# US 10,873,682 B2 · Method of synchronizing multiple vehicular cameras with an ECU

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- Number: US 10,873,682 B2
- Document ID: US10873682B2
- Status: Granted
- Kind: B2
- Application number: 16/785,825
- Filed: 2020-02-10
- Published: 2020-06-04
- Granted: 2020-12-22
- Earliest claimed: 2012-12-05
- Assignees: Magna Electronics Inc.
- Applicants: Magna Electronics Inc.
- Inventors: Michael Schaffner
- Web page: https://patentgrep.com/patent/US10873682B2

## CPC

- H04N 5/04: Synchronising (for television systems using pulse code modulation H04N7/56)
- B60R 1/27: providing all-round vision, e.g. using omnidirectional cameras
- G06V 20/58: Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- H04N 7/181: {for receiving images from a plurality of remote sources}
- H04N 23/45: for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still images
- H04N 23/661: Transmitting camera control signals through networks, e.g. control via the Internet
- H04N 23/698: for achieving an enlarged field of view, e.g. panoramic image capture
- H04N 23/90: Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
- H04N 25/76: Addressed sensors, e.g. MOS or CMOS sensors
- B60R 2300/00: Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R 2300/105: using multiple cameras
- B60R 2300/607: from a bird's eye viewpoint
- H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION
- B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING

## Abstract

A method of synchronizing cameras for a vehicular vision system includes providing camera control signals to the cameras from the ECU via respective links from the ECU to the cameras. At least two of the cameras are in communication with a hub via respective links, and the ECU is in communication with the hub via a hub link. The camera control signals are provided to one camera via a link between the ECU and the camera, and are provided to at least two other cameras via the hub link and respective links between the hub and the other cameras. The camera control signals regulate timing of the respective camera via starting the camera synchronous to the ECU reference timing. Image data is captured by each camera and provided to the ECU via the respective link or links.

## Claims

### Claim 1

A method of synchronizing cameras for a vehicular vision system, the method comprising:
providing a plurality of cameras at a vehicle equipped with the vehicular vision system, wherein the plurality of cameras comprises at least a first camera, a second camera and a third camera;
wherein each of the first camera, the second camera and the third camera, when provided at the equipped vehicle, has a respective field of view exterior of the equipped vehicle;
providing an electronic control unit (ECU) at the equipped vehicle;
providing a hub at the equipped vehicle, wherein the hub is in communication with the ECU via a hub link;
providing a first camera control signal to the first camera from the ECU via a first link from the ECU to the first camera, wherein the first camera control signal regulates timing of the first camera to be synchronous with reference timing of the ECU;
providing second and third camera control signals from the ECU to the hub via the hub link;
providing the second camera control signal from the hub to the second camera via a second link from the hub to the second camera, wherein the second camera control signal regulates timing of the second camera to be synchronous with reference timing of the ECU;
providing the third camera control signal from the hub to the third camera via a third link from the hub to the third camera, wherein the third camera control signal regulates timing of the third camera to be synchronous with reference timing of the ECU;
regulating timing of the first camera via starting the first camera synchronous to the ECU reference timing;
regulating timing of the second camera via starting the second camera synchronous to the ECU reference timing;
regulating timing of the third camera via starting the third camera synchronous to the ECU reference timing;
capturing frames of image data with each of the first camera, the second camera and the third camera;
providing image data captured by the first camera to the ECU via the first link from the first camera to the ECU;
providing image data captured by the second camera to the ECU via the second link from the second camera to the hub and via the hub link from the hub to the ECU; and
providing image data captured by the third camera to the ECU via the third link from the third camera to the hub and via the hub link from the hub to the ECU.

### Claim 2 (depends on 1)

The method of claim 1, wherein providing the plurality of cameras comprises providing the first camera at a rear portion of the equipped vehicle, providing the second camera at a left-side side portion of the equipped vehicle and providing the third camera at a right-side side portion of the equipped vehicle.

### Claim 3 (depends on 1)

The method of claim 1, wherein providing the plurality of cameras comprises providing a fourth camera at the equipped vehicle, the method further comprising (i) providing a fourth camera control signal to the fourth camera from the ECU via a fourth link from the ECU to the fourth camera, wherein the fourth camera control signal regulates timing of the fourth camera to be synchronous with reference timing of the ECU, and (ii) regulating timing of the fourth camera via starting the fourth camera synchronous to the ECU reference timing.

