# US 11,305,691 B2 · Vehicular vision system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,305,691 B2 - Document ID: US11305691B2 - Status: Granted - Kind: B2 - Application number: 16/157,215 - Filed: 2018-10-11 - Published: 2019-02-07 - Granted: 2022-04-19 - Earliest claimed: 2011-11-28 - Assignees: Magna Electronics Inc. - Applicants: Magna Electronics Inc. - Inventors: Horst D. Diessner - Web page: https://patentgrep.com/patent/US11305691B2 ## CPC - G06T 7/246: using feature-based methods, e.g. the tracking of corners or segments - G02B 3/14: of variable focal length - 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 7/18: Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast - H04N 23/90: Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums - B60R 2300/105: using multiple cameras - B60R 2300/303: using joined images, e.g. multiple camera images - B60R 2300/802: for monitoring and displaying vehicle exterior blind spot views - B60R 2300/806: for aiding parking - B60R 2300/8066: for monitoring rearward traffic - B60R 2300/8093: for obstacle warning - G06T 2207/10016: Video; Image sequence - G06T 2207/30252: Vehicle exterior; Vicinity of vehicle - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - G02B: OPTICAL ELEMENTS, SYSTEMS OR APPARATUS - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION - B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR ## Abstract A vehicular vision system includes a rearward viewing camera and a control, which includes a processor that processes image data captured by the camera. During a reversing maneuver of the vehicle, the control, via processing of captured image data, detects points of interest of detected objects. Responsive to detection of the points of interest of the detected objects, the control determines if the detected objects have height dimensions and determines that objects having a height dimension greater than a threshold height are objects of interest. During the reversing maneuver of the vehicle, the control determines distances to the determined objects of interest and determines which object of interest is closest to the vehicle. During the reversing maneuver of the vehicle, responsive to the determination of the closest object of interest rearward of the vehicle, the control determines whether the determined closest object of interest is a potential hazard. ## Claims ### Claim 1 A vehicular vision system, said vehicular vision system comprising: a rearward viewing camera disposed at a vehicle equipped with said vehicular vision system, said rearward viewing camera having an exterior field of view exterior and at least rearward of the equipped vehicle; a control, wherein said control comprises a processor that processes image data captured by said camera to detect objects present exterior of the equipped vehicle and in the field of view of said camera; wherein, during a reversing maneuver of the equipped vehicle, said control, via processing by said processor of captured image data, detects points of interest of detected objects present in the field of view of said camera; wherein the detected points of interest of the detected objects comprise detected corner features of the detected objects that are present in the field of view of said camera; wherein said control, via processing by said processor of captured image data and responsive to detection of the points of interest of the detected objects, determines if the detected objects have height dimensions and determines that objects having a height dimension greater than a threshold height comprise objects of interest; wherein, during the reversing maneuver of the equipped vehicle, and via processing by said processor of captured image data, said control determines distances to the determined objects of interest and determines which object of interest is closest to the equipped vehicle; and wherein, during the reversing maneuver of the equipped vehicle, and responsive to the determination of the closest object of interest rearward of the equipped vehicle, said control determines whether the determined closest object of interest is a potential hazard. ### Claim 2 (depends on 1) The vehicular vision system of claim 1, wherein, responsive to determination that the determined closest object of interest is a potential hazard, said control generates an alert to a driver of the equipped vehicle. ### Claim 3 (depends on 1) The vehicular vision system of claim 1, wherein the threshold height is greater than a height of a curb. ### Claim 4 (depends on 1) The vehicular vision system of claim 1, wherein the detected corner features of the detected objects are disposed at respective heights above ground. ### Claim 5 (depends on 1) The vehicular vision system of claim 1, wherein said control processes captured image data to determine movement vectors of the detected points of interest of the detected objects, and wherein, responsive to said processing of captured image data, said control determines whether determined movement vectors of detected points of interest of a detected object present in the field of view of said camera are indicative of the object being in a position where it may collide with the equipped vehicle. ### Claim 6 (depends on 5) The vehicular vision system of claim 5, wherein determined movement vectors that are less than a threshold pixel length are not considered indicative of an object of interest. ### Claim 7 (depends on 5) The vehicular vision system of claim 5, wherein said control determines that detected points of interest are part of an object of interest when at least one movement vector is greater than a threshold amount. ### Claim 8 (depends on 1) The vehicular vision system of claim 1, wherein said control determines objects of interest by utilizing a first and a second detection method in combination, and wherein said first method for determining objects of interest comprises at least one of Gaussian blurring and consecutive Hessian blob detection, and wherein said second method for determining objects of interest comprises a FAST9 corner detector. ### Claim 9 (depends on 1) The vehicular vision system of claim 1, wherein said control operates in one of a plurality of stages, and wherein said plurality of stages has at least four different stages comprising (i) vehicle stationary and object stationary, (ii) vehicle stationary and object moving, (iii) vehicle moving and object stationary and (iv) vehicle moving and object moving. ### Claim 10 (depends on 1) The vehicular vision system of claim 1, wherein said camera comprises part of a camera module, and wherein said camera module includes said control. ### Claim 11 A vehicular vision system, said vehicular vision system comprising: a rearward viewing camera disposed at a vehicle equipped with said vehicular vision system, said rearward viewing camera having an exterior field of view exterior and at least rearward of the equipped vehicle; a control, wherein said control comprises a processor that processes image data captured by said camera to detect objects present exterior of the equipped vehicle and in the field of view of said camera; wherein, during a reversing maneuver of the equipped vehicle, said control, via processing by said processor of captured image data, detects points of interest of detected objects present in the field of view of said camera; wherein the detected points of interest of the detected objects comprise detected corner features of the detected objects that are present in the field of view of said camera, and wherein the detected corner features of the detected objects are disposed at respective heights above ground; wherein said control, via processing by said processor of captured image data and responsive to detection of the points of interest of the detected objects, determines if the detected objects have height dimensions and determines that objects having a height dimension greater than a threshold height comprise objects of interest; wherein, during the reversing maneuver of the equipped vehicle, and via processing by said processor of captured image data, said control determines distances to the determined objects of interest and determines which object of interest is closest to the equipped vehicle; wherein, during the reversing maneuver of the equipped vehicle, and responsive to the determination of the closest object of interest rearward of the equipped vehicle, said control determines whether the determined closest object of interest is a potential hazard; and wherein, responsive to determination that the determined closest object of interest is a potential hazard, said control generates an alert to a driver of the equipped vehicle. ### Claim 12 (depends on 11) The vehicular vision system of claim 11, wherein the threshold height is greater than a height of a curb. ### Claim 13 (depends on 11) The vehicular vision system of claim 11, wherein said control processes captured image data to determine movement vectors of the detected points of interest of the detected objects, and wherein, responsive to said processing of captured image data, said control determines whether determined movement vectors of detected points of interest of a detected object present in the field of view of said camera are indicative of the object being in a position where it may collide with the equipped vehicle. ### Claim 14 (depends on 13) The vehicular vision system of claim 13, wherein determined movement vectors that are less than a threshold pixel length are not considered indicative of an object of interest. ### Claim 15 (depends on 13) The vehicular vision system of claim 13, wherein said control determines that detected points of interest are part of an object of interest when at least one movement vector is greater than a threshold amount. ### Claim 16 A vehicular vision system, said vehicular vision system comprising: a rearward viewing camera disposed at a vehicle equipped with said vehicular vision system, said rearward viewing camera having an exterior field of view exterior and at least rearward of the equipped vehicle; a control, wherein said control comprises a processor that processes image data captured by said camera to detect objects present exterior of the equipped vehicle and in the field of view of said camera; wherein, during a reversing maneuver of the equipped vehicle, said control, via processing by said processor of captured image data, detects points of interest of detected objects present in the field of view of said camera; wherein the detected points of interest of the detected objects comprise detected corner features of the detected objects that are present in the field of view of said camera; wherein said control, via processing by said processor of captured image data and responsive to detection of the points of interest of the detected objects, determines if the detected objects have height dimensions and determines that objects having a height dimension greater than a threshold height comprise objects of interest; wherein the threshold height is greater than a height of a curb; wherein, during the reversing maneuver of the equipped vehicle, and via processing by said processor of captured image data, said control determines distances to the determined objects of interest and determines which object of interest is closest to the equipped vehicle; wherein, during the reversing maneuver of the equipped vehicle, and responsive to the determination of the determined closest object of interest rearward of the equipped vehicle, said control determines whether the determined closest object of interest is a potential hazard; and wherein, responsive to determination that the determined closest object of interest is a potential hazard, said control generates an alert to a driver of the equipped vehicle. ### Claim 17 (depends on 16) The vehicular vision system of claim 16, wherein said camera comprises part of a camera module, and wherein said camera module includes said control. ### Claim 18 (depends on 16) The vehicular vision system of claim 16, wherein the detected corner features of the detected objects are disposed at respective heights above ground. ### Claim 19 (depends on 16) The vehicular vision system of claim 16, wherein said control processes captured image data to determine movement vectors of the detected points of interest of the detected objects, and wherein, responsive to said processing of captured image data, said control determines whether determined movement vectors of detected points of interest of a detected object present in the field of view of said camera are indicative of the object being in a position where it may collide with the equipped vehicle. ### Claim 20 (depends on 19) The vehicular vision system of claim 19, wherein said control determines that detected points of interest are part of an object of interest when at least one movement vector is greater than a threshold amount.