Vehicular control system responsive to yaw rate estimation system

  • US 10,407,080 B2
  • Filed: 09/18/2017
  • Issued: 09/10/2019
  • Est. Priority Date: 02/25/2015
  • Status: Active Grant
  • ×
    • Pin Icon | RPX Insight
    • Pin
First Claim
Patent Images

1. A vehicular control system, said vehicular control system comprising:

  • a camera disposed at a vehicle equipped with said vehicular control system, wherein said camera is disposed at a windshield of the equipped vehicle and views through the windshield and forward of the equipped vehicle;

    wherein said vehicular control system of the equipped vehicle comprises one selected from the group consisting of (i) a collision avoidance system, (ii) a collision mitigation system and (iii) a lane keeping system;

    wherein said vehicular control system is responsive at least in part to a yaw rate estimation system of the equipped vehicle;

    wherein said yaw rate estimation system comprises a yaw rate sensor disposed at the equipped vehicle;

    wherein said yaw rate estimation system comprises wheel sensors disposed at wheels of the equipped vehicle;

    wherein said yaw rate estimation system comprises an accelerometer disposed at the equipped vehicle and operable to determine acceleration of the equipped vehicle;

    wherein said yaw rate estimation system comprises a steering sensor disposed at the equipped vehicle and operable to determine steering of the equipped vehicle;

    wherein said yaw rate estimation system comprises a control disposed at the equipped vehicle, said control comprising a processor that estimates the actual yaw rate of the equipped vehicle by processing (i) a first yaw rate derived from yaw rate data provided to said control by said yaw rate sensor of the equipped vehicle, (ii) a second yaw rate derived from wheel sensor data provided to said control by said wheel sensors of the equipped vehicle, (iii) a third yaw rate derived from acceleration data provided to said control by said accelerometer, and (iv) a fourth yaw rate derived from steering data provided to said control by said steering sensor; and

    wherein said vehicular control system utilizes (i) image data captured by said camera as the equipped vehicle is being driven along a road and (ii) the estimated actual yaw rate of the equipped vehicle as the equipped vehicle is being driven along the road.

View all claims
    ×
    ×

    Thank you for your feedback

    ×
    ×