Vehicular control system using cameras and radar sensor

  • US 10,118,618 B2
  • Filed: 12/04/2017
  • Issued: 11/06/2018
  • Est. Priority Date: 05/03/2002
  • Status: Active Grant
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First Claim
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1. A vehicular control system, said vehicular control system comprising:

  • a plurality of cameras disposed at a vehicle equipped with said vehicular control system;

    said plurality of cameras at least comprising (i) a forward-viewing camera mounted at a front portion of the equipped vehicle and having a field of view at least forward of the equipped vehicle, said forward-viewing camera operable to capture image data, (ii) a driver side-viewing camera mounted at a driver-side portion of the equipped vehicle and having a field of view at least sideward and rearward of the equipped vehicle at the driver side of the equipped vehicle, said driver side-viewing camera operable to capture image data and (iii) a passenger side-viewing camera mounted at a passenger-side portion of the equipped vehicle and having a field of view at least sideward and rearward of the equipped vehicle at the passenger side of the equipped vehicle, said passenger side-viewing camera operable to capture image data;

    at least one radar sensor having a field of sensing exterior of the equipped vehicle and operable to sense radar data;

    a control comprising at least one processor;

    wherein image data captured by at least said forward-viewing camera, said driver side-viewing camera and said passenger side-viewing camera is provided to said control;

    wherein radar data sensed by said at least one radar sensor is provided to said control;

    wherein said control, based at least in part on processing of captured image data, determines curvature of a road being traveled by the equipped vehicle;

    wherein said control processes captured image data provided thereto via an edge detection algorithm to detect objects present exteriorly of the equipped vehicle and within the exterior field of view of at least one of said forward-viewing camera, said driver side-viewing camera and said passenger side-viewing camera;

    wherein said control is operable to determine whether a detected edge constitutes a portion of a vehicle;

    wherein said control processes sensed radar data provided thereto to detect objects present exteriorly of the equipped vehicle and within the exterior field of sensing of said at least one radar sensor;

    wherein said control receives data relevant to a geographic location of the equipped vehicle, and wherein the geographic location of the equipped vehicle is determined, at least in part, by a global positioning system (GPS);

    wherein said control, based at least in part on processing of at least one of (i) captured image data and (ii) sensed radar data, detects another vehicle that is present exterior of the equipped vehicle and determines distance from the equipped vehicle to the detected other vehicle that is present exterior of the equipped vehicle; and

    wherein said control, based at least in part on determination of distance from the equipped vehicle to the detected other vehicle, controls a steering system operable to adjust a steering direction of the equipped vehicle.

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