 B2
`6,433,817 B1
`6,442,465 B2
`6,477,464 B2
`6,485,155 B1
`6,497,503 B1
`6,498,620 B2
`6,513,252 B1
`6,516,664 B2
`6,523,964 B2
`
`3/1999 Ashihara et a1.
`3/1999 Lion
`3/ 1999 OHOda
`4/1999 Moriet a1.
`5/1999 Chan
`6/1999 B08
`7/1999 Stam etal~
`7/1999 Schofield et a1.
`8/1999 Frankhouse et a1.
`9/1999 Schofieldetal.
`9/1999 Lin
`9/1999 O’Farrellet a1.
`9/1999 Fumta
`10/1999 Banltt
`10/1999 Alland et a1.
`10/1999 O’Farrellet a1.
`11/1999 Miles
`11/1999 Bechtel et a1.
`11/1999 Nagao et a1.
`12/1999 Varaprasad et a1.
`12/1999 Harris et a1.
`20000 Buschur
`40000 Starn_etal~
`50000 POHZIfma
`7/2000 Coulllng et a1.
`7/2000 DeLine et a1.
`8/2000 Schofieldetal.
`80000 Stam etal.
`9/2000 Hoek
`9/2000 Marcus et al.
`9/2000 DeLine etal.
`10/2000 Bosetal.
`11/2000 Tenenbaum et a1.
`1/2001 DeLine et al.
`1/2001 O’Farrellet a1.
`1/2001 Kendrick
`3/2001 Schofieldetal.
`3/2001 1305
`4/2001 Schofield et a1.
`4/2001 DeLine etal.
`6/2001 DeLine et a1.
`6/2001 Lynam
`7/2001 Duroux
`7/2001 Yonezawaetal.
`7/2001 Laumeyer et a1.
`9/2001 Shimouraet a1.
`9/2001 Marcus etal.
`9/2001 Schofield et al.
`10/2001 Turnbull et a1.
`10/2001 Schofieldetal.
`10/2001 Caldwell
`11/2001 Bosetal.
`11/2001 Lee
`11/2001 Schofieldetal.
`11/2001 Caldwell
`12/2001 Heslin et a1.
`12/2001 Skiveretal.
`12/2001 Mazzilli
`1/2002 Lynam
`3/2002 Schofield et al.
`4/2002 DeL1neeta1.
`4/2002 Teuchert
`5/2002 Bosetal.
`6/2002 Bloomfield et a1.
`6/2002 Franke et a1.
`7/2002 DeL1neeta1.
`7/2002 Gutta etal~
`8/2002 Hutzel et a1.
`8/2002 Naoietal.
`8/2002 DeLine etal.
`8/2002 Guerra
`8/2002 Breed et a1.
`11/2002 McCarthy et a1.
`11/2002 Duroux et a1.
`12/2002 Dassanayake et a1.
`12/2002 Schofield et a1.
`2/2003 Schierbeek et a1.
`2/2003 Lynam
`2/2003 Schofield et a1.
`
`VALEO EX. 1001_003
`VALEO EX. 1001_003
`
`

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`US 8,643,724 B2
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`Page 4
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`(56)
`
`References Cited
`
`us. PATENT DOCUMENTS
`
`6,534,884 B2
`6,539,306 B2
`6,547,133 B1
`6,553,130 B1
`6,559,435 B2
`6,574,033 B1
`6,578,017 B1
`6,587,573 B1
`6,589,625 B1
`6,593,565 B2
`6,594,583 B2
`6,611,202 B2
`6,611,610 B1
`6,627,918 B2
`6,631,994 B2
`6,636,258 B2
`6,648,477 B2
`6,650,233 B2
`6,650,455 B2
`6,672,731 B2
`6,674,562 B1
`6,678,056 B2
`6,678,614 B2
`6,680,792 B2
`6,690,268 B2
`6,700,605 B1
`6,703,925 B2
`6,704,621 B1
`6,710,908 B2
`6,711,474 B1
`6,714,331 B2
`6,717,610 B1
`6,735,506 B2
`6,741,377 B2
`6,744,353 B2
`6,757,109 B2
`6,762,867 B2
`6,794,119 B2
`6,795,221 B1
`6,802,617 B2
`6,806,452 B2
`6,822,563 B2
`6,823,241 B2
`6,824,281 B2
`6,831,261 B2
`6,847,487 B2
`6,882,287 B2
`6,889,161 B2
`6,891,563 B2
`6,909,753 B2
`6,946,978 B2
`6,953,253 B2
`6,968,736 B2
`6,975,775 32
`7,004,593 B2
`7,004,606 B2
`7,005,974 B2
`7,038,577 B2
`7,046,448 B2
`7,062,300 B1
`7,065,432 B2
`7,085,637 B2
`
`3/2003 Marcus et a1.
