Abstract:
A vehicle includes a proximity sensor that senses a distance to objects located to at least one side of the vehicle, a camera mounted at the front of the vehicle, a display for displaying video from the camera, and processing circuitry that detects a transition of the vehicle from surroundings of the vehicle in which at least one object located to the side of the vehicle is within a predetermined proximity threshold distance to surrounding of the vehicle in which no objects are located to the side of the vehicle within the predetermined proximity threshold distance, and in response to determining that, at least, the proximity sensor has detected the transition, the processing circuitry is configured to display video from the camera on the display of the vehicle. Additional criteria for displaying the video can include vehicle speed, distance traveled prior to the transition, duration for which the state prior to the transition was maintained, and the state of the vehicle&#39;s turn signal.

Description:
FIELD OF THE DISCLOSURE 
       [0001]    This disclosure relates to vehicle safety systems. 
       BACKGROUND OF THE DISCLOSURE 
       [0002]    A significant fraction of car accidents and a significant fraction of accident fatalities occur at intersections. Certain intersections are more dangerous due to the poor visibility with respect to cars approaching on cross roads from the perspective of a driver in a car stopped at the intersection. This may be due to the curvature of intersecting roads or due to the presence of objects such as parked cars, a building, a fence, a wall, trees or hedges near the intersection. The stopping point for cars at intersections is selected to keep stopped vehicles spaced at a safe distance from traffic on cross streets, but unfortunately may not afford a clear view of such traffic from the perspective of the driver&#39;s seat. 
         [0003]    In the past there were efforts to address the problem by placing a wide angle camera at the front of a vehicle and routing the video feed from the camera to the vehicle&#39;s navigation display. 
         [0004]    Additionally there have been efforts to automatically issue warnings to drivers. For example, U.S. Patent Publication 2015/0051753 to Kawamata et al. discloses providing a level of driving assistance in the form of warning lights or audio that is dependent on whether or not obstacles are detected at an intersection. Obstacles are detected using sound emitted by the vehicle and a set of microphones. 
       SUMMARY OF THE DISCLOSURE 
       [0005]    Certain embodiments described herein include a vehicle including: a front; a first side; a second side; a proximity sensor configured to sense a distance to objects located to at least one of the first side and the second side of the vehicle; a camera mounted at the front of the vehicle, the camera configured to include a field of view that includes a view to at least one of the first side and the second side of the vehicle; a display in the vehicle; processing circuitry coupled to the proximity sensor, the camera, and the display, wherein the processing circuitry is configured to: determine that, at least, the proximity sensor has detected a transition of the vehicle from surroundings of the vehicle in which at least one object located to at least one of the first side of the vehicle and the second side of the vehicle is within a predetermined proximity threshold distance to surrounding of the vehicle in which no objects are located to the at least one of the first side of the vehicle and the second side of the vehicle within the predetermined proximity threshold distance; and in response to determining that, at least, the proximity sensor has detected the transition, the processing circuitry is configured to display video from the camera on the display of the vehicle. 
         [0006]    In determining that, at least, the proximity sensor has detected the transition, the processing circuitry can be further configured to determine that prior to the transition the vehicle was traveling at a speed less than a predetermined speed threshold, and displaying the video from the camera on the display can also be conditioned on the vehicle having been traveling at the speed less than the predetermined speed threshold prior to the transition. 
         [0007]    In determining that, at least, the proximity sensor has detected the transition, the processing circuitry can be further configured to determine that prior to the transition, the vehicle had traveled a distance at least equal to a predetermined travel distance while the vehicle was in the surroundings of the vehicle in which at least one object was located to at least one of the first side of the vehicle and the second side of the vehicle within the predetermined proximity threshold distance and displaying the video from the camera on the display can also be conditioned on the vehicle having traveled the distance equal to the predetermined travel distance while the vehicle was in surroundings of the vehicle in which at least one object was located to at least one of the first side of the vehicle and the second side of the vehicle within the predetermined proximity threshold distance. 
         [0008]    In determining that, at least, the proximity sensor has detected the transition, the processing circuitry can be further configured to determine that prior to the transition, for at least a predetermine period of time the vehicle was in the surroundings of the vehicle in which at least one object was located to at least one of the first side of the vehicle and the second side of the vehicle within the predetermined proximity threshold distance. 
