COLLISION AVOIDANCE SYSTEM FOR VEHICLE
First Claim
1. A collision avoidance system suitable for use in a vehicle, said collision avoidance system comprising:
- a plurality of cameras disposed at a vehicle equipped with said collision avoidance system, each having a field of view exterior of the equipped vehicle;
said cameras comprising a forward-viewing camera disposed at the equipped vehicle, said forward-viewing camera having a field of view at least forward of the equipped vehicle;
wherein the field of view of said forward-viewing camera at least encompasses (i) a traffic lane the equipped vehicle is travelling along and (ii) at least one traffic lane that is adjacent to the traffic lane the equipped vehicle is traveling along;
said cameras comprising a rearward-viewing camera disposed at the equipped vehicle, said rearward-viewing camera having a field of view rearward of the equipped vehicle;
wherein the field of view of said rearward-viewing camera encompasses (i) the traffic lane the equipped vehicle is travelling along and (ii) at least one traffic lane that is adjacent to the traffic lane the equipped vehicle is traveling along;
said cameras comprising a driver side-viewing camera disposed at a driver side of the equipped vehicle, said driver side-viewing camera having a field of view at least sideward of the equipped vehicle;
said cameras comprising a passenger side-viewing camera disposed at a passenger side of the equipped vehicle, said passenger side-viewing camera having a field of view at least sideward of the equipped vehicle;
an electronic control unit;
wherein said electronic control unit receives image data captured by said cameras;
wherein said electronic control unit comprises an image processor operable to process image data captured by said cameras;
wherein, responsive at least in part to image processing by said image processor of image data captured by at least said forward-viewing camera, said collision avoidance system detects vehicles present ahead of the equipped vehicle;
wherein, responsive at least in part to image processing by said image processor of image data captured by at least said forward-viewing camera, said collision avoidance system is operable to determine a detected vehicle to be present in the traffic lane the equipped vehicle is travelling along;
wherein, responsive at least in part to image processing by said image processor of image data captured by said forward-viewing camera, said collision avoidance system is operable to determine a detected vehicle to be present in a traffic lane that is adjacent to the traffic lane the equipped vehicle is traveling along;
wherein, responsive at least in part to image processing by said image processor of image data captured by said rearward-viewing camera, said collision avoidance system detects vehicles present rearward of the equipped vehicle;
wherein, responsive at least in part to image processing by said image processor of image data captured by said rearward-viewing camera, said collision avoidance system is operable to determine a detected vehicle to be present in the traffic lane the equipped vehicle is travelling along;
wherein, responsive at least in part to image processing by said image processor of image data captured by at least said rearward-viewing camera, said collision avoidance system is operable to determine a detected vehicle to be present in a traffic lane that is adjacent to the traffic lane the equipped vehicle is traveling along;
a plurality of other sensors disposed at the equipped vehicle;
wherein said plurality of other sensors comprises at least one sensor that senses at least one of rearward and sideward of the equipped vehicle;
wherein said plurality of other sensors capture sensor data; and
wherein said collision avoidance system is operable to determine imminence of collision with the equipped vehicle by another vehicle present exterior the equipped vehicle;
wherein imminence of collision with the equipped vehicle by the other vehicle present exterior the equipped vehicle is determined (a) responsive at least in part to at least one of (i) image processing by said image processor of image data captured by said forward-viewing camera, (ii) image processing by said image processor of image data captured by said rearward-viewing camera, (iii) image processing by said image processor of image data captured by said driver side-viewing camera and (iv) image processing by said image processor of image data captured by said passenger side-viewing camera and (b) responsive at least in part to at least one of (i) radar data sensed by at least one radar sensor of said plurality of other sensors, (ii) lidar data sensed by at least one lidar sensor of said plurality of other sensors and (iii) information transmitted to or from the equipped vehicle via a car2car (v2v) communication system.
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Accused Products
Abstract
A collision avoidance system includes a plurality of cameras disposed at a vehicle, and an electronic control unit that includes an image processor operable to process image data captured by the cameras. A plurality of other sensors sense at least one of rearward and sideward of the equipped vehicle and capture sensor data. The collision avoidance system may determine imminence of collision with the equipped vehicle by another vehicle present exterior the equipped vehicle responsive at least in part to (a) image processing by the image processor of image data captured by a forward-viewing camera, a rearward-viewing camera, a driver side-viewing camera and/or a passenger side-viewing camera, and (b) radar data sensed by the plurality of other sensors, lidar data sensed by at least one lidar sensor of said plurality of other sensors and/or information transmitted to or from the equipped vehicle via a car2car (v2v) communication system.