`3/2003 Turnbull
`4/2003 DeVries, Jr. et 31.
`4/2003 Lemelson et al.
`5/2003 Schofield et al.
`6/2003 Chui et a1.
`6/2003 Ebersole et 31.
`7/2003 Stam et 31.
`7/2003 Kothari et a1.
`7/2003 Heslin et 31.
`7/2003 Ogura et 31.
`8/2003 Schofield et 31.
`8/2003 Stam et a1.
`9/2003 Getz et 31.
`10/2003 Suzuki et 31.
`10/2003 Strumolo
`11/2003 Hutzel et a1.
`11/2003 DeLine et 31.
`“/2003 Miles
`1/2004 Schnell et 31.
`1/2004 Miles
`1/2004 Downs
`1/2004 McCarthy et 31.
`1/2004 Miles
`2/2004 Schofield et a1.
`3/2004 Toyoda et al.
`3/2004 Steffel
`3/2004 Stein et 31.
`3/2004 Miles et 31.
`3/2004 Treyz et 31.
`3/2004 Lewis et a1.
`4/2004 BOS et 31.
`5/2004 Breed et a1.
`5/2004 Miles
`6/2004 Sjénell
`6/2004 Bos
`7/2004 Lippert et 31.
`9/2004 Miles
`9/2004 Urey
`10/2004 Schofield et a1.
`10/2004 BOS et 31.
`11/2004 BOS et 31.
`11/2004 Shirato et a1.
`11/2004 Schofield et a1.
`12/2004 Schofield et 31.
`1/2005 Burgner
`4/2005 Schofield
`5/2005 Winner et 31.
`5/2005 Schofield et a1.
`6/2005 Meehan et a1.
`9/2005 Schofield
`10/2005 Schofield et a1.
`11/2005 Lynam
`12/2005 Rykowski et 31,
`2/2006 Weller et al.
`2/2006 Schofield
`2/2006 McMahon et a1.
`5/2006 Pawlicki et a1.
`5/2006 Burgner
`6/2006 Kim
`6/2006 Moisel et a1.
`8/2006 Breed et a1.
`
`7,123,168 B2
`
`10/2006 Schofield
`
`7,167,796 B2
`7,195,381 B2
`7,202,776 B2
`7,224,324 B2
`7,227,459 B2
`7,227,611 B2
`7,249,860 B2
`7,253,723 B2
`
`1/2007 Taylor et a1.
`3/2007 Lynam et a1.
`4/2007 Breed
`5/2007 Qu18t et a1.
`6/2007 Bos et al.
`6/2007 Hull et a1.
`7/2007 Kulas et a1.
`8/2007 Lindahl et a1.
