Vehicular collision mitigation system

  • US 10,497,262 B2
  • Filed: 11/20/2017
  • Issued: 12/03/2019
  • Est. Priority Date: 02/04/2013
  • Status: Active Grant
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First Claim
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1. A vehicular collision mitigation system, said vehicular collision mitigation system comprising:

  • a plurality of cameras disposed at a vehicle equipped with said vehicular collision mitigation system, wherein said cameras have respective fields of view exterior of the equipped vehicle;

    wherein at least one of said cameras comprises a forward viewing camera disposed at a front portion of the equipped vehicle so as to view at least forward of the equipped vehicle;

    wherein said forward viewing camera comprises a photosensor array having rows and columns of photosensor elements and comprising at least 1 million photosensor elements;

    wherein at least one of said cameras comprises a rearward viewing camera disposed at a rear portion of the equipped vehicle so as to view at least rearward of the equipped vehicle;

    wherein said rearward viewing camera comprises a photosensor array having rows and columns of photosensor elements and comprising at least 1 million photosensor elements;

    at least one selected from the group consisting of (i) a radar sensor disposed at the equipped vehicle so as to sense at least forward of the equipped vehicle and (ii) a lidar sensor disposed at the equipped vehicle so as to sense at least forward of the equipped vehicle;

    a control disposed at the equipped vehicle, said control comprising an image processor operable to process image data captured by said plurality of cameras disposed at the equipped vehicle;

    said control operable to process at least one selected from the group consisting of (i) radar data captured by said radar sensor disposed at the equipped vehicle and (ii) lidar data captured by said lidar sensor disposed at the equipped vehicle;

    wherein, responsive at least in part to processing at said control of image data captured by said forward viewing camera and to processing at said control of at least one selected from the group consisting of (i) radar data captured by said radar sensor disposed at the equipped vehicle and (ii) lidar data captured by said lidar sensor disposed at the equipped vehicle, an automatic emergency braking system of the equipped vehicle is controlled;

    wherein, when the equipped vehicle is moving and responsive at least in part to a determination, via at least one selected from the group consisting of (i) image processing by said image processor of image data captured by said forward viewing camera and (ii) processing at said control of at least one selected from the group consisting of captured radar data and captured lidar data, that the equipped vehicle is approaching an object present forwardly of the equipped vehicle, said control controls application by said automatic emergency braking system of a vehicle brake of the equipped vehicle to mitigate collision with the object; and

    wherein, responsive to determination, at least in part via image processing by said image processor of image data captured by said rearward viewing camera, that a following vehicle is following the equipped vehicle and when the determined following vehicle is within a threshold distance from the equipped vehicle and is approaching the equipped vehicle above a threshold rate of approach, said control adjusts automatic emergency braking of the equipped vehicle to mitigate collision at the rear of the equipped vehicle by the determined following vehicle.

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