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Citations
46 Claims
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1. A collision avoidance system suitable for use in a vehicle, said collision avoidance system comprising:
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a plurality of cameras disposed at a vehicle equipped with said collision avoidance system, each having a field of view exterior of the equipped vehicle; said cameras comprising a forward-viewing camera disposed at the equipped vehicle, said forward-viewing camera having a field of view at least forward of the equipped vehicle; wherein the field of view of said forward-viewing camera at least encompasses (i) a traffic lane the equipped vehicle is travelling along and (ii) at least one traffic lane that is adjacent to the traffic lane the equipped vehicle is traveling along; said cameras comprising a rearward-viewing camera disposed at the equipped vehicle, said rearward-viewing camera having a field of view rearward of the equipped vehicle; wherein the field of view of said rearward-viewing camera encompasses (i) the traffic lane the equipped vehicle is travelling along and (ii) at least one traffic lane that is adjacent to the traffic lane the equipped vehicle is traveling along; said cameras comprising a driver side-viewing camera disposed at a driver side of the equipped vehicle, said driver side-viewing camera having a field of view at least sideward of the equipped vehicle; said cameras comprising a passenger side-viewing camera disposed at a passenger side of the equipped vehicle, said passenger side-viewing camera having a field of view at least sideward of the equipped vehicle; an electronic control unit; wherein said electronic control unit receives image data captured by said cameras; wherein said electronic control unit comprises an image processor operable to process image data captured by said cameras; wherein, responsive at least in part to image processing by said image processor of image data captured by at least said forward-viewing camera, said collision avoidance system detects vehicles present ahead of the equipped vehicle; wherein, responsive at least in part to image processing by said image processor of image data captured by at least said forward-viewing camera, said collision avoidance system is operable to determine a detected vehicle to be present in the traffic lane the equipped vehicle is travelling along; wherein, responsive at least in part to image processing by said image processor of image data captured by said forward-viewing camera, said collision avoidance system is operable to determine a detected vehicle to be present in a traffic lane that is adjacent to the traffic lane the equipped vehicle is traveling along; wherein, responsive at least in part to image processing by said image processor of image data captured by said rearward-viewing camera, said collision avoidance system detects vehicles present rearward of the equipped vehicle; wherein, responsive at least in part to image processing by said image processor of image data captured by said rearward-viewing camera, said collision avoidance system is operable to determine a detected vehicle to be present in the traffic lane the equipped vehicle is travelling along; wherein, responsive at least in part to image processing by said image processor of image data captured by at least said rearward-viewing camera, said collision avoidance system is operable to determine a detected vehicle to be present in a traffic lane that is adjacent to the traffic lane the equipped vehicle is traveling along; a plurality of other sensors disposed at the equipped vehicle; wherein said plurality of other sensors comprises at least one sensor that senses at least one of rearward and sideward of the equipped vehicle; wherein said plurality of other sensors capture sensor data; and wherein said collision avoidance system is operable to determine imminence of collision with the equipped vehicle by another vehicle present exterior the equipped vehicle; wherein imminence of collision with the equipped vehicle by the other vehicle present exterior the equipped vehicle is determined (a) responsive at least in part to at least one of (i) image processing by said image processor of image data captured by said forward-viewing camera, (ii) image processing by said image processor of image data captured by said rearward-viewing camera, (iii) image processing by said image processor of image data captured by said driver side-viewing camera and (iv) image processing by said image processor of image data captured by said passenger side-viewing camera and (b) responsive at least in part to at least one of (i) radar data sensed by at least one radar sensor of said plurality of other sensors, (ii) lidar data sensed by at least one lidar sensor of said plurality of other sensors and (iii) information transmitted to or from the equipped vehicle via a car2car (v2v) communication system. - 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)
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25. A collision avoidance system suitable for use in a vehicle, said collision avoidance system comprising:
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a plurality of cameras disposed at a vehicle equipped with said collision avoidance system, each having a field of view exterior of the equipped vehicle; said cameras comprising a forward-viewing camera disposed at the equipped vehicle, said forward-viewing camera having a field of view at least forward of the equipped vehicle; wherein the field of view of said forward-viewing camera at least encompasses (i) a traffic lane the equipped vehicle is travelling along and (ii) at least one traffic lane that is adjacent to the traffic lane the equipped vehicle is traveling along; said cameras comprising a rearward-viewing camera disposed at the equipped vehicle, said rearward-viewing camera having a field of view rearward of the equipped vehicle; wherein the field of view of said rearward-viewing camera encompasses (i) the traffic lane the equipped vehicle is travelling along and (ii) at least one traffic lane that is adjacent to the traffic lane the equipped vehicle is traveling along; said cameras comprising a driver side-viewing camera disposed at a driver side of the equipped vehicle, said driver side-viewing camera having a field of view at least sideward of the equipped vehicle; said cameras comprising a passenger side-viewing camera disposed at a passenger side of the equipped vehicle, said passenger side-viewing camera having a field of view at least sideward of the equipped vehicle; an electronic control unit; wherein said electronic control unit receives image data captured by said cameras; wherein said electronic control unit comprises an image processor operable to process image data captured by said cameras; wherein, responsive at least in part to image processing by said image processor of image data captured by at least said forward-viewing camera, said collision avoidance system detects vehicles present ahead