`
`7,255,451 B2
`7,311,406 B2
`7,325,934 B2
`7,325,935 B2
`7,338,177 132
`7,339,149 B1
`7,344,261 B2
`7,360,932 132
`7,370,983 132
`7,375,803 Bl
`7,380,948 B2
`7,388,182 B2
`7,402,786 B2
`7,423,248 B2
`7,423,821 B2
`7,425,076 B2
`7,459,664 B2
`7,526,103 B2
`7,541,743 B2
`7,561,181 B2
`7,565,006 132
`7,616,781 B2
`7,619,508 B2
`7,633,383 B2
`7,639,149 B2
`7,676,087 B2
`7,720,580 B2
`7,792,329 B2
`7,843,451 32
`7355778 32
`7,859,565 B2
`7,881,496 B2
`7,914,187 B2
`7,930,160 B1
`8,017,898 132
`8,095,310 B2
`8,098,142 B2
`8,224,031 132
`2002/0113873 A1
`2003/0137586 A1
`2003/0222982 A1
`2005/0219852 A1
`2005/0237385 A1
`2006/0018511 A1
`2006/0018512 A1
`2006/0050018 A1
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`FOREIGN PATENT DOCUMENTS
`
`E;
`EP
`
`EP
`
`JP
`JP
`JP
`JP
`JP
`JP
`JP
`JP
`
`8:23:23
`0426503
`
`léfiggg
`5/1991
`
`0513476
`
`“/1992
`
`S5539843
`S58110334
`59114139
`6079889
`6080953
`6272245
`6414700
`01123587
`
`3/1980
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`5/1985
`5/1985
`5/1987
`1/1989
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`VALEO EX. 1001_004
`VALEO EX. 1001_004
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`JP
`JP
`JP
`JP
`JP
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`JP
`JP
`JP
`JP
`JP
`JP
`JP
`JP
`JP
`JP
`JP
`JP
`WO
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`Feb. 4, 2014
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`Sheet 4 of 13
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`U.S. Patent
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`US. Patent
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`US. Patent
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`Sheet 10 of 13
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`US. Patent
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`Feb. 4, 2014
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`Sheet 11 of 13
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`US 8,643,724 B2
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`US. Patent
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`Feb. 4, 2014
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`Sheet 12 of 13
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`US 8,643,724 B2
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`US. Patent
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`Sheet 13 of 13
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`US 8,643,724 B2
`
`1
`MULTI-CAMERA VISION SYSTEM FOR A
`VEHICLE
`
`CROSS-REFERENCE TO RELATED
`APPLICATIONS
`
`This application is a continuation of US. patent applica-
`tion Ser. No. 12/688,146, filed Jan. 15, 2010, which is a
`continuation of US. patent application Ser. No. 12/496,357,
`filed Jul. 1, 2009, now US. Pat. No. 8,462,204, which is a
`continuation of US. patent application Ser. No. 11/122,880,
`filed May 5, 2005, now US. Pat. No. 7,561,181, which is a
`continuation of US. patent application Ser. No. 10/324,679,
`filed on Dec. 20, 2002, now US. Pat. No. 6,891 ,563, which is
`a continuation ofUS. patent application Ser. No. 08/952,026,
`filedunder35 U.S.C. §371, filedNov. 19, 1997, now US. Pat.
`No. 6,498,620, which is based on International Patent Appli-
`cation No. PCT/US96/07382, filed May 22, 1996.
`
`BACKGROUND OF THE INVENTION
`
`This invention relates generally to Vision systems for
`vehicles and, more particularly, to rearview Vision systems
`which provide the vehicle operator with scenic information in
`the direction rearward of the vehicle. More particularly, the
`invention relates to a rearview vision system utilizing image
`capture devices, such as CMOS imaging arrays and the like.
`A long-felt need in the art of vehicle rearview vision sys-
`tems is to reduce the amount of time spent gathering infor-
`mation of the condition around the vehicle in order to safely
`carry out a vehicle maneuver, such as a turn or a lane change.
`It has been determined that up to about 50 percent of maneu-
`ver time is spent gathering information with conventional
`rearview mirrors. This typically requires viewing one or more
`mirrors, turning the head and body to check blind spots, and
`double-checking the mirrors prior to executing the maneuver.
`Some improvement has been obtained by adjusting mirror
`optics, for example, to increase the observed field of view
`rearward of the vehicle. However, this is achieved with an
`increase in image distortion which makes driver awareness of
`conditions to the side and rear of the vehicle even more
`difficult.
`
`Another long-felt need in the art ofvehicle rearview vision
`systems has been to eliminate exterior rearview mirrors by
`utilizing image capture devices, such as cameras, in combi-
`nation with dashboard displays. This would be beneficial
`because it would reduce wind drag on the vehicle, wind noise
`and vehicle weight. Furthermore, rearview mirrors protrude a
`substantial distance from the side ofthe vehicle, which makes
`maneuvering in tight spaces more difficult. Image capture
`devices are capable of positioning in a greater variety of
`locations on the vehicle, providing more flexibility of vehicle
`styling. It is further expected that camera systems would
`greatly reduce the blind spots to the sides and rear of the
`vehicle common with vehicles equipped with conventional
`rearview mirror systems. The driver cannot perceive vehicles,
`objects, or other roadusers in such blind spots without turning
`his or her body, which interferes with forward-looking visual
`activities.
