Method for vehicular control

  • US 10,127,738 B2
  • Filed: 03/12/2018
  • Issued: 11/13/2018
  • Est. Priority Date: 03/01/2012
  • Status: Active Grant
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First Claim
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1. A method for vehicular control, said method comprising:

  • providing a forward viewing camera at a vehicle so as to have a field of view forward of the vehicle;

    providing a yaw rate sensor at the vehicle, the yaw rate sensor operable to sense angular rotational velocity of the vehicle about a local vertical axis of the vehicle;

    providing a longitudinal accelerometer at the vehicle, the longitudinal accelerometer operable to sense a forward or reverse acceleration of the vehicle;

    providing a speed sensor at the vehicle, the speed sensor operable to sense speed of the vehicle;

    providing a control system at the vehicle, the control system comprising a processor operable to process outputs received from the yaw rate sensor, the longitudinal accelerometer and the speed sensor;

    sensing, via the yaw rate sensor, angular rotational velocity while the vehicle is moving, and providing an output of the yaw rate sensor to the control system;

    sensing, via the longitudinal accelerometer, forward or reverse acceleration while the vehicle is moving, and providing an output of the longitudinal accelerometer to the control system;

    sensing, via the speed sensor, speed of the vehicle while the vehicle is moving, and providing an output of the speed sensor to the control system;

    determining, while the vehicle is moving forward, and via processing by the processor of the output provided by the yaw rate sensor, an angular rotational velocity of the vehicle about the local vertical axis of the vehicle;

    determining, while the vehicle is moving forward and responsive at least in part to the determined angular rotational velocity, a yaw rate offset of the yaw rate sensor;

    determining, while the vehicle is moving forward and via processing by the processor of the output provided by the longitudinal accelerometer, a longitudinal acceleration of the vehicle;

    determining, via the control system, a corrected yaw rate responsive to the determined yaw rate offset of the yaw rate sensor and the determined longitudinal acceleration of the vehicle;

    determining, via the control system, a projected driving path of the vehicle based at least in part on the determined corrected yaw rate;

    detecting, at least in part via processing by the processor of image data captured by the camera, an object present in the field of view of the camera;

    determining, at least in part responsive to detecting the object and to the projected driving path, a hazard condition ahead of the vehicle in the projected driving path; and

    automatically applying the brakes of the vehicle responsive to the determined hazard condition.

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