         [0009]    In determining that, at least, the proximity sensor has detected the transition, the processing circuitry can be further configured to determine if a turn signal of the vehicle has been activated. 
         [0010]    According to certain embodiments, the proximity sensor can have a horizontal field that has a horizontal angular extent of 10° to 20°. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0011]    A more complete appreciation of the disclosure and many of the attendant advantages thereof will be readily obtained as the same becomes better understood by reference to the following detailed description when considered in connection with the accompanying drawings, wherein: 
           [0012]      FIG. 1  is a front view of a vehicle equipped with an automatic system for controlling a camera and a display at traffic intersections; 
           [0013]      FIG. 2  is a top view of the vehicle shown in  FIG. 1 . 
           [0014]      FIG. 3  is a block diagram of the automatic system for controlling the camera and the display that are included in the vehicle shown in  FIG. 1  and  FIG. 2 ; 
           [0015]      FIG. 4  is flowchart of a first method of controlling the camera and the display of the vehicle shown in  FIGS. 1-2  according to a first example provided in the present disclosure; 
           [0016]      FIG. 5  is a flowchart of a second method of controlling the camera and the display of a vehicle shown in  FIGS. 1-2  according to a second example provided in the present disclosure; 
           [0017]      FIG. 6  is a first schematic representation of a driving environment illustrating a first scenario in which systems for controlling a camera and a display at intersections are used; 
           [0018]      FIG. 7  is a graph including a plot of measured lateral distance to proximate objects versus vehicle position for the first scenario illustrated in  FIG. 6 ; 
           [0019]      FIG. 8  is a second schematic representation of a driving environment illustrating a second scenario in which systems for controlling a camera and a display at intersections are used; 
           [0020]      FIG. 9  is a graph including a plot of measured lateral distance to proximate objects versus vehicle position for the second scenario illustrated in  FIG. 8 ; 
           [0021]      FIG. 10  is a third schematic representation of a driving environment illustrating a third scenario in which systems for controlling a camera and a display at intersections are used; 
           [0022]      FIG. 11  is a graph including a plot of measured lateral distance to proximate objects versus vehicle position for the third scenario illustrated in  FIG. 10 ; 
           [0023]      FIG. 12  is a fourth schematic representation of a driving environment illustrating a fourth scenario in which systems for controlling a camera and a display at intersections are used; 
           [0024]      FIG. 13  is a graph including a plot of measured lateral distance to proximate objects versus vehicle position for the fourth scenario illustrated in  FIG. 12 ; 
           [0025]      FIG. 14  is a flowchart of a third method of controlling the camera and the display of the vehicle shown in  FIGS. 1-2  according to a third example provided in the present disclosure; 
           [0026]      FIG. 15  is a table representing a first-in-first-out memory buffer of lateral distance measurements that is used in practicing the method shown in  FIG. 14 ; 
           [0027]      FIG. 16  is a table representing a first-in-first-out memory buffer of vehicle speed that is used in practicing the method shown in  FIG. 14 ; 
           [0028]      FIG. 17  is portion of a flowchart including an alternative condition that may be substituted into the flowchart shown in  FIG. 14  according to fourth example of a method of controlling a camera and a display of a vehicle; 
           [0029]      FIG. 18  is a flowchart of a fifth method of controlling a camera and a display of a vehicle according to a fifth example provided in the present disclosure; 
           [0030]      FIG. 19  is a portion of a flowchart including an alternative condition that may be substituted into the flowchart shown in  FIG. 18  according to a sixth example of a method of controlling a camera and a display of a vehicle; 
           [0031]      FIG. 20  depicts a field of view for a lateral proximity sensor for the vehicle shown in  FIGS. 1-2  according to a first example; and 
           [0032]      FIG. 21  depicts a field of view for a lateral proximity sensor for the vehicle shown in  FIGS. 1-2  according to a second example. 
       
    
    
     DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS 
       [0033]    Referring now to the drawings, wherein like reference numerals designate identical or corresponding parts throughout the several views. 
