Driver assistant system using influence mapping for conflict avoidance path determination

  • US 10,733,892 B2
  • Filed: 10/29/2018
  • Issued: 08/04/2020
  • Est. Priority Date: 09/04/2012
  • Status: Active Grant
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First Claim
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1. A vehicular control system, said vehicular control system comprising:

  • a plurality of sensors disposed at a vehicle equipped with said vehicular control system;

    wherein said plurality of sensors comprises a plurality of cameras, and wherein said plurality of cameras comprises (i) a front camera disposed at an in-cabin surface of a windshield of the equipped vehicle and viewing at least forward of the equipped vehicle through the windshield, (ii) a left side camera disposed at a left side of the equipped vehicle and viewing at least sideward of the equipped vehicle, (iii) a right side camera disposed at a right side of the equipped vehicle and viewing at least sideward of the equipped vehicle and (iv) a rear camera disposed at a rear portion of the equipped vehicle and viewing at least rearward of the equipped vehicle;

    wherein said plurality of sensors comprises at least one radar sensor disposed at the equipped vehicle and sensing exterior of the equipped vehicle;

    a control comprising a data processor, wherein data captured by said at least one radar sensor and data captured by at least one of said plurality of cameras are processed at said control to determine presence of vehicles exterior of the equipped vehicle;

    wherein, responsive to data processing at said control of data captured by said at least one radar sensor and data captured by said at least one of said plurality of cameras, said vehicular control system determines respective speeds of the determined vehicles and respective directions of travel of the determined vehicles;

    wherein said vehicular control system determines a respective influence value for each of the determined vehicles, and wherein the determined respective influence value for each determined vehicle is based on a determined potential hazard to the equipped vehicle presented by the respective determined vehicle;

    wherein the determined respective influence value for each determined vehicle is weighted according to one selