Vehicular control system with central electronic control unit
First Claim
1. A vehicular control system, said vehicular control system comprising:
- a plurality of cameras disposed at a vehicle equipped with said vehicular control system;
wherein each camera of said plurality of cameras captures image data in a respective field of view exterior of the equipped vehicle;
said plurality of cameras at least comprising a front camera disposed at a front portion of the equipped vehicle, a rear camera disposed at a rear portion of the equipped vehicle, a first side view camera at a left side portion of the equipped vehicle and a second side view camera at a right side portion of the equipped vehicle;
a radar device disposed at the equipped vehicle;
wherein said radar device senses radar data in a field of sensing exterior of the equipped vehicle;
a central electronic control unit, wherein said central electronic control unit comprises an image processor, and wherein image data captured by at least some of said plurality of cameras is processed by said image processor of said central electronic control unit;
wherein said vehicular control system is operable to fuse image data captured by at least one camera of said plurality of cameras with radar data sensed by said radar device;
wherein said central electronic control unit is operable to at least partially control the equipped vehicle as the equipped vehicle is driven along a road;
wherein said central electronic control unit includes a threat recognizer/evaluator and a risk assessor;
wherein threat recognition/evaluation by the threat recognizer/evaluator of said central electronic control unit and risk assessment by the risk assessor of said central electronic control unit is responsive, at least in part, to (i) image data captured by at least one camera of said plurality of cameras, (ii) radar data sensed by said radar device and (iii) map data associated with a current geographical location of the equipped vehicle; and
wherein said central electronic control unit, responsive at least in part to threat recognition/evaluation by the threat recognizer/evaluator of said central electronic control unit and risk assessment by the risk assessor of said central electronic control unit, controls braking of the equipped vehicle.
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Abstract
A vehicular control system includes a plurality of cameras, a radar device and a central electronic control unit. The vehicular control system is operable to fuse image data captured by at least one of the cameras with radar data sensed by the radar device. The central electronic control unit is operable to at least partially control the vehicle. Threat recognition/evaluation by a threat recognizer/evaluator of the central electronic control unit and risk assessment by a risk assessor of the central electronic control unit is responsive, at least in part, to (i) image data captured by at least one of the cameras, (ii) radar data sensed by the radar device and (iii) map data associated with a current geographical location of the vehicle. The central electronic control unit, responsive at least in part to threat recognition/evaluation and risk assessment, controls braking of the equipped vehicle.
61 Citations
69 Claims
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1. A vehicular control system, said vehicular control system comprising:
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a plurality of cameras disposed at a vehicle equipped with said vehicular control system; wherein each camera of said plurality of cameras captures image data in a respective field of view exterior of the equipped vehicle; said plurality of cameras at least comprising a front camera disposed at a front portion of the equipped vehicle, a rear camera disposed at a rear portion of the equipped vehicle, a first side view camera at a left side portion of the equipped vehicle and a second side view camera at a right side portion of the equipped vehicle; a radar device disposed at the equipped vehicle; wherein said radar device senses radar data in a field of sensing exterior of the equipped vehicle; a central electronic control unit, wherein said central electronic control unit comprises an image processor, and wherein image data captured by at least some of said plurality of cameras is processed by said image processor of said central electronic control unit; wherein said vehicular control system is operable to fuse image data captured by at least one camera of said plurality of cameras with radar data sensed by said radar device; wherein said central electronic control unit is operable to at least partially control the equipped vehicle as the equipped vehicle is driven along a road; wherein said central electronic control unit includes a threat recognizer/evaluator and a risk assessor; wherein threat recognition/evaluation by the threat recognizer/evaluator of said central electronic control unit and risk assessment by the risk assessor of said central electronic control unit is responsive, at least in part, to (i) image data captured by at least one camera of said plurality of cameras, (ii) radar data sensed by said radar device and (iii) map data associated with a current geographical location of the equipped vehicle; and wherein said central electronic control unit, responsive at least in part to threat recognition/evaluation by the threat recognizer/evaluator of said central electronic control unit and risk assessment by the risk assessor of said central electronic control unit, controls braking of the equipped vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27)
