Collision avoidance system for vehicle

  • US 10,207,705 B2
  • Filed: 10/25/2017
  • Issued: 02/19/2019
  • Est. Priority Date: 04/10/2013
  • Status: Active Grant
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First Claim
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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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