DRIVING ASSIST SYSTEM FOR VEHICLE
First Claim
1. A vehicular driving assist system suitable for use in a vehicle, said vehicular driving assist system comprising:
- a data processor module disposed at a vehicle equipped with said vehicular driving assist system;
said data processor module receiving and processing image data provided by a plurality of video sensors disposed at the equipped vehicle;
said data processor module receiving and processing sensor data provided by a plurality of non-video sensors disposed at the equipped vehicle;
said plurality of non-video sensors comprising a radar sensor;
said plurality of video sensors comprising at least five vehicular cameras;
said at least five vehicular cameras comprising a first vehicular camera disposed at a driver side of the equipped vehicle;
said at least five vehicular cameras comprising a second vehicular camera disposed at a passenger side of the equipped vehicle;
said at least five vehicular cameras comprising a third vehicular camera disposed at a rear portion of the equipped vehicle;
said at least five vehicular cameras comprising a fourth vehicular camera disposed at a front portion of the equipped vehicle;
said at least five vehicular cameras comprising a fifth vehicular camera disposed at an in-cabin side of a windshield of the equipped vehicle and viewing forwardly through the windshield of the equipped vehicle;
wherein said first vehicular camera has a first field of view exterior of the equipped vehicle and is operable to capture first image data;
wherein said second vehicular camera has a second field of view exterior of the equipped vehicle and is operable to capture second image data;
wherein said third vehicular camera has a third field of view exterior of the equipped vehicle and is operable to capture third image data;
wherein said fourth vehicular camera has a fourth field of view exterior of the equipped vehicle and is operable to capture fourth image data;
wherein said fifth vehicular camera has a fifth field of view exterior of the equipped vehicle and is operable to capture fifth image data;
wherein said data processor module receives first image data captured by said first vehicular camera at a first interface;
wherein said data processor module receives second image data captured by said second vehicular camera at a second interface;
wherein said data processor module receives third image data captured by said third vehicular camera at a third interface;
wherein said data processor module receives fourth image data captured by said fourth vehicular camera at a fourth interface;
wherein said data processor module receives fifth image data captured by said fifth vehicular camera;
wherein said data processor module receives sensor data captured by said plurality of non-video sensors;
wherein said data processor module communicates with other vehicle systems via a vehicle bus of the equipped vehicle;
wherein received image data and received sensor data are processed at said data processor module for at least one of (i) object tracking of objects present exterior of the equipped vehicle, (ii) object identification of objects present exterior of the equipped vehicle and (iii) object classification of objects present exterior of the equipped vehicle; and
wherein, responsive at least in part to processing of image data and sensor data at said data processor module, a driving assistance system of the equipped vehicle is controlled.
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Abstract
A vehicular driving assist system includes a data processor module that receives and processes image data provided by a plurality of video sensors and sensor data provided by a plurality of non-video sensors. The video sensors include at least five cameras disposed at respective locations of the vehicle and having respective fields of view exterior the vehicle. The data processor module communicates with other vehicle systems via a vehicle bus of the vehicle. Received image data and received sensor data are processed at the data processor module for at least one of (i) object tracking of objects present exterior of the vehicle, (ii) object identification of objects present exterior of the vehicle and (iii) object classification of objects present exterior of the vehicle. Responsive at least in part to processing of image data and sensor data at the data processor module, a driving assistance system of the vehicle is controlled.
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Citations
41 Claims
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1. A vehicular driving assist system suitable for use in a vehicle, said vehicular driving assist system comprising:
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a data processor module disposed at a vehicle equipped with said vehicular driving assist system; said data processor module receiving and processing image data provided by a plurality of video sensors disposed at the equipped vehicle; said data processor module receiving and processing sensor data provided by a plurality of non-video sensors disposed at the equipped vehicle; said plurality of non-video sensors comprising a radar sensor; said plurality of video sensors comprising at least five vehicular cameras; said at least five vehicular cameras comprising a first vehicular camera disposed at a driver side of the equipped vehicle; said at least five vehicular cameras comprising a second vehicular camera disposed at a passenger side of the equipped vehicle; said at least five vehicular cameras comprising a third vehicular camera disposed at a rear portion of the equipped vehicle; said at least five vehicular cameras comprising a fourth vehicular camera disposed at a front portion of the equipped vehicle; said at least five vehicular cameras comprising a fifth vehicular camera disposed at an in-cabin side of a windshield of the equipped vehicle and viewing forwardly through the windshield of the equipped vehicle; wherein said first vehicular camera has a first field of view exterior of the equipped vehicle and is operable to capture first image data; wherein said second vehicular camera has a second field of view exterior of the equipped vehicle and is operable to capture second image data; wherein said third vehicular camera has a third field of view exterior of the equipped vehicle and is operable to capture third image data; wherein said fourth vehicular camera has a fourth field of view exterior of the equipped vehicle and is operable to capture fourth image data; wherein said fifth vehicular camera has a fifth field of view exterior of the equipped vehicle and is operable to capture fifth image data; wherein said data processor module receives first image data captured by said first vehicular camera at a first interface; wherein said data processor module receives second image data captured by said second vehicular camera at a second interface; wherein said data processor module receives third image data captured by said third vehicular camera at a third interface; wherein said data processor module receives fourth image data captured by said fourth vehicular camera at a fourth interface; wherein said data processor module receives fifth image data captured by said fifth vehicular camera; wherein said data processor module receives sensor data captured by said plurality of non-video sensors; wherein said data processor module communicates with other vehicle systems via a vehicle bus of the equipped vehicle; wherein received image data and received sensor data are processed at said data processor module for at least one of (i) object tracking of objects present exterior of the equipped vehicle, (ii) object identification of objects present exterior of the equipped vehicle and (iii) object classification of objects present exterior of the equipped vehicle; and wherein, responsive at least in part to processing of image data and sensor data at said data processor module, a driving assistance system of the equipped vehicle is controlled. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30)