`
`Camera-based rearview vision systems for vehicles have
`not obtained commercial acceptance. One difficulty with pro-
`posed systems has been that they present a large amount of
`visual information in a manner which is difficult to compre-
`hend. This difficulty arises from many factors. In order to
`significantly reduce blind spots, multiple image capture
`devices are typically positioned at various locations on the
`vehicle. The image of an object behind the equipped vehicle
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`is usually captured by more than one image capture device at
`a time and displayed in multiple images. This may confuse
`the driver as to whether more than one object is present. When
`multiple image capture devices are positioned at different
`longitudinal
`locations on the vehicle, objects behind the
`vehicle are at different distances from the image capture
`devices. This results in different image sizes for the same
`object. This effect
`is especially noticeable for laterally
`extending images, such as a bridge, highway crosswalk mark-
`ings, the earth’s horizon, and the like. Such images are at
`different vertical angles with respect to the image capture
`devices. This results in different vertical positions on the
`display causing the elongated image to appear disjointed.
`A camera system provides a monocular view of the scene,
`compared to the binocular stereoscopic view obtained when
`the scene is viewed through a rearview mirror. This makes the
`ability to judge distances in a camera system a problem. This
`effect is most noticeable at distances close to the vehicle
`
`where stereoscopic imaging is relied upon extensively by the
`driver in judging relative locations of objects. Therefore,
`known camera systems fail to provide to the driver important
`information where that information is most needed at small
`
`separation distances from surrounding objects.
`Another difficulty with camera systems is that, in order to
`provide a sufficient amount of information, the camera sys-
`tem typically presents the driver with a greatly increased field
`ofview. This improves performance by further reducing blind
`spots at the side and rear ofthe vehicle. However, an increased
`field of view is often obtained by utilizing a wide-angle lens
`which introduces distortion of the scene and further impairs
`the ability of the driver to judge distances of objects dis-
`played. The problem with such distortion of the scene is that
`the driver must concentrate more on the display and take a
`longer time to interpret and extract the necessary information.
`This further distracts the driver from the primary visual task
`of maintaining awareness of vehicles and other objects in the
`vicinity of the driven vehicle.
`Yet an additional difficulty with camera systems is that flat
`panel displays present the image captured by the rearward-
`facing image capture device, or devices, at a focal length that
`approximates the arm length of the vehicle driver. In order to
`observe the condition of the vehicle utilizing the rearview
`vision system, the driver must change his or her gaze from the
`forward field ofview ofthe vehicle to the display. Because the
`forward field of view of the vehicle is at a focal length that is
`much greater than the focal length ofthe displayed image, the
`eyes of the driver must refocus upon changing gaze. This
`refocusing further increases the amount of time for the driver
`to assimilate the information in the displayed image. Further-
`more, when the gaze of the driver returns to the forward field
`of view, the eyes must, again, refocus to the greatly longer
`distance.
`
`Yet an additional difficulty with camera systems is that of
`finding adequate space in the crowded area of the vehicle’s
`dashboard for the components making up the display.
`
`SUMMARY OF THE INVENTION
`
`The present invention is directed towards enhancing the
`interpretation of visual information in a rearview vision sys-
`tem by presenting information in a manner which does not
`require significant concentration of the driver or present dis-
`tractions to the driver. This is accomplished according to an
`aspect of the invention in a rearview vision system having at
`least two image capture devices positioned on the vehicle and
`directed generally rearwardly with respect to the direction of
`travel of the vehicle. A display is provided for images cap-
`
`VALEO EX. 1001_019
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`US 8,643,724 B2
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`3
`tured by the image capture devices. The display displays an
`image synthesized from outputs ofthe image capture devices
`which approximates a rearward-facing view from a single
`location. In order to obtain all ofthe necessary information of
`activity, not only behind but also along side ofthe vehicle, the
`Virtual camera should be positioned forward ofthe driver. The
`image synthesized from the multiple image capture devices
`may have a dead space which corresponds with the area
`occupied by the vehicle. This dead space is useable by the
`driver’s sense of perspective in judging the location of
`vehicles behind and along side of the equipped vehicle.
