VEHICULAR COLLISION MITIGATION SYSTEM
First Claim
1. A collision mitigation system for a vehicle, said collision mitigation system comprising:
- a plurality of cameras configured to be disposed at a vehicle equipped with said collision mitigation system, wherein, when disposed at the equipped vehicle, said cameras have respective fields of view exterior of the equipped vehicle;
wherein at least one of said cameras comprises a forward viewing camera that is configured to be disposed at a front portion of the equipped vehicle so as to view at least forward of the equipped vehicle;
wherein said forward viewing camera comprises a photosensor array having rows and columns of photosensor elements and comprising at least 1 million photosensor elements;
wherein at least one of said cameras comprises a rearward viewing camera that is configured to be disposed at a rear portion of the equipped vehicle so as to view at least rearward of the equipped vehicle;
wherein said rearward viewing camera comprises a photosensor array having rows and columns of photosensor elements and comprising at least 1 million photosensor elements;
at least one of (i) a radar sensor that is configured to be disposed at the equipped vehicle so as to sense at least forward of the equipped vehicle and (ii) a lidar sensor that is configured to be disposed at the equipped vehicle so as to sense at least forward of the equipped vehicle;
a control disposed at the equipped vehicle, said control comprising an image processor operable to process image data captured by said cameras when they are disposed at the equipped vehicle;
said control operable to process at least one of (i) radar data captured by said radar sensor when disposed at the equipped vehicle and (ii) lidar data captured by said lidar sensor when disposed at the equipped vehicle;
wherein, responsive at least in part to processing at said control of image data captured by said forward viewing camera and to processing at said control of at least one of (i) radar data captured by said radar sensor disposed at the equipped vehicle so as to sense at least forward of the equipped vehicle and (ii) lidar data captured by said lidar sensor disposed at the equipped vehicle so as to sense at least forward of the equipped vehicle, an automatic emergency braking system of the equipped vehicle is controlled;
wherein, when the equipped vehicle is moving and responsive at least in part to a determination, via at least one of (i) image processing by said image processor of image data captured by said forward viewing camera and (ii) processing at said control of at least one of captured radar data and captured lidar data, that the equipped vehicle is approaching an object present forwardly of the equipped vehicle, said control is operable to control application by said automatic emergency braking system of a vehicle brake of the equipped vehicle to mitigate collision with the object; and
wherein, responsive to determination, at least in part via image processing by said image processor of image data captured by said rearward viewing camera, that a following vehicle is following the equipped vehicle and when the determined following vehicle is within a threshold distance from the equipped vehicle and is approaching the equipped vehicle above a threshold rate of approach, said control adjusts automatic emergency braking of the equipped vehicle to mitigate collision at the rear of the equipped vehicle by the determined following vehicle.
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Accused Products
Abstract
A collision mitigation system for a vehicle includes a plurality of cameras, a radar sensor and/or lidar sensor, and a control that may process data captured by the cameras, radar sensor and/or lidar sensor. When the vehicle is moving and responsive at least in part to a determination that the vehicle is approaching an object present forwardly of the vehicle, the control is operable to control application by an automatic emergency braking system of a vehicle brake of the vehicle to mitigate collision with the object. Responsive to determination that a following vehicle is following the vehicle and when the determined following vehicle is within a threshold distance from the vehicle and is approaching the vehicle above a threshold rate of approach, the control adjusts automatic emergency braking of the vehicle to mitigate collision at the rear of the vehicle by the determined following vehicle.