         [0034]      FIG. 1  is a front view of a first vehicle  100  equipped with an automatic system  300  ( FIG. 3 ) for controlling a camera  118  and a display  202  ( FIG. 2 ) at traffic intersections and  FIG. 2  is a top view of the first vehicle  100  shown in  FIG. 1 . The first vehicle  100  includes a left (from the perspective of the driver) side looking proximity sensor  102  and a right side looking proximity sensor  104  mounted respectively in a left side  106  and a right side  108  of a front fascia  110  of the first vehicle  100 . Alternatively, the proximity sensors  102 ,  104  could be mounted in a left fender  112  and a right fender  114  respectively of the first vehicle  100 . The proximity sensors  102 ,  104  are suitably located forward of the front wheel opening of the first vehicle  100 , so as to be better positioned to sense an opening up the region around a front  116  of the first vehicle  100  when the first vehicle  100  reaches a traffic intersection. The camera  118  is suitably a panoramic camera and is mounted pointing forward at the center of the front fascia  110  of the first vehicle  100 . 
         [0035]    Alternatively, multiple cameras can be used in place of the panoramic camera  118 . Image stitching can be used to combine images from multiple cameras. For example a pair of cameras including one pointed somewhat (though not necessarily exactly, for example at a 45° angle with respect to a vehicle forward direction) toward the left side of the first vehicle  100  and one pointed somewhat (though not necessarily exactly, for example at a 45° angle with respect to a vehicle forward direction) toward the right side of the first vehicle  100  can be used in lieu of a panoramic camera. 
         [0036]    As shown in  FIG. 2  the first vehicle  100  also includes a dashboard mounted display  202  which is used to display video from the camera  118 , a vehicle speed sensor  204  for sensing the speed of the first vehicle  100  and an electronic control unit (ECU)  206 . Symmetric angles α and −α which are measured from an X-axis that is aligned with a longitudinal axis of the first vehicle  100  indicate a horizontal field of view of the camera  118 . The vertical field of view may for example be 10-20 degrees. A pair of lines  208  extending from the left side looking proximity sensor  102  indicated an approximate field of view of the left side looking proximity sensor  102 . Similarly a pair of lines  210  extending from the right side looking proximity sensor  104  indicate an approximate field of view of the right side looking proximity sensor  104 . 
         [0037]    According to an alternative design only one of the side looking proximity sensors  102 ,  104  is used. For example in countries where vehicles are driven on the right side of the road optionally a system can include only the right side looking proximity sensor  104  and in countries where vehicles are driven on the left side of the road optionally the system  300  ( FIG. 3 ) can include only the left side looking proximity sensor  102 . Even if vehicles equipped with the system  300  ( FIG. 3 ) include both proximity sensors  102 ,  104  the system  300  ( FIG. 3 ) may only use one. 
         [0038]      FIG. 3  is a block diagram of the automatic system  300  for controlling the camera  118  and the display  202  that are included in the first vehicle  100  shown in  FIG. 1  and  FIG. 2 . The system  300  comprises a microprocessor  302 , a memory  304 , one or more manual display controls  306 , the left side looking proximity sensor  102 , the right side looking proximity sensor  104 , proximity sensor controls  314 , the vehicle speed sensor  204 , the camera  118  and a display driver  308  coupled together through a signal bus  310 . The display driver  308  is coupled to the display  202 . The microprocessor  302  executes a program stored in the memory for controlling the camera  118  and the display driver  308  and selectively coupling a video feed from the camera  118  to the display driver  308  which in turn drives the display  202  in order to display the video feed. The memory  304  is one form of non-transitory computer readable medium that may be used to store the aforementioned program. The one or more manual display controls  306  and the proximity sensor controls  314  can, for example, comprise physical buttons, or virtual GUI buttons that are actuated via a touch screen of the display  202 . The manual display controls  306  can be used to override automatic control of the a camera system  312 , which is described herein below, should a driver choose to do so. The proximity sensor controls  314  can be used to turn on and turn off the proximity sensors  102 ,  104 . As shown in  FIG. 3  the left side looking proximity sensor  102  is indicated as being optional which, as discussed above, is appropriate for countries in which vehicles are driven on the right side of the road. The proximity sensors  102 ,  104  can, for example, comprise sonar, radar and/or lidar. The left side looking proximity sensor  102 , the right side looking proximity sensor  104  (whichever of the two is present), the proximity sensor controls  314 , the microprocessor  302  and the memory  304  make up a proximity sensor system  316 . The microprocessor  302  and the memory  304  can be included in the ECU  206 . The microprocessor  302  is one form of processing circuitry. Possible alternative forms of processing circuitry include, by way of nonlimitive example, an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), a microcontroller and/or discrete logic. Optionally the first vehicle  100  can include multiple separate microprocessors and/or microcontrollers that handle different control functions. The microprocessor  302 , the memory  304 , the camera  118 , the display driver  308 , the display  202  and the manual display controls  306  are parts of a camera system  312 . Note however that the microprocessor  302  and the memory  304  also perform functions outside of the camera system  312 . 