`The present invention provides techniques for synthesizing
`images captured by individual, spatially separated, image
`capture devices into such ideal image, displayed on the dis-
`play device. This may be accomplished, according to an
`aspect of the invention, by providing at least three image
`capture devices. At least two of the image capture devices are
`side image capture devices mounted on opposite sides of the
`vehicle. At least one of the image capture devices is a center
`image capture device mounted laterally between the side
`image capture devices. A display system displays an image
`synthesized from outputs of the image capture devices. The
`displayed image includes an image portion from each of the
`image capture devices. The image portion from the center
`image capture device is vertically compressed.
`It has been discovered that such vertical compression sub-
`stantially eliminates distortion resulting from the spatial
`separation between the cameras and can be readily accom-
`plished. In an illustrated embodiment, the image compression
`is carried out by removing selective ones of the scan lines
`making up the image portion. A greater number of lines are
`removed further away from the vertical center of the image.
`The compression of the central image portion produces a
`dead space in the displayed image which may be made to
`correspond with the area that would be occupied by the
`vehicle in the view from the single virtual camera. Preferably,
`perspective lines are included at lateral edges of the dead
`space which are aligned with the direction of travel of the
`vehicle and, therefore, appear in parallel with lane markings.
`This provides visual clues to the driver’ s sense ofperspective
`in order to assist in judging distances of objects around the
`vehicle.
`
`image
`According to another aspect of the invention,
`enhancement means are provided for enhancing the displayed
`image. Such means may be in the form of graphic overlays
`superimposed on the displayed image. Such graphic overlap
`may include indicia of the anticipated path of travel of the
`vehicle which is useful in assisting the driver in guiding the
`vehicle in reverse directions. Such graphic overlay may
`include a distance grid indicating distances behind the vehicle
`of objects juxtaposed with the grid.
`According to yet an additional aspect of the invention, a
`rearview vision system for a vehicle includes at least one
`image capture device positioned on the vehicle and directed
`generally rearwardly with respect to the direction of travel of
`the vehicle. A display system is provided which displays a
`rear image synthesized from an output of the image capture
`device. The rear image is substantially contiguous with the
`forward field ofview ofthe vehicle driver and at a focal length
`that is forward of the vehicle passenger compartment and
`preferably within the depth offield of a vehicle driver viewing
`a distant object. Because the image has a focal length that
`more closely matches that of the forward field of view
`observed by the driver, the need for the driver’s eyes to refo-
`cus from the forward field of view to a much shorter focus
`
`distance each time the gaze of the driver is directed at the
`display system is minimized. This reduces the amount oftime
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`required for the driver to gaze at the displayed image and
`interpret objects displayed in the image. Furthermore, the
`reduction in the repeated refocusing of the driver’s eyes
`reduces driver fatigue. Ifthere are any near field objects in the
`periphery of the driver’s forward field of view, such as wind-
`shield wipers, windshield frame, dashboard, and the like, the
`display system is preferably positioned in a manner which
`blocks the view of such near field objects. In this manner, the
`driver’s gaze may shift between the forward field of view and
`the long focal length display system without being refocused
`on the near field objects. This is based upon a recognition that
`the driver’s eyes will tend to refocus on the near field object
`momentarily even though the gaze is being redirected
`between the forward field of view and the display system.
`According to yet an additional aspect of the invention, a
`rearview vision system for a vehicle includes at least one
`image capture device positioned on the vehicle and directed
`generally rearwardly with respect to the direction of travel of
`the vehicle. A display system is provided for displaying a rear
`image captured by the image capture device. The displayed
`image is a unitary image having an aspect ratio that is between
`approximately 4:1 and approximately 2: 1 . In a most preferred
`embodiment, the image has an aspect ratio that is approxi-
`mately 8:3. The aspect ratio, according to this aspect of the
`invention, is especially useful where the unitary image is
`synthesized from a plurality of images which are captured by
`a plurality of image captured devices and are tiled by the
`display device.
`According to yet an additional aspect of the invention, a
`rearview vision system for a vehicle includes a