Vehicular control system
First Claim
1. A vehicular control system, said vehicular control system comprising:
- 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 at least forward of the equipped vehicle;
a control comprising a processor operable to process image data captured by said camera to detect objects present in the field of view of said camera;
wherein said control determines a projected path of travel of the equipped vehicle;
wherein said control is operable to process information wirelessly communicated to the equipped vehicle via a communication system;
wherein said control processes information received via said communication system relating to another vehicle 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 (i) crosses a traffic lane being travelled by the other vehicle or (ii) joins a traffic lane being travelled by the other vehicle;
wherein, responsive at least in part to a determination that the estimated time to arrival of the other vehicle is less than a threshold time, said control determines that it is not safe for the equipped vehicle to proceed along the projected path of travel; and
wherein, responsive at least in part to (i) a determination that the estimated time to arrival of the other vehicle is greater than a threshold time and (ii) processing by said processor of captured image data detecting an object present in the projected path of travel of the equipped vehicle, said control determines that it is not safe to proceed along the projected path of travel.
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Accused Products
Abstract
A vehicular control system includes a camera and a control having a processor that processes image data captured by the camera. The control determines a projected path of travel of the equipped vehicle. The control processes information wirelessly communicated to the equipped vehicle to determine an estimated time to arrival of another 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. The projected path of travel of the equipped vehicle crosses a traffic lane being travelled by the other vehicle or joins a traffic lane being travelled by the other vehicle. Responsive at least in part to determination that the estimated time to arrival of the other vehicle is less than a threshold time, the control determines that it is not safe for the equipped vehicle to proceed along the projected path of travel.
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Citations
43 Claims
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1. 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 at least forward of the equipped vehicle; a control comprising a processor operable to process image data captured by said camera to detect objects present in the field of view of said camera; wherein said control determines a projected path of travel of the equipped vehicle; wherein said control is operable to process information wirelessly communicated to the equipped vehicle via a communication system; wherein said control processes information received via said communication system relating to another vehicle 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 (i) crosses a traffic lane being travelled by the other vehicle or (ii) joins a traffic lane being travelled by the other vehicle; wherein, responsive at least in part to a determination that the estimated time to arrival of the other vehicle is less than a threshold time, said control determines that it is not safe for the equipped vehicle to proceed along the projected path of travel; and wherein, responsive at least in part to (i) a determination that the estimated time to arrival of the other vehicle is greater than a threshold time and (ii) processing by said processor of captured image data detecting an object present in the projected path of travel of the equipped vehicle, said control determines that it is not safe to proceed along the projected path of travel. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. 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 at least forward of the equipped vehicle; a control comprising a processor operable to process image data captured by said camera to detect objects present in the field of view of said camera; wherein said control determines a projected path of travel of the equipped vehicle; wherein said control is operable to process information wirelessly communicated to the equipped vehicle via a communication system; wherein said control processes information received via said communication system relating to another vehicle 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, responsive at least in part to a determination that the estimated time to arrival of the other vehicle is greater than a threshold time, said control determines that there is sufficient space for the equipped vehicle to enter a traffic lane being travelled by the other vehicle; wherein, responsive at least in part to a determination that the estimated time to arrival of the other vehicle is less than a threshold time, said control determines that there is insufficient space for the equipped vehicle to enter the traffic lane being travelled by the other vehicle; and wherein, responsive at least in part to processing by said processor of captured image data, said control controls a brake system of the equipped vehicle to automatically brake the equipped vehicle in a situation where a high probability that a collision may occur exists. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32)
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33. 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 at least forward of the equipped vehicle; said camera comprising a two dimensional array of a plurality of photosensor elements arranged in at least 640 columns and 480 rows; wherein said plurality of photosensor elements comprises at least 1 million photosensor elements; a control comprising a processor operable to process image data captured by said camera to detect objects present in the field of view of said camera; wherein said control determines a projected path of travel of the equipped vehicle at least in part by processing of captured image data by said processor; wherein said control is operable to process information wirelessly communicated to the equipped vehicle via a communication system; wherein said control processes information received via said communication system relating to another vehicle 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, responsive at least in part to a determination that the estimated time to arrival of the other vehicle is less than a threshold time, said control determines that it is not safe for the equipped vehicle to proceed along the projected path of travel; and wherein, responsive at least in part to (i) a determination that the estimated time to arrival of the other vehicle is greater than a threshold time and (ii) processing by said processor of captured image data determining that an object is not present in the projected path of travel of the equipped vehicle, said control controls the equipped vehicle to autonomously proceed along the projected path of travel. - View Dependent Claims (34, 35, 36, 37, 38, 39, 40, 41, 42, 43)
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Specification