         [0039]      FIG. 4  is a flowchart of a first method  400  of controlling the camera system  312  of the first vehicle  100  according to a first example provided in the present disclosure. The method  400  commences with decision block  402  which determines if the camera system  312  of the first vehicle  100  has been turned on. An occupant (e.g., a driver) of the first vehicle  100  can turn on the camera system  312  by operating the manual display controls  306 . If the outcome of decision block  402  is negative, then the method  400  branches to block  404  which signifies a state of the system  300  in which the camera system  312  is not used. Within the state in which the camera is not used  404 , the system  300  continues to check the outcome of block  402  to determine if the camera system  312  is turned on. When the outcome of decision block  402  is positive, the method  400  continues to decision block  406  the outcome of which depends on whether the proximity sensor system  316  is turned on. If the outcome of decision block  406  is negative, then the method  400  branches to block  408  which indicates a state of the system  300  in which the camera system  312  is used in manual mode. Within the state  408  in which the camera system  312  is used in manual mode, the system  300  continues to test the outcome of decision blocks  402  and  406  in order to handle user operation of the manual display controls  306  and the proximity sensor controls  314 . If, on the other hand, the outcome of decision block  406  is positive, then in block  410  the proximity sensor system  316  is used to measure the lateral distance to proximate objects. The proximate objects can, for example, be cars parked in a parking lane of a street on which the first vehicle  100  is driving, building walls, gates or booths in a parking garage or other structures on the side of a street or driveway. 
         [0040]    Next decision block  412  tests if the lateral distance to proximate objects is less than a programmed lateral distance threshold. A positive outcome of decision block  412  is construed to signify that the first vehicle  100  is traveling along a road and has not yet reached an intersection. The programmed threshold can be made dependent on other factors, such as for example a location estimate for the vehicle or the average speed of the vehicle. The location estimate can be obtained from location services such as provided by cellular networks, Wi-Fi networks or satellite navigation services (e.g., GPS, GLONASS, BeiDou, Galileo). The lateral distance threshold can be set in accordance with stored information for a road that the vehicle  100  is traveling on as determined by the location services. When the outcome of decision block  412  is negative the method  400  branches to block  408  signifying the aforementioned state in which the camera system  312  is used in manual mode. While in manual mode the driver can use the manual display controls  306  to control the display  202 . When the outcome decision block  412  is positive, the method  400  proceeds to decision block  414  the outcome of which depends on whether the lateral distance to proximate objects changed from less than the programmed lateral distance threshold to greater than the programmed lateral distance threshold. Note that it can also be deduced that the lateral distance to proximate objects is beyond the programmed lateral distance if the programmed lateral distance is less than a maximum sensing range of the proximity sensor system  316  and nothing is detected by the proximity sensor system  316 . If the outcome of decision block  414  is negative the system  300  returns to the state in which the camera system  312  is used in manual mode  408  and continues executing blocks  402  et seq. When the outcome of decision block  414  is positive the method  400  proceeds to block  416  in which the camera system  312  displays video being acquired by the camera  118  on the display  202 . A positive outcome of decision block  414  is construed to mean that the first vehicle  100  has reached an intersection where a region to the side of the front of the first vehicle  100  which is being probed by the proximity sensor system  316  does not include objects within the programmed lateral distance threshold. 