of the equipped vehicle; wherein, responsive at least in part to image processing by said image processor of image data captured by at least said forward-viewing camera, said collision avoidance system is operable to determine a detected vehicle to be present in the traffic lane the equipped vehicle is travelling along; wherein, responsive at least in part to image processing by said image processor of image data captured by said forward-viewing camera, said collision avoidance system is operable to determine a detected vehicle to be present in a traffic lane that is adjacent to the traffic lane the equipped vehicle is traveling along; wherein, responsive at least in part to image processing by said image processor of image data captured by said rearward-viewing camera, said collision avoidance system detects vehicles present rearward of the equipped vehicle; wherein, responsive at least in part to image processing by said image processor of image data captured by said rearward-viewing camera, said collision avoidance system is operable to determine a detected vehicle to be present in the traffic lane the equipped vehicle is travelling along; wherein, responsive at least in part to image processing by said image processor of image data captured by at least said rearward-viewing camera, said collision avoidance system is operable to determine a detected vehicle to be present in a traffic lane that is adjacent to the traffic lane the equipped vehicle is traveling along; a plurality of other sensors disposed at the equipped vehicle; wherein said plurality of other sensors comprises at least one sensor that senses at least one of rearward and sideward of the equipped vehicle; wherein said plurality of other sensors capture sensor data; wherein said collision avoidance system determines a detected vehicle present in the traffic lane the equipped vehicle is travelling along is an immediately following other vehicle responsive at least in part to at least one of (a) image processing by said image processor of image data captured by said rearward-viewing camera and (b) sensor data sensed by at least one of said plurality of other sensors; and wherein said collision avoidance system determines speed difference between the equipped vehicle and the detected vehicle present in the traffic lane the equipped vehicle is travelling along and determines distance from the equipped vehicle to the detected vehicle present in the traffic lane the equipped vehicle is travelling along, and based on such determinations, determines that impact is imminent. - View Dependent Claims (26, 27, 28, 29, 30, 31, 32)
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33. A collision avoidance system suitable for use in a vehicle, said collision avoidance system comprising:
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a plurality of cameras disposed at a vehicle equipped with said collision avoidance system, each having a field of view exterior of the equipped vehicle; said cameras comprising a forward-viewing camera disposed at the equipped vehicle, said forward-viewing camera having a field of view at least forward of the equipped vehicle; wherein the field of view of said forward-viewing camera at least encompasses (i) a traffic lane the equipped vehicle is travelling along and (ii) at least one traffic lane that is adjacent to the traffic lane the equipped vehicle is traveling along; said cameras comprising a rearward-viewing camera disposed at the equipped vehicle, said rearward-viewing camera having a field of view rearward of the equipped vehicle; wherein the field of view of said rearward-viewing camera encompasses (i) the traffic lane the equipped vehicle is travelling along and (ii) at least one traffic lane that is adjacent to the traffic lane the equipped vehicle is traveling along; said cameras comprising a driver side-viewing camera disposed at a driver side of the equipped vehicle, said driver side-viewing camera having a field of view at least sideward of the equipped vehicle; said cameras comprising a passenger side-viewing camera disposed at a passenger side of the equipped vehicle, said passenger side-viewing camera having a field of view at least sideward of the equipped vehicle; an electronic control unit; wherein said electronic control unit receives image data captured by said cameras; wherein said electronic control unit comprises an image processor operable to process image data captured by said cameras; wherein, responsive at least in part to image processing by said image processor of image data captured by at least said forward-viewing camera, said collision avoidance system detects vehicles present ahead of the equipped vehicle; wherein, responsive at least in part to image processing by said image processor of image data captured by at least said forward-viewing camera, said collision avoidance system is operable to determine a detected vehicle to be present in the traffic lane the equipped vehicle is travelling along; wherein, responsive at least in part to image processing by said image processor of image data captured by said forward-viewing camera, said collision avoidance system is operable to determine a detected vehicle to be present in a traffic lane that is adjacent to the traffic lane the equipped vehicle is traveling along; wherein, responsive at least in part to image processing by said image processor of image data captured by said rearward-viewing camera, said collision avoidance system detects vehicles present rearward of the equipped vehicle; wherein, responsive at least in part to image processing by said image processor of image data captured by said rearward-viewing camera, said collision avoidance system is operable to determine a detected vehicle to be present in the traffic lane the equipped vehicle is travelling along; wherein, responsive at least in part to image processing by said image processor of image data captured by at least said rearward-viewing camera, said collision avoidance system is operable to determine a detected vehicle to be present in a traffic lane that is adjacent to the traffic lane the equipped vehicle is traveling along; a plurality of other sensors disposed at the equipped vehicle; wherein said plurality of other sensors comprises at least one sensor that senses at least one of rearward and sideward of the equipped vehicle; wherein said plurality of other sensors capture sensor data; wherein, responsive at least in part to determination by said collision avoidance system of imminence of collision with the equipped vehicle by another vehicle present exterior the equipped vehicle, said collision avoidance system determines an evasive path for the equipped vehicle to avoid collision with the other vehicle present exterior the equipped vehicle; and wherein said collision avoidance system controls a steering system of the equipped vehicle to move the equipped vehicle along the determined evasive path. - View Dependent Claims (34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46)
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Specification