# US 12,010,455 B2 · Vehicular vision system with incident recording function > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,010,455 B2 - Document ID: US12010455B2 - Status: Granted - Kind: B2 - Application number: 18/048,885 - Filed: 2022-10-24 - Published: 2023-02-23 - Granted: 2024-06-11 - Earliest claimed: 2015-05-07 - Assignees: Magna Electronics Inc. - Applicants: Magna Electronics Inc. - Inventors: Christopher L. Van Dan Elzen - Web page: https://patentgrep.com/patent/US12010455B2 ## CPC - H04N 5/77: between a recording apparatus and a television camera - H04N 23/65: Control of camera operation in relation to power supply - H04N 23/66: Remote control of cameras or camera parts, e.g. by remote control devices - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION ## Abstract A vehicular vision system includes a camera having an imaging array. With the camera attached at an in-cabin side of a vehicle windshield, the imaging array of the camera views through the windshield and forward of the equipped vehicle. Image data captured by the imaging array is provided to and processed at an ECU for at least one driving assist system of the vehicle. The captured image data is saved in volatile memory. Responsive to occurrence of an emergency event, image data captured by the imaging array of the camera that is saved in volatile memory for a first period of time prior to the occurrence of the emergency event is moved to non-volatile memory and image data captured by the imaging array of the camera for a second period of time after the occurrence of the emergency event is saved in non-volatile memory. ## Claims ### Claim 1 A vehicular vision system, the vehicular vision system comprising: a camera, the camera comprising an imaging array having at least one million photosensor pixels arranged in multiple rows and columns; wherein, with the camera disposed at an in-cabin side of a windshield of a vehicle equipped with the vehicular vision system, the imaging array of the camera views through the windshield and forward of the equipped vehicle, and wherein the imaging array of the camera captures image data; an electronic control unit (ECU) disposed in the equipped vehicle, the ECU comprising an image processor; wherein image data captured by the imaging array of the camera is provided to the ECU; wherein, with the camera disposed at the in-cabin side of the windshield of the equipped vehicle, image data captured by the imaging array of the camera and provided to the ECU is processed at the ECU for at least one driving assist system of the equipped vehicle; wherein, with the camera disposed at the in-cabin side of the windshield of the equipped vehicle, image data captured by the imaging array of the camera is saved in volatile memory; wherein, with the camera disposed at the in-cabin side of the windshield of the equipped vehicle, and responsive to occurrence of an emergency event, image data captured by the imaging array of the camera that is saved in volatile memory for a first period of time prior to the occurrence of the emergency event is moved to non-volatile memory and image data captured by the imaging array of the camera for a second period of time after the occurrence of the emergency event is saved in non-volatile memory; and wherein the second period of time after the occurrence of the emergency event lasts until an intervention occurs, and wherein the intervention comprises actuation of a hazard light of the equipped vehicle. ### Claim 2 (depends on 1) The vehicular vision system of claim 1, wherein the emergency event comprises automatic emergency braking of the equipped vehicle. ### Claim 3 (depends on 1) The vehicular vision system of claim 1, wherein the emergency event comprises a forward collision warning generated to alert a driver of the equipped vehicle of a potential collision. ### Claim 4 (depends on 1) The vehicular vision system of claim 1, wherein the emergency event comprises deployment of an airbag of the equipped vehicle. ### Claim 5 (depends on 1) The vehicular vision system of claim 1, wherein the emergency event comprises a sudden deceleration of the equipped vehicle. ### Claim 6 (depends on 5) The vehicular vision system of claim 5, wherein the sudden deceleration comprises braking of the equipped vehicle at 0.4 g or more. ### Claim 7 (depends on 1) The vehicular vision system of claim 1, wherein, with the camera disposed at the in-cabin side of the windshield of the equipped vehicle, image data captured by the imaging array of the camera that is saved in volatile memory is overwritten by newly captured image data as part of a continuous loop recording of captured image data. ### Claim 8 (depends on 7) The vehicular vision system of claim 7, wherein the continuous loop recording of captured image data comprises a continuous loop recording of at least 20 seconds. ### Claim 9 (depends on 1) The vehicular vision system of claim 1, wherein, responsive to the occurrence of the emergency event, image data captured by the imaging array of the camera that is saved in non-volatile memory includes image data captured by the imaging array of the camera and saved in volatile memory for at least 15 seconds prior to the occurrence of the emergency event. ### Claim 10 (depends on 1) The vehicular vision system of claim 1, wherein, responsive to the occurrence of the emergency event, image data captured by the