         [0041]      FIG. 5  is a flowchart of a second method  500  of controlling a camera system e.g.,  312  of a vehicle e.g.,  100  according to a second example. In block  502  the lateral distance to proximate objects is measured. Next decision block  504  tests if the lateral distance to proximate objects is less than a predetermined lateral distance threshold. If the outcome of decision block  504  is negative then the method  500  loops back to block  502  and continues executing as just described. When the outcome of decision block  504  is positive, the method proceeds to block  506  which again measures the lateral distance to proximate objects. Next decision block  508  tests if the lateral distance to proximate objects changed from less than the predetermined lateral distance threshold to greater than the predetermined lateral distance threshold. If the outcome of decision block  508  is negative then the method  500  loops back to block  506  and continues executing as described above. When the outcome of decision block  508  is positive indicating that the vehicle, e.g.,  100  in which the method  500  is being executed has reached a traffic intersection, the method  500  proceeds to block  510  in which a video feed from a camera, e.g.,  118  of the vehicle, e.g.,  100  is displayed on a display, e.g.,  202  of the vehicle, e.g.,  100 . Next decision block  512  tests if the lateral distance to proximate objects is again less than the predetermined lateral distance threshold. If the outcome of decision block  512  is negative then the method loops back to block  512  and continues displaying the video feed on the camera. When the outcome of decision block  512  is affirmative, the method  500  proceeds to block  514  in which the displaying of the video feed from the camera is stopped. Next the method  500  loops back to block  506  and continues executing as previously described. According to certain alternative embodiments the lateral distance threshold used in blocks  504  and  512  are different. 
         [0042]      FIG. 6  is a first schematic representation of a driving environment illustrating a first scenario  600  in which the system  300  for controlling the camera  118  and the display  202  at intersections is used. The first vehicle  100  is driving on a one-way street  606  between a first building  608  and a second building  610 . In the bottom and middle positions of the first vehicle  100  (drawn with a dashed outline) the proximity sensor system  316  detects the buildings  608 ,  610  spaced laterally from the vehicle but within the aforementioned lateral distance threshold. When the first vehicle  100  has reached an intersection  612  with a cross street  614 , the system  300  will detect opening up of the region to the sides of the front  116  of the first vehicle  100  and the video feed from the camera  118  will be displayed on the display  202 . The driver (not shown) of the first vehicle  100  will be able to see additional vehicles  616  which are driving on the cross street  614  on the display  202  without having to advance the first vehicle  100  dangerously into the cross street  614   
         [0043]      FIG. 7  is a graph  700  including a plot  702  of measured lateral distance to proximate objects versus position of the first vehicle  100  for the first scenario illustrated in  FIG. 6 . In  FIGS. 7, 9, 11 and 13 , an X-axis (abscissa) of each graph  700 ,  900 ,  1100 ,  1300  indicates a position of the first vehicle  100  and a D-axis (ordinate) of each graph  700 ,  900 ,  1100 ,  1300  indicates the lateral distance to proximate objects measured by the proximity sensor system  316 . As shown in  FIG. 7  the lateral distance to proximate objects increases as the first vehicle  100  passes beyond the buildings  608 ,  610  at the intersection  612 . 
         [0044]      FIG. 8  is a second schematic representation of a driving environment illustrating a second scenario  800  in which the system  300  for controlling the camera  118  and the display  202  at intersections is used. In the second scenario  800  the first vehicle  100  is driving out of a parking garage  802  onto a cross street  804 . A gate or pair of booths  806  are located proximate an exit  808  of the parking garage  802 . The vehicle  100  must pass the gate or pair of booths  806 .  FIG. 9  is a graph  900  including a plot  902  of measured lateral distance to proximate objects versus position of the vehicle  100  for the second scenario illustrated in  FIG. 8 . While the front  116  of the first vehicle  100  is beside the gate or pair of booths  806 , the proximity sensor system  316  detects the gate or pair of booths as reflected in the plot  902 . Once the front  116  of the first vehicle  100  passes the gate or pair of booths  806  the proximity sensor system  316  will detect an opening up of the area around the front  116  of the first vehicle  100  and the system  300  will display video from the camera  118  on the display  202 . 
         [0045]      FIG. 10  is a third schematic representation of a driving environment illustrating a third scenario  1000  in which the system  300  for controlling the camera  118  and the display  202  at intersections is used. In the third scenario  1000  the first vehicle  100  is driving in a center driving lane  1002  of a road  1004  that has cars  1006  parked in left side parking lane  1008  and a right side parking lane  1010 . The left proximity sensor field of view  208  and the right proximity sensor field of view are sufficiently wide relative to the spacing between the parked cars  1006  that the proximity sensor system  316  does not detect the small gaps between the parked cars  1006 . However when the first vehicle  100  passes the parked cars  1006  and reaches the intersection  612  with the cross street  614  the proximity sensors system  316  detects an opening up of the region to the side of the front  116  of the first vehicle  100  and in response thereto the system  300  will route video from the camera  118  to the display  202  allowing the driver of the first vehicle  100  to see additional vehicles  616  on the cross street  614 .  FIG. 11  is a graph  1100  including a plot  1102  of measured lateral distance to from the first vehicle  100  to proximate objects versus the position of the first vehicle  100  for the third scenario illustrated in  FIG. 10 . 
