Driver assistant system using influence mapping for conflict avoidance path determination

  • US 10,115,310 B2
  • Filed: 09/11/2017
  • Issued: 10/30/2018
  • Est. Priority Date: 09/04/2012
  • Status: Active Grant
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First Claim
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1. A vehicular control system for a vehicle, said vehicular control system comprising:

  • a plurality of sensors disposed at a vehicle equipped with said vehicular control system, wherein said plurality of sensors comprises at least one vehicle-based camera and at least one vehicle-based non-camera sensor, and wherein said plurality of sensors is operable to detect vehicles at least one of ahead of the equipped vehicle and sideward of the equipped vehicle;

    wherein said at least one vehicle-based non-camera sensor is selected from the group consisting of (i) a vehicle-based radar sensor disposed at the equipped vehicle and sensing exterior of the equipped vehicle and (ii) a vehicle-based lidar sensor disposed at the equipped vehicle and sensing exterior of the equipped vehicle;

    wherein said vehicular control system includes a data processor operable to process data captured by said at least one vehicle-based non-camera sensor and said at least one vehicle-based camera to determine the presence of vehicles at least one of ahead of the equipped vehicle and sideward of the equipped vehicle;

    wherein, responsive to said data processing, said vehicular control system is operable to determine respective speeds of the determined vehicles and respective directions of travel of the determined vehicles;

    wherein said vehicular control system is operable to determine respective influence values for the determined vehicles and wherein determined respective influence values are based on a determined potential hazard to the equipped vehicle presented by the determined vehicles;

    wherein the respective determined influence values for the determined vehicles comprise weighted values with increased weighting for vehicles with greater speeds;

    wherein the respective determined influence value for a determined vehicle is (i) weighted according to the direction of a speed vector of the determined vehicle and (ii) weighted according to the magnitude of the speed vector of the determined vehicle;

    wherein, responsive to the respective speeds and respective directions of travel of the determined vehicles and responsive to the determined respective influence values, a plurality of paths for the equipped vehicle is determined;

    wherein the determined plurality of paths is assessed by a decision algorithm that ranks each of the determined paths based on likelihood of collision of the equipped vehicle along a respective determined path with one or more determined vehicles;

    wherein said data processor processes data captured by said at least one vehicle-based camera to determine a respective type of vehicle for the determined vehicles; and

    wherein a selected path of travel is selected from the plurality of determined paths responsive at least in part to the rankings of the ranked paths and responsive at least in part to the determined types of vehicles along one or more of the determined paths.

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