imaging array of the camera that is saved in non-volatile memory includes image data captured by the imaging array of the camera and saved in volatile memory for up to 15 seconds prior to the occurrence of the emergency event. ### Claim 11 (depends on 1) The vehicular vision system of claim 1, wherein, responsive to the occurrence of the emergency event, image data captured by the imaging array of the camera that is saved in non-volatile memory includes (i) image data captured by the imaging array of the camera and saved in volatile memory for up to 15 seconds prior to the occurrence of the emergency event and (ii) image data captured by the imaging array of the camera for at least 5 seconds after the occurrence of the emergency event. ### Claim 12 (depends on 1) The vehicular vision system of claim 1, wherein the first period of time prior to the occurrence of the emergency event varies depending on a type of emergency event that occurs. ### Claim 13 (depends on 1) The vehicular vision system of claim 1, wherein the non-volatile memory is part of a recording device of the equipped vehicle. ### Claim 14 (depends on 1) The vehicular vision system of claim 1, wherein the non-volatile memory is accommodated within the camera. ### Claim 15 (depends on 1) The vehicular vision system of claim 1, wherein the image processor is accommodated within the camera. ### Claim 16 (depends on 1) The vehicular vision system of claim 1, wherein, with the camera disposed at the in-cabin side of the windshield of the equipped vehicle, and responsive to the occurrence of the emergency event, the image data captured by the imaging array of the camera and saved in volatile memory for the first period of time prior to the occurrence of the emergency event and the image data captured by the imaging array of the camera for the second period of time after the occurrence of the emergency event are saved in non-volatile memory as a single data file. ### Claim 17 (depends on 1) The vehicular vision system of claim 1, wherein the vehicular vision system is operable to communicate captured image data saved in non-volatile memory to a remote device via a wireless communication. ### Claim 18 (depends on 1) The vehicular vision system of claim 1, wherein, with the camera disposed at the in-cabin side of the windshield of the equipped vehicle, and at vehicle start up and responsive to the occurrence of the emergency event, the ECU determines available non-volatile memory for saving captured image data, and wherein, if the determined available non-volatile memory is below a threshold level, the ECU deletes at least some of the saved data from the non-volatile memory. ### Claim 19 (depends on 1) The vehicular vision system of claim 1, wherein, with the camera disposed at the in-cabin side of the windshield of the equipped vehicle, the occurrence of the emergency event is determined, at least in part, by processing at the ECU of image data captured by the imaging array of the camera and provided to the ECU. ### Claim 20 (depends on 19) The vehicular vision system of claim 19, wherein the emergency event comprises automatic emergency braking of the equipped vehicle. ### Claim 21 (depends on 20) The vehicular vision system of claim 20, wherein the image processor comprises an image processing chip. ### Claim 22 (depends on 1) The vehicular vision system of claim 1, wherein the at least one driving assist system comprises (i) a headlamp control system and (ii) a lane marker detection system and at least one selected from the group consisting of (a) a pedestrian detection system and (b) an automatic emergency braking system. ### Claim 23 (depends on 1) The vehicular vision system of claim 1, wherein the at least one driving assist system comprises at least two driving assist systems. ### Claim 24 (depends on 23) The vehicular vision system of claim 23, wherein the at least two driving assist systems comprise at least (i) a pedestrian detection system and (ii) an automatic emergency braking system. ### Claim 25 A vehicular vision system, the vehicular vision system comprising: a camera, the camera comprising an imaging array having at least one million photosensor pixels arranged in multiple rows and columns; wherein, with the camera disposed at an in-cabin side of a windshield of a vehicle equipped with the vehicular vision system, the imaging array of the camera views through the windshield and forward of the equipped vehicle, and wherein the imaging array of the camera captures image data; an electronic control unit (ECU) disposed in the equipped vehicle, the ECU comprising an image processor; wherein image data captured by the imaging array of the camera is provided to the ECU; wherein, with the camera disposed at the in-cabin side of the windshield of the equipped vehicle, image data captured by the imaging array of the camera and provided to the ECU is processed at the ECU for at least one driving assist system of the equipped vehicle; wherein, with the camera disposed at the in-cabin side of the windshield of the equipped vehicle, image data captured by the imaging array of the camera is saved in volatile memory; wherein, with the camera disposed at the in-cabin side of the windshield of the equipped vehicle, image data captured by the imaging array of the camera that is saved in volatile memory is overwritten by newly captured image data as part of a continuous loop recording