         [0046]      FIG. 12  is a fourth schematic representation of a driving environment illustrating a fourth scenario  1200  in which the system  300  for controlling the camera  118  and the display  202  at intersections is used. In the fourth scenario  1200  the first vehicle  100  is driving on a street  1202  between two buildings  1204  that have irregularly shaped facades  1206 . The irregularly shaped facades  1206  undulate in square wave like fashion. As the first vehicle  100  drives between the two buildings  1204  the proximity sensor system  316  registers distances to proximate objects to the side of the vehicle that alternate between being below the lateral distance threshold and above the lateral distance threshold.  FIG. 13  is a graph  1300  including a plot  1302  of measured lateral distance to proximate objects versus vehicle position for the fourth scenario illustrated in  FIG. 12 . The plot  1302  shows how the measured lateral distances alternates between being above and below the lateral distance threshold. The fourth scenario can confound the methods  400 ,  500  described above with reference to  FIGS. 4-5 , leading to frequent unneeded routing of video from the camera  118  to the display  202 . To address the fourth scenario  1200  and other scenarios that would similarly create false triggers additional criteria and methods including such additional criteria, as described herein below, are provided. 
         [0047]      FIG. 14  is a flowchart of a third method  1400  of controlling the camera  118  and the display  202  of the first vehicle  100  according to a third example provided in the present disclosure. In block  1404  the lateral distance to objects to at least one side of the first vehicle  100  is measured. The lateral distance to objects on both sides of the vehicle  100  or only one side of the vehicle  100  may be measured, as discussed above. In block  1406  the speed of the vehicle  100  is measured using the vehicle speed sensor  204 . In block  1408  the lateral distance that was measured in block  1404  is stored in a first First-In-First-Out (FIFO) buffer  1500  ( FIG. 15 ). The first FIFO buffer  1500  ( FIG. 15 ) can be implemented in the memory  304  as a circular buffer. In block  1410  the vehicle speed that was measured in block  1406  is stored in a second FIFO buffer  1600  ( FIG. 16 ). Next decision block  1412  tests if at least two lateral distance measurements have been stored (and by implication if at least two vehicle speed measurements have been stored). When, initially, the outcome of decision block  1412  is negative, the method  1400  loops back to block  1404  in order to re-execute blocks  1404 - 1410 . Once blocks  1404 - 1410  have been executed twice a transition from the lateral distance being below the lateral distance threshold to being above the lateral distance threshold can be detected. When the outcome of decision block  1412  is positive, the method  1400  proceeds to decision block  1414  the outcome of which depends on whether the lateral distance to proximate objects changed from less than lateral distance threshold to more than the lateral distance AND (in this specification a capitalized AND is a Boolean AND) the traveling speed when the lateral distance measured below the lateral distance threshold was less than a programmed speed threshold. Alternatively the traveling speed when the lateral distance measured above the lateral distance threshold can be used in block  1414 . A positive outcome of decision block  1414  is construed to mean that the vehicle  100  has reached an intersection and the method  1400  proceeds to block  1416  in which the video from the camera  118  is displayed on the display  202 . Including the speed criteria in  1414  is useful in avoiding false signals as it avoids triggering display of the video from the camera  118  when the vehicle  100  drives past a proximate object at a speed that would tend to indicate that the vehicle  100  has not approached an intersection. When the outcome of decision block  1414  is negative the method  1400  loops back to block  1404  and continues executing as described above. When the outcome of decision block  1414  is positive, after block  1416  and while continuing to display the video from the camera  118 , the method  1400  proceeds to block  1418  which signifies repeating execution of blocks  1404 - 1410  which results in new lateral distance and vehicle speed measurements being stored in the FIFO buffers  1500 ,  1600 . After block  1418  the method  1400  proceeds to decision block  1420  the outcome of which depends on whether the lateral distance to proximate objects, as reflected in the last lateral distance measurement, is now once again less than the lateral distance threshold. If the outcome of decision block  1420  is negative the method loops back to decision block  1416  and continues execution as described above. When the outcome of decision block  1420  is positive the method  1400  proceeds to block  1422  in which displaying of the video from the camera  118  on the display  202  is stopped. After executing block  1422  the method  1400  loops back to block  1404  and continues executing as previously described. 