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28. A vehicular control system, said vehicular control system comprising:
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a plurality of cameras disposed at a vehicle equipped with said vehicular control system; wherein each camera of said plurality of cameras captures image data in a respective field of view exterior of the equipped vehicle; said plurality of cameras at least comprising a front camera disposed at a front portion of the equipped vehicle, a rear camera disposed at a rear portion of the equipped vehicle, a first side view camera at a left side portion of the equipped vehicle and a second side view camera at a right side portion of the equipped vehicle; a radar device disposed at the equipped vehicle; wherein said radar device senses radar data in a field of sensing exterior of the equipped vehicle; a central electronic control unit, wherein said central electronic control unit comprises an image processor, and wherein image data captured by at least some of said plurality of cameras is processed by said image processor of said central electronic control unit; wherein said vehicular control system is operable to fuse image data captured by at least one camera of said plurality of cameras with radar data sensed by said radar device; wherein said image processor processes image data captured at least by said front camera for a pedestrian detection system of the equipped vehicle; wherein said central electronic control unit is operable to at least partially control the equipped vehicle as the equipped vehicle is driven along a road; wherein said central electronic control unit includes a threat recognizer/evaluator and a risk assessor; wherein threat recognition/evaluation by the threat recognizer/evaluator of said central electronic control unit and risk assessment by the risk assessor of said central electronic control unit is responsive, at least in part, to (i) image data captured by at least one camera of said plurality of cameras, (ii) radar data sensed by said radar device and (iii) map data associated with a current geographical location of the equipped vehicle; and wherein said central electronic control unit, responsive at least in part to threat recognition/evaluation by the threat recognizer/evaluator of said central electronic control unit and risk assessment by the risk assessor of said central electronic control unit, controls at least one selected from the group consisting of (i) braking of the equipped vehicle, (ii) speed of the equipped vehicle and (iii) steering of the equipped vehicle. - View Dependent Claims (29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50)
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51. A vehicular control system, said vehicular control system comprising:
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a plurality of cameras disposed at a vehicle equipped with said vehicular control system; wherein each camera of said plurality of cameras captures image data in a respective field of view exterior of the equipped vehicle; said plurality of cameras at least comprising a front camera disposed at a front portion of the equipped vehicle, a rear camera disposed at a rear portion of the equipped vehicle, a first side view camera at a left side portion of the equipped vehicle and a second side view camera at a right side portion of the equipped vehicle; wherein said front camera disposed at the front portion of the equipped vehicle is disposed at an in-cabin side of a windshield of the equipped vehicle and views through the windshield forward of the equipped vehicle; a radar device disposed at the equipped vehicle; wherein said radar device senses radar data in a field of sensing exterior of the equipped vehicle; a central electronic control unit, wherein said central electronic control unit comprises an image processor, and wherein image data captured by at least said front camera is processed by said image processor of said central electronic control unit; wherein said vehicular control system is operable to fuse image data captured by at least said front camera with radar data sensed by said radar device; wherein said image processor processes image data captured by at least said front camera for a pedestrian detection system of the equipped vehicle; wherein said vehicular control system comprises a firewall assuring that consumer imported or downloaded features do not interfere with or degrade vehicular functions or controls of the equipped vehicle; wherein said central electronic control unit is operable to at least partially control the equipped vehicle as the equipped vehicle is driven along a road; wherein said central electronic control unit includes a threat recognizer/evaluator and a risk assessor; wherein threat recognition/evaluation by the threat recognizer/evaluator of said central electronic control unit and risk assessment by the risk assessor of said central electronic control unit is responsive, at least in part, to (i) image data captured by at least said front camera, (ii) radar data sensed by said radar device and (iii) map data associated with a current geographical location of the equipped vehicle; and wherein said central electronic control unit, responsive at least in part to threat recognition/evaluation by the threat recognizer/evaluator of said central electronic control unit and risk assessment by the risk assessor of said central electronic control unit, controls speed of the equipped vehicle. - View Dependent Claims (52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69)
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Specification