of captured image data; wherein, with the camera disposed at the in-cabin side of the windshield of the equipped vehicle, and responsive to occurrence of automatic emergency braking of the equipped vehicle, image data captured by the imaging array of the camera that is saved in volatile memory for a first period of time prior to the occurrence of the automatic emergency braking of the equipped vehicle is moved to non-volatile memory and image data captured by the imaging array of the camera for a second period of time after the occurrence of the automatic emergency braking of the equipped vehicle is saved in non-volatile memory; and wherein the second period of time after the occurrence of the automatic emergency braking of the equipped vehicle lasts until an intervention occurs, and wherein the intervention comprises actuation of a hazard light of the equipped vehicle. ### Claim 26 (depends on 25) The vehicular vision system of claim 25, wherein the continuous loop recording of captured image data comprises a continuous loop recording of at least 20 seconds. ### Claim 27 (depends on 25) The vehicular vision system of claim 25, wherein, responsive to the occurrence of the automatic emergency braking of the equipped vehicle, image data captured by the imaging array of the camera that is saved in non-volatile memory includes image data captured by the imaging array of the camera and saved in volatile memory for at least 15 seconds prior to the occurrence of the automatic emergency braking of the equipped vehicle. ### Claim 28 (depends on 25) The vehicular vision system of claim 25, wherein, responsive to the occurrence of the automatic emergency braking of the equipped vehicle, image data captured by the imaging array of the camera that is saved in non-volatile memory includes image data captured by the imaging array of the camera and saved in volatile memory for up to 15 seconds prior to the occurrence of the automatic emergency braking of the equipped vehicle. ### Claim 29 (depends on 25) The vehicular vision system of claim 25, wherein, responsive to the occurrence of the automatic emergency braking of the equipped vehicle, image data captured by the imaging array of the camera that is saved in non-volatile memory includes (i) image data captured by the imaging array of the camera and saved in volatile memory for up to 15 seconds prior to the occurrence of the automatic emergency braking of the equipped vehicle and (ii) image data captured by the imaging array of the camera for at least 5 seconds after the occurrence of the automatic emergency braking of the equipped vehicle. ### Claim 30 (depends on 25) The vehicular vision system of claim 25, wherein the non-volatile memory is part of a recording device of the equipped vehicle. ### Claim 31 (depends on 25) The vehicular vision system of claim 25, wherein the non-volatile memory is accommodated within the camera. ### Claim 32 (depends on 25) The vehicular vision system of claim 25, wherein the image processor is accommodated within the camera. ### Claim 33 (depends on 25) The vehicular vision system of claim 25, wherein, with the camera disposed at the in-cabin side of the windshield of the equipped vehicle, and responsive to the occurrence of the automatic emergency braking of the equipped vehicle, the image data captured by the imaging array of the camera and saved in volatile memory for the first period of time prior to the occurrence of the automatic emergency braking of the equipped vehicle and the image data captured by the imaging array of the camera for the second period of time after the occurrence of the automatic emergency braking of the equipped vehicle are saved in non-volatile memory as a single data file. ### Claim 34 (depends on 25) The vehicular vision system of claim 25, wherein the at least one driving assist system comprises (i) a headlamp control system and (ii) a lane marker detection system and at least one selected from the group consisting of (a) a pedestrian detection system and (b) an automatic emergency braking system. ### Claim 35 (depends on 25) The vehicular vision system of claim 25, wherein the at least one driving assist system comprises at least two driving assist systems. ### Claim 36 (depends on 35) The vehicular vision system of claim 35, wherein the at least two driving assist systems comprise at least (i) a pedestrian detection system and (ii) an automatic emergency braking system. ### Claim 37 A vehicular vision system, the vehicular vision system comprising: a camera, the camera comprising an imaging array having at least one million photosensor pixels arranged in multiple rows and columns; wherein, with the camera disposed at an in-cabin side of a windshield of a vehicle equipped with the vehicular vision system, the imaging array of the camera views through the windshield and forward of the equipped vehicle, and wherein the imaging array of the camera captures image data; an electronic control unit (ECU) disposed in the equipped vehicle, the ECU comprising an image processor; wherein image data captured by the imaging array of the camera is provided to the ECU; wherein, with the camera disposed at the in-cabin side of the windshield of the equipped vehicle, image data captured by the imaging array of the camera and provided to the ECU is processed at the ECU for at least one driving assist system of the equipped vehicle; wherein, with