### Claim 4 (depends on 3)

The method of claim 3, comprising providing image data captured by the fourth camera to the ECU via the fourth link from the fourth camera to the ECU.

### Claim 5 (depends on 1)

The method of claim 1, comprising (i) providing at least one other camera control signal from the ECU to the first camera via the first link, (ii) providing at least one other camera control signal from the ECU to the hub via the hub link and from the hub to the second camera via the second link and (iii) providing at least one other camera control signal from the ECU to the hub via the hub link and from the hub to the third camera via the third link.

### Claim 6 (depends on 1)

The method of claim 1, comprising processing, at the ECU, image data captured by at least one of the first camera, the second camera and the third camera to detect an object present exterior of the equipped vehicle.

### Claim 7 (depends on 6)

The method of claim 6, wherein the object present exterior of the equipped vehicle is exterior a side of the equipped vehicle.

### Claim 8 (depends on 6)

The method of claim 6, wherein the object present exterior of the equipped vehicle comprises a vehicle that is approaching the equipped vehicle.

### Claim 9 (depends on 8)

The method of claim 8, wherein the vehicle that is approaching the equipped vehicle is traveling in a traffic lane adjacent to a traffic lane in which the equipped vehicle is traveling.

### Claim 10 (depends on 6)

The method of claim 6, wherein the object present exterior of the equipped vehicle is to the rear of the equipped vehicle and is detected during a reversing maneuver of the equipped vehicle.

### Claim 11 (depends on 1)

The method of claim 1, wherein the first camera, the second camera and the third camera are part of a surround vision system of the equipped vehicle.

### Claim 12 (depends on 11)

The method of claim 11, comprising (i) processing, at the ECU, image data captured by at least one of the first camera, the second camera and the third camera, and (ii) outputting, via the ECU, and responsive at least in part to the processing of captured image data, images for display at a display device of the equipped vehicle for viewing by an occupant of the equipped vehicle.

### Claim 13 (depends on 12)

The method of claim 12, wherein the images displayed at the display device comprise birds-eye view images generated by the surround vision system.

### Claim 14 (depends on 1)

The method of claim 1, wherein the first camera comprises a first megapixel imaging array having at least one million photosensing elements arranged in columns and rows of photosensing elements, and wherein the second camera comprises a second megapixel imaging array having at least one million photosensing elements arranged in columns and rows of photosensing elements, and wherein the third camera comprises a third megapixel imaging array having at least one million photosensing elements arranged in columns and rows of photosensing elements.

### Claim 15 (depends on 1)

The method of claim 1, comprising, upon powering the first, second and third cameras, initializing the first link and the hub link and the second and third links to establish communication with the respective first, second and third cameras.

### Claim 16 (depends on 15)

The method of claim 15, wherein, upon powering the first, second and third cameras and establishing communication with the first, second and third cameras, first, second and third camera calibration data for the respective first, second and third cameras is communicated to the respective first, second and third cameras.

### Claim 17

A method of synchronizing cameras for a vehicular vision system, the method comprising:
providing a plurality of cameras at a vehicle equipped with the vehicular vision system, wherein the plurality of cameras comprises at least a first camera, a second camera and a third camera;
wherein each of the first camera, the second camera and the third camera, when provided at the equipped vehicle, has a respective field of view exterior of the equipped vehicle;
providing an electronic control unit (ECU) at the equipped vehicle;
providing a hub at the equipped vehicle, wherein the hub is in communication with the ECU via a hub link;
providing a first camera control signal to the first camera from the ECU via a first link from the ECU to the first camera, wherein the first camera control signal regulates timing of the first camera to be synchronous with reference timing of the ECU;
providing second and third camera control signals from the ECU to the hub via the hub link;
providing the second camera control signal from the hub to the second camera via a second link from the hub to the second camera, wherein the second camera control signal regulates timing of the second camera to be synchronous with reference timing of the ECU;
providing the third camera control signal from the hub to the third camera via a third link from the hub to the third camera, wherein the third camera control signal regulates timing of the third camera to be synchronous with reference timing of the ECU;
regulating timing of the first camera via starting the first camera synchronous to the ECU reference timing;
regulating timing of the second camera via starting the second camera synchronous to the ECU reference timing;
regulating timing of the third camera via starting the third camera synchronous to the ECU reference timing;
capturing frames of image data with each of the first camera, the second camera and the third camera;
providing image data captured by the first camera to the ECU via the first link from the first camera to the ECU;
providing image data captured by the second camera to the ECU via the second link from the second camera to the hub and via the hub link from the hub to the ECU;
providing image data captured by the third camera to the ECU via the third link from the third camera to the hub and via the hub link from the hub to the ECU;
wherein the first camera, the second camera and the third camera are part of a surround vision system of the equipped vehicle; and
processing, at the ECU, image data captured by at least one of the first camera, the second camera and the third camera to detect an object present exterior of the equipped vehicle.