         [0048]      FIG. 15  is a table representing the first FIFO buffer  1500  which includes lateral distance measurements at a sequence of times denoted T 0 , T −1 . . . T —−K . . . T —−N  with T 0  being the most recent time.  FIG. 16  is a table representing the second FIFO buffer  1600  which includes vehicle speed at the sequence of times T 0 , T −1  . . . T —−K  . . . T −N . Note however that there can also be an offset between the times at which the lateral distance measurements are obtained and the times at which the vehicle speed measurements are obtained. 
         [0049]      FIG. 17  is portion of a flowchart  1700  including an alternative condition that may be substituted into the flowchart shown in  FIG. 14  according to fourth example of a method  1700  of controlling a camera and a display of a vehicle. Decision block  1714  shown in  FIG. 17  can be used in lieu of decision block  1414  of method  1400 . Decision block  1714  tests whether the lateral distance to proximate objects changed from less than the lateral distance threshold to more than the lateral distance AND (Boolean AND) the distance travelled while the lateral distance was less than the lateral distance threshold was greater than a preprogrammed travel distance threshold. The use of the condition involving the travel distance threshold serves to avoid false triggers that could occur when the vehicle  100  being driven along a road passes a small closely spaced object, such as, for example, a mailbox positioned close to the road. 
         [0050]      FIG. 18  is a flowchart of a fifth method  1800  of controlling the camera  118  and the display  202  of the vehicle  100  according to a fifth example provided in the present disclosure. The method  1800  includes the blocks  1404 ,  1408 ,  1412 ,  1416 ,  1420  and  1422  in common with the method  1400  shown in  FIG. 14  and described above. The method  1800  does not measure vehicle speed so blocks  1406  and  1410  are not included. Decision block  1814  which takes the place of decision block  1414  tests if the lateral distance to proximate objects changed from less than the lateral distance threshold to more than the lateral distance threshold AND (Boolean AND) the duration for which the lateral distance measured below the lateral distance threshold was greater than a duration threshold. Including such duration related criteria in decision block  1814  filters out false triggers due to the vehicle passing objects positioned close to the edge of the road such as a mailbox. Block  1818  represents repetition of blocks  1404  and  1408 . 
         [0051]      FIG. 19  is a portion of a flowchart  1900  including an alternative condition that may be substituted into the flowchart shown in  FIG. 18  according to a sixth example of a method of controlling a camera and a display of a vehicle. Decision block  1914  can be used in lieu of decision block  1814 . Decision block  1914  tests if the lateral distance to objects proximate to the vehicle  100  changed from less than the lateral distance threshold to greater than the lateral distance threshold AND (Boolean AND) a turn signal (not shown) of the vehicle  100  has been activated. Alternatively a Boolean OR is used in block  1914  in lieu of the Boolean AND. Also alternatively, the status of the turn signal (not shown) and/or a brake switch (not shown) of the vehicle  100  by is used to determine if the camera  118  will display video from the camera  118 . 
         [0052]      FIG. 20  depicts a field of view for a lateral proximity sensor (e.g., sonar, radar, LIDAR) for the vehicle  100  shown in  FIGS. 1-2  according to a first example. The field of view extends a first angle θ 1  to a second angle θ 2 . θ 1  and θ 2  are measured with respect to a longitudinal axis of the vehicle  100  which is parallel to an X-axis shown in  FIGS. 20-21 . θ 1  is suitably between 80° and 85° from the vehicle longitudinal axis (X-axis). θ 2  is greater than θ 1  and is suitably between 95° and 100°. In  FIG. 20  θ 1  is equal to 85° and θ 2  is equal to 95°. According to certain embodiments the horizontal extent of the field of view, i.e., the difference between θ 2  and θ 1  is at least 10°. According to certain embodiments the field of view of the proximity sensor includes at least one angle in the approximate range of 75° and 85°. 
         [0053]      FIG. 21  depicts a field of view for a lateral proximity sensor for the vehicle  100  shown in  FIGS. 1-2  according to a second example. In  FIG. 21  θ 1  is equal to 75° and θ 2  is equal to 88°. 
         [0054]    Numerous modifications and variations of the present invention are possible in light of the above teachings. It is therefore to be understood that within the scope of the appended claims, the invention may be practiced otherwise than as specifically described herein.