the camera disposed at the in-cabin side of the windshield of the equipped vehicle, image data captured by the imaging array of the camera is saved in volatile memory; wherein, with the camera disposed at the in-cabin side of the windshield of the equipped vehicle, and responsive to occurrence of braking of the equipped vehicle at 0.4 g or more, image data captured by the imaging array of the camera that is saved in volatile memory for a first period of time prior to the occurrence of the braking of the equipped vehicle at 0.4 g or more is moved to non-volatile memory and image data captured by the imaging array of the camera for a second period of time after the occurrence of the braking of the equipped vehicle at 0.4 g or more is saved in non-volatile memory; and wherein the second period of time after the occurrence of the braking of the equipped vehicle at 0.4 g or more lasts at least 5 seconds after the occurrence of the braking of the equipped vehicle at 0.4 g or more and until an intervention occurs, and wherein the intervention comprises actuation of a hazard light of the equipped vehicle. ### Claim 38 (depends on 37) The vehicular vision system of claim 37, wherein, with the camera disposed at the in-cabin side of the windshield of the equipped vehicle, image data captured by the imaging array of the camera that is saved in volatile memory is overwritten by newly captured image data as part of a continuous loop recording of captured image data. ### Claim 39 (depends on 38) The vehicular vision system of claim 38, wherein the continuous loop recording of captured image data comprises a continuous loop recording of at least 20 seconds. ### Claim 40 (depends on 37) The vehicular vision system of claim 37, wherein, responsive to the occurrence of the braking of the equipped vehicle at 0.4 g or more, image data captured by the imaging array of the camera that is saved in non-volatile memory includes image data captured by the imaging array of the camera and saved in volatile memory for at least 15 seconds prior to the occurrence of the braking of the equipped vehicle at 0.4 g or more. ### Claim 41 (depends on 37) The vehicular vision system of claim 37, wherein, responsive to the occurrence of the braking of the equipped vehicle at 0.4 g or more, image data captured by the imaging array of the camera that is saved in non-volatile memory includes image data captured by the imaging array of the camera and saved in volatile memory for up to 15 seconds prior to the occurrence of the braking of the equipped vehicle at 0.4 g or more. ### Claim 42 (depends on 37) The vehicular vision system of claim 37, wherein the first period of time prior to the occurrence of the braking of the equipped vehicle at 0.4 g or more varies depending on a type of braking of the equipped vehicle at 0.4 g or more that occurs. ### Claim 43 (depends on 37) The vehicular vision system of claim 37, wherein the non-volatile memory is part of a recording device of the equipped vehicle. ### Claim 44 (depends on 37) The vehicular vision system of claim 37, wherein the non-volatile memory is accommodated within the camera. ### Claim 45 (depends on 37) The vehicular vision system of claim 37, wherein the image processor is accommodated within the camera. ### Claim 46 (depends on 37) The vehicular vision system of claim 37, wherein, with the camera disposed at the in-cabin side of the windshield of the equipped vehicle, and responsive to the occurrence of the braking of the equipped vehicle at 0.4 g or more, the image data captured by the imaging array of the camera and saved in volatile memory for the first period of time prior to the occurrence of the braking of the equipped vehicle at 0.4 g or more and the image data captured by the imaging array of the camera for the second period of time after the occurrence of the braking of the equipped vehicle at 0.4 g or more are saved in non-volatile memory as a single data file. ### Claim 47 (depends on 37) The vehicular vision system of claim 37, wherein the vehicular vision system is operable to communicate captured image data saved in non-volatile memory to a remote device via a wireless communication. ### Claim 48 (depends on 37) The vehicular vision system of claim 37, wherein, with the camera disposed at the in-cabin side of the windshield of the equipped vehicle, and at vehicle start up and responsive to the occurrence of the braking of the equipped vehicle at 0.4 g or more, the ECU determines available non-volatile memory for saving captured image data, and wherein, if the determined available non-volatile memory is below a threshold level, the ECU deletes at least some of the saved data from the non-volatile memory. ### Claim 49 (depends on 37) The vehicular vision system of claim 37, wherein the at least one driving assist system comprises (i) a headlamp control system and (ii) a lane marker detection system and at least one selected from the group consisting of (a) a pedestrian detection system and (b) an automatic emergency braking system. ### Claim 50 (depends on 37) The vehicular vision system of claim 37, wherein the at least one driving assist system comprises at least two driving assist systems. ### Claim 51 (depends on 50) The vehicular vision system of claim 50, wherein the at least two driving assist systems comprise at least (i) a pedestrian detection system and (ii) an automatic emergency braking system.