Obstacle detection in vehicle using a wide angle camera and radar sensor fusion

A method of obstacle warning comprising:

• obtaining views of a roadway and ground around a vehicle from one or more primary surround view cameras mounted on the vehicle;
• obtaining views of an environment around and above a top of the vehicle unseen by the one or more primary surround view cameras from one or more supplementary cameras mounted at a location higher on the vehicle than the location of the primary surround view cameras;
• detecting obstacles around and above the top of the vehicle using one or more respective detection and ranging sensors mounted adjacent to each of the one or more supplementary cameras;
• dividing an output of each of the one or more supplementary cameras into portions to obtain a portion less than an entire respective field of view of a respective one of the one or more supplementary cameras in which an obstacle is detected;
• performing a dewarping operation on the portion less than the entire respective field of view of the respective one of the one or more supplementary cameras in which the obstacle is detected;
• and
• generating a surround view display, wherein (i) an output of each of the one or more primary surround view cameras is used to produce a two-dimensional view of an area around the bottom of the vehicle and (ii) the portion less than the entire respective field of view of the respective one of the one or more supplementary cameras in which the obstacle is detected is used to produce an overlay view which is overlaid on the two-dimensional view of the area around the bottom of the vehicle to inform an operator of the detected obstacle above the vehicle.