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31. A vehicular driving assist system suitable for use in a vehicle, said vehicular driving assist system comprising:
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a data processor module disposed at a vehicle equipped with said vehicular driving assist system; said data processor module receiving and processing image data provided by a plurality of video sensors disposed at the equipped vehicle; said data processor module receiving and processing sensor data provided by a plurality of non-video sensors disposed at the equipped vehicle; wherein said plurality of non-video sensors comprises a plurality of radar sensors disposed at the equipped vehicle, and wherein said radar sensors are operable to sense radar data; said plurality of video sensors comprising at least five vehicular cameras; said at least five vehicular cameras comprising a first vehicular camera disposed at a driver side of the equipped vehicle; said at least five vehicular cameras comprising a second vehicular camera disposed at a passenger side of the equipped vehicle; said at least five vehicular cameras comprising a third vehicular camera disposed at a rear portion of the equipped vehicle; said at least five vehicular cameras comprising a fourth vehicular camera disposed at a front portion of the equipped vehicle; said at least five vehicular cameras comprising a fifth vehicular camera disposed at an in-cabin side of a windshield of the equipped vehicle and viewing forwardly through the windshield of the equipped vehicle; wherein said first vehicular camera has a first field of view exterior of the equipped vehicle and is operable to capture first image data; wherein said second vehicular camera has a second field of view exterior of the equipped vehicle and is operable to capture second image data; wherein said third vehicular camera has a third field of view exterior of the equipped vehicle and is operable to capture third image data; wherein said fourth vehicular camera has a fourth field of view exterior of the equipped vehicle and is operable to capture fourth image data; wherein said fifth vehicular camera has a fifth field of view exterior of the equipped vehicle and is operable to capture fifth image data; wherein said data processor module receives fifth image data captured by said fifth vehicular camera; wherein said data processor module receives radar data sensed by said plurality of radar sensors; wherein said data processor module communicates with other vehicle systems via a vehicle bus of the equipped vehicle; wherein received image data and received radar data are processed at said data processor module for at least one of (i) object tracking of objects present exterior of the equipped vehicle, (ii) object identification of objects present exterior of the equipped vehicle and (iii) object classification of objects present exterior of the equipped vehicle; and wherein vehicles exterior of the equipped vehicle are tracked based at least in part on processing of captured image data and sensed radar data at said data processor module. - View Dependent Claims (32, 33, 34, 35)
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36. A vehicular driving assist system suitable for use in a vehicle, said vehicular driving assist system comprising:
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a data processor module disposed at a vehicle equipped with said vehicular driving assist system; said data processor module receiving and processing image data provided by a plurality of video sensors disposed at the equipped vehicle; said data processor module receiving and processing sensor data provided by a plurality of non-video sensors disposed at the equipped vehicle; said plurality of non-video sensors comprising a radar sensor; said plurality of video sensors comprising at least five vehicular cameras; said at least five vehicular cameras comprising a first vehicular camera disposed at a driver side of the equipped vehicle; said at least five vehicular cameras comprising a second vehicular camera disposed at a passenger side of the equipped vehicle; said at least five vehicular cameras comprising a third vehicular camera disposed at a rear portion of the equipped vehicle; said at least five vehicular cameras comprising a fourth vehicular camera disposed at a front portion of the equipped vehicle; said at least five vehicular cameras comprising a fifth vehicular camera disposed at an in-cabin side of a windshield of the equipped vehicle and viewing forwardly through the windshield of the equipped vehicle; wherein said first vehicular camera has a first field of view exterior of the equipped vehicle and is operable to capture first image data; wherein said second vehicular camera has a second field of view exterior of the equipped vehicle and is operable to capture second image data; wherein said third vehicular camera has a third field of view exterior of the equipped vehicle and is operable to capture third image data; wherein said fourth vehicular camera has a fourth field of view exterior of the equipped vehicle and is operable to capture fourth image data; wherein said fifth vehicular camera has a fifth field of view exterior of the equipped vehicle and is operable to capture fifth image data; wherein said data processor module receives first image data captured by said first vehicular camera at a first interface; wherein said data processor module receives second image data captured by said second vehicular camera at a second interface; wherein said data processor module receives third image data captured by said third vehicular camera at a third interface; wherein said data processor module receives fourth image data captured by said fourth vehicular camera at a fourth interface; wherein said data processor module receives fifth image data captured by said fifth vehicular camera; wherein said data processor module receives sensor data captured by said plurality of non-video sensors; wherein said data processor module communicates with other vehicle systems via a vehicle bus of the equipped vehicle; wherein an object present exterior of the equipped vehicle is detected, at least in part, via processing of image data and of sensor data at said data processor module; wherein position of the object present exterior of the equipped vehicle is determined, at least in part, via processing of image data and of sensor data at said data processor module; and wherein received image data and received radar data are processed at said data processor module for a side object detection system of the equipped vehicle. - View Dependent Claims (37, 38, 39, 40, 41)
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Specification