### Claim 18 (depends on 17)

The method of claim 17, wherein the object present exterior of the equipped vehicle is exterior a side of the equipped vehicle.

### Claim 19 (depends on 17)

The method of claim 17, wherein the object present exterior of the equipped vehicle comprises a vehicle that is approaching the equipped vehicle.

### Claim 20 (depends on 17)

The method of claim 17, wherein the object present exterior of the equipped vehicle is to the rear of the equipped vehicle and is detected during a reversing maneuver of the equipped vehicle.

### Claim 21 (depends on 17)

The method of claim 17, comprising, upon powering the first, second and third cameras, initializing the first link and the hub link and the second and third links to establish communication with the respective first, second and third cameras.

### Claim 22 (depends on 21)

The method of claim 21, wherein, upon powering the first, second and third cameras and establishing communication with the first, second and third cameras, first, second and third camera calibration data for the respective first, second and third cameras is communicated to the respective first, second and third cameras.

### Claim 23

A method of synchronizing cameras for a vehicular vision system, the method comprising:
providing a plurality of cameras at a vehicle equipped with the vehicular vision system, wherein the plurality of cameras comprises at least a first camera, a second camera and a third camera;
wherein each of the first camera, the second camera and the third camera, when provided at the equipped vehicle, has a respective field of view exterior of the equipped vehicle;
providing an electronic control unit (ECU) at the equipped vehicle;
providing a hub at the equipped vehicle;
upon powering the first, second and third cameras, initializing (i) a first link between the ECU and the first camera, (ii) a hub link between the ECU and the hub, (iii) a second link between the hub and the second camera and (iv) a third link between the hub and the third camera to establish communication with the respective first, second and third cameras;
providing a first camera control signal to the first camera from the ECU via the first link from the ECU to the first camera, wherein the first camera control signal regulates timing of the first camera to be synchronous with reference timing of the ECU;
providing second and third camera control signals from the ECU to the hub via the hub link;
providing the second camera control signal from the hub to the second camera via the second link from the hub to the second camera, wherein the second camera control signal regulates timing of the second camera to be synchronous with reference timing of the ECU;
providing the third camera control signal from the hub to the third camera via the third link from the hub to the third camera, wherein the third camera control signal regulates timing of the third camera to be synchronous with reference timing of the ECU;
regulating timing of the first camera via starting the first camera synchronous to the ECU reference timing;
regulating timing of the second camera via starting the second camera synchronous to the ECU reference timing;
regulating timing of the third camera via starting the third camera synchronous to the ECU reference timing;
capturing frames of image data with each of the first camera, the second camera and the third camera;
providing image data captured by the first camera to the ECU via the first link from the first camera to the ECU;
providing image data captured by the second camera to the ECU via the second link from the second camera to the hub and via the hub link from the hub to the ECU;
providing image data captured by the third camera to the ECU via the third link from the third camera to the hub and via the hub link from the hub to the ECU;
processing, at the ECU, image data captured by at least one of the first camera, the second camera and the third camera; and
outputting, via the ECU, and responsive at least in part to the processing of captured image data, images for display at a display device of the equipped vehicle for viewing by an occupant of the equipped vehicle.

### Claim 24 (depends on 23)

The method of claim 23, comprising processing, at the ECU, image data captured by at least one of the first camera, the second camera and the third camera to detect an object present exterior of the equipped vehicle.

### Claim 25 (depends on 23)

The method of claim 23, wherein the images displayed at the display device comprise birds-eye view images.

### Claim 26 (depends on 23)

The method of claim 23, wherein, upon powering the first, second and third cameras and establishing communication with the first, second and third cameras, first, second and third camera calibration data for the respective first, second and third cameras is communicated to the respective first, second and third cameras.