Control system for vehicle
First Claim
1. A vehicular control system, said vehicular control system comprising:
- a sensor disposed at a front portion of a vehicle equipped with said vehicular control system, said sensor having a field of sensing forward of the equipped vehicle;
a control comprising a processor operable to process sensor data captured by said sensor to determine an object present in the forward field of sensing of said sensor;
wherein a projected path of travel of the equipped vehicle is determined at least in part by processing of captured sensor data by said processor;
a communication system of the equipped vehicle, wherein said communication system is operable to receive vehicle information pertaining to another vehicle;
wherein said control is operable to process the vehicle information received by said communication system to determine an estimated time to arrival of the other vehicle at a location on a road being travelled by the other vehicle that is in the projected path of travel of the equipped vehicle;
wherein the projected path of travel of the equipped vehicle comprises a turn by the equipped vehicle across a traffic lane along which the other vehicle is traveling; and
wherein, responsive at least in part to (i) determination that the equipped vehicle, following the projected path of travel of the equipped vehicle, will arrive at the location on the road being travelled by the other vehicle at least a threshold period of time before the estimated time to arrival of the other vehicle at the location elapses, and (ii) determination via processing of captured sensor data that an object is not present in the projected path of travel of the equipped vehicle, said control determines that it is safe for the equipped vehicle to proceed along the projected path of travel.
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Abstract
A vehicular control system includes a sensor, a control, and a communication system. A projected path of travel of the vehicle is determined at least in part by processing of captured sensor data. The control determines an estimated time to arrival of another vehicle at a location that is in the projected path of travel of the equipped vehicle. The projected path of travel of the vehicle may include (i) a turn by the vehicle across a traffic lane along which the other vehicle is traveling or (ii) a turn by the vehicle into a traffic lane along which the other vehicle is traveling. Responsive at least in part to determination that the vehicle will arrive at the location at least a threshold period of time before the estimated time to arrival of the other vehicle at the location elapses, the control determines that it is safe for the vehicle to proceed.
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Citations
25 Claims
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1. A vehicular control system, said vehicular control system comprising:
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a sensor disposed at a front portion of a vehicle equipped with said vehicular control system, said sensor having a field of sensing forward of the equipped vehicle; a control comprising a processor operable to process sensor data captured by said sensor to determine an object present in the forward field of sensing of said sensor; wherein a projected path of travel of the equipped vehicle is determined at least in part by processing of captured sensor data by said processor; a communication system of the equipped vehicle, wherein said communication system is operable to receive vehicle information pertaining to another vehicle; wherein said control is operable to process the vehicle information received by said communication system to determine an estimated time to arrival of the other vehicle at a location on a road being travelled by the other vehicle that is in the projected path of travel of the equipped vehicle; wherein the projected path of travel of the equipped vehicle comprises a turn by the equipped vehicle across a traffic lane along which the other vehicle is traveling; and wherein, responsive at least in part to (i) determination that the equipped vehicle, following the projected path of travel of the equipped vehicle, will arrive at the location on the road being travelled by the other vehicle at least a threshold period of time before the estimated time to arrival of the other vehicle at the location elapses, and (ii) determination via processing of captured sensor data that an object is not present in the projected path of travel of the equipped vehicle, said control determines that it is safe for the equipped vehicle to proceed along the projected path of travel. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A vehicular control system, said vehicular control system comprising:
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a sensor disposed at a front portion of a vehicle equipped with said vehicular control system, said sensor having a field of sensing forward of the equipped vehicle; a control comprising a processor operable to process sensor data captured by said sensor to determine an object present in the forward field of sensing of said sensor; wherein a projected path of travel of the equipped vehicle is determined at least in part by processing of captured sensor data by said processor; a communication system of the equipped vehicle, wherein said communication system is operable to receive vehicle information pertaining to another vehicle; wherein said control is operable to process the vehicle information received by said communication system to determine an estimated time to arrival of the other vehicle at a location on a road being travelled by the other vehicle that is in the projected path of travel of the equipped vehicle; wherein the projected path of travel of the equipped vehicle comprises a turn by the equipped vehicle into a traffic lane along which the other vehicle is traveling; wherein the other vehicle is travelling in the traffic lane in a direction of travel, and wherein the projected path of travel of the equipped vehicle projects the equipped vehicle entering that traffic lane to travel in the same direction of travel as the other vehicle; and wherein, responsive at least in part to (i) determination that the equipped vehicle, following the projected path of travel of the equipped vehicle, will arrive at the location on the road being travelled by the other vehicle at least a threshold period of time before the estimated time to arrival of the other vehicle at the location elapses, and (ii) determination via processing of captured sensor data that an object is not present in the projected path of travel of the equipped vehicle, said control determines that it is safe for the equipped vehicle to proceed along the projected path of travel. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17)
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18. A vehicular control system, said vehicular control system comprising:
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a camera disposed at and behind a windshield of a vehicle equipped with said vehicular control system, said camera having a field of view through the windshield forward of the equipped vehicle; a control comprising a processor operable to process image data captured by said camera to determine an object present in the forward field of view of said camera; wherein a projected path of travel of the equipped vehicle is determined at least in part by processing of captured image data by said processor; a communication system of the equipped vehicle, wherein said communication system is operable to receive vehicle information pertaining to another vehicle; wherein said control is operable to process the vehicle information received by said communication system to determine an estimated time to arrival of the other vehicle at a location on a road being travelled by the other vehicle that is in the projected path of travel of the equipped vehicle; wherein the projected path of travel of the equipped vehicle comprises (i) a turn by the equipped vehicle across a traffic lane along which the other vehicle is traveling or (ii) a turn by the equipped vehicle into a traffic lane along which the other vehicle is traveling; and wherein, responsive at least in part to (i) determination that the equipped vehicle, following the projected path of travel of the equipped vehicle, will arrive at the location on the road being travelled by the other vehicle at least a threshold period of time before the estimated time to arrival of the other vehicle at the location elapses, and (ii) determination via processing of captured image data that an object is not present in the projected path of travel of the equipped vehicle, said control determines that it is safe for the equipped vehicle to proceed along the projected path of travel. - View Dependent Claims (19, 20, 21, 22, 23, 24, 25)
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Specification