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Citations
28 Claims
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1. A collision mitigation system for a vehicle, said collision mitigation system comprising:
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a plurality of cameras configured to be disposed at a vehicle equipped with said collision mitigation system, wherein, when disposed at the equipped vehicle, said cameras have respective fields of view exterior of the equipped vehicle; wherein at least one of said cameras comprises a forward viewing camera that is configured to be disposed at a front portion of the equipped vehicle so as to view at least forward of the equipped vehicle; wherein said forward viewing camera comprises a photosensor array having rows and columns of photosensor elements and comprising at least 1 million photosensor elements; wherein at least one of said cameras comprises a rearward viewing camera that is configured to be disposed at a rear portion of the equipped vehicle so as to view at least rearward of the equipped vehicle; wherein said rearward viewing camera comprises a photosensor array having rows and columns of photosensor elements and comprising at least 1 million photosensor elements; at least one of (i) a radar sensor that is configured to be disposed at the equipped vehicle so as to sense at least forward of the equipped vehicle and (ii) a lidar sensor that is configured to be disposed at the equipped vehicle so as to sense at least forward of the equipped vehicle; a control disposed at the equipped vehicle, said control comprising an image processor operable to process image data captured by said cameras when they are disposed at the equipped vehicle; said control operable to process at least one of (i) radar data captured by said radar sensor when disposed at the equipped vehicle and (ii) lidar data captured by said lidar sensor when disposed at the equipped vehicle; wherein, responsive at least in part to processing at said control of image data captured by said forward viewing camera and to processing at said control of at least one of (i) radar data captured by said radar sensor disposed at the equipped vehicle so as to sense at least forward of the equipped vehicle and (ii) lidar data captured by said lidar sensor disposed at the equipped vehicle so as to sense at least forward of the equipped vehicle, an automatic emergency braking system of the equipped vehicle is controlled; wherein, when the equipped vehicle is moving and responsive at least in part to a determination, via at least one of (i) image processing by said image processor of image data captured by said forward viewing camera and (ii) processing at said control of at least one of captured radar data and captured lidar data, that the equipped vehicle is approaching an object present forwardly of the equipped vehicle, said control is operable to control application by said automatic emergency braking system of a vehicle brake of the equipped vehicle to mitigate collision with the object; and wherein, responsive to determination, at least in part via image processing by said image processor of image data captured by said rearward viewing camera, that a following vehicle is following the equipped vehicle and when the determined following vehicle is within a threshold distance from the equipped vehicle and is approaching the equipped vehicle above a threshold rate of approach, said control adjusts automatic emergency braking of the equipped vehicle to mitigate collision at the rear of the equipped vehicle by the determined following vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A collision mitigation system for a vehicle, said collision mitigation system comprising:
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a plurality of cameras configured to be disposed at a vehicle equipped with said collision mitigation system, wherein, when disposed at the equipped vehicle, said cameras have respective fields of view exterior of the equipped vehicle; wherein at least one of said cameras comprises a forward viewing camera that is configured to be disposed behind a windshield of the equipped vehicle so as to view at least forwardly of the equipped vehicle through the windshield; wherein said forward viewing camera comprises a photosensor array having rows and columns of photosensor elements and comprising at least 1 million photosensor elements; wherein at least one of said cameras comprises a rearward viewing camera that is configured to be disposed at a rear portion of the equipped vehicle so as to view at least rearward of the equipped vehicle; wherein said rearward viewing camera comprises a photosensor array having rows and columns of photosensor elements and comprising at least 1 million photosensor elements; at least one radar sensor that is configured to be disposed at the equipped vehicle so as to sense at least forward of the equipped vehicle; a control disposed at the equipped vehicle, said control comprising an image processor operable to process image data captured by said cameras when they are disposed at the equipped vehicle; said control operable to process radar data captured by said at least one radar sensor when disposed at the equipped vehicle; wherein, responsive at least in part to processing at said control of image data captured by said forward viewing camera and to processing at said control of radar data captured by said at least one radar sensor disposed at the equipped vehicle so as to sense at least forward of the equipped vehicle, an automatic emergency braking system of the equipped vehicle is controlled; wherein, when the equipped vehicle is moving and responsive at least in part to a determination, via at least one of (i) image processing by said image processor of image data captured by said forward viewing camera and (ii) processing at said control of radar data captured by said at least one radar sensor, that the equipped vehicle is approaching an object present forwardly of the equipped vehicle, said control is operable to control application by said automatic emergency braking system of a vehicle brake of the equipped vehicle to mitigate collision with the object; wherein, responsive to determination, at least in part via image processing by said image processor of image data captured by said rearward viewing camera, that a following vehicle is following the equipped vehicle and when the determined following vehicle is within a threshold distance from the equipped vehicle and is approaching the equipped vehicle above a threshold rate of approach, said control adjusts automatic emergency braking of the equipped vehicle to mitigate collision at the rear of the equipped vehicle by the determined following vehicle; wherein, when the equipped vehicle is moving and responsive at least in part to determination that the moving equipped vehicle is approaching the object determined present forwardly of the equipped vehicle and when the determined following vehicle is beyond a threshold distance from the equipped vehicle and is approaching the equipped vehicle below a threshold rate of approach, said control controls application of the vehicle brake by said automatic emergency braking system of the equipped vehicle at a first degree of braking; wherein, when the equipped vehicle is moving and responsive at least in part to determination that the moving equipped vehicle is approaching the object determined present forwardly of the equipped vehicle and responsive at least in part to determination of the determined following vehicle being within a threshold distance from the equipped vehicle and approaching the equipped vehicle above a threshold rate of approach, said control controls application of the vehicle brake by said automatic emergency braking system of the equipped vehicle at a second degree of braking; wherein the second degree of braking is less than the first degree of braking; and wherein said control determines the second degree of braking based at least on distance of the determined following vehicle from the equipped vehicle and rate of approach of the determined following vehicle to the equipped vehicle. - View Dependent Claims (17, 18, 19, 20)
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21. A collision mitigation system for a vehicle, said collision mitigation system comprising:
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a plurality of cameras configured to be disposed at a vehicle equipped with said collision mitigation system, wherein, when disposed at the equipped vehicle, said cameras have respective fields of view exterior of the equipped vehicle; wherein at least one of said cameras comprises a forward viewing camera that is configured to be disposed behind a windshield of the equipped vehicle so as to view at least forwardly of the equipped vehicle through the windshield; wherein said forward viewing camera comprises a photosensor array having rows and columns of photosensor elements and comprising at least 1 million photosensor elements; wherein at least one of said cameras comprises a rearward viewing camera that is configured to be disposed at a rear portion of the equipped vehicle so as to view at least rearward of the equipped vehicle; wherein said rearward viewing camera comprises a photosensor array having rows and columns of photosensor elements and comprising at least 1 million photosensor elements; at least one radar sensor that is configured to be disposed at the equipped vehicle so as to sense at least forward of the equipped vehicle; a control disposed at the equipped vehicle, said control comprising an image processor operable to process image data captured by said cameras when they are disposed at the equipped vehicle; said control operable to process radar data captured by said at least one radar sensor when disposed at the equipped vehicle; wherein, responsive at least in part to processing at said control of image data captured by said forward viewing camera and to processing at said control of radar data captured by said at least one radar sensor disposed at the equipped vehicle so as to sense at least forward of the equipped vehicle, an automatic emergency braking system of the equipped vehicle is controlled; wherein, when the equipped vehicle is moving and responsive at least in part to a determination, via at least one of (i) image processing by said image processor of image data captured by said forward viewing camera and (ii) processing at said control of radar data captured by said at least one radar sensor, that the equipped vehicle is approaching an object present forwardly of the equipped vehicle, said control is operable to control application by said automatic emergency braking system of a vehicle brake of the equipped vehicle to mitigate collision with the object; wherein the object present forwardly of the equipped vehicle comprises a vehicle; wherein, responsive at least in part to image processing by said image processor of image data captured by said rearward viewing camera, said control determines that a following vehicle is following the equipped vehicle and that the determined following vehicle is within a threshold distance from the equipped vehicle and is approaching the equipped vehicle above a threshold rate of approach; and wherein, in order to mitigate collision by the equipped vehicle with the object determined present forwardly of the equipped vehicle and in order to mitigate collision by the determined following vehicle with the equipped vehicle, said control determines a degree of braking of the equipped vehicle responsive to a comparison of (i) rate of approach and distance of the equipped vehicle to the object determined present forwardly of the equipped vehicle and (ii) rate of approach and distance of the determined following vehicle to the equipped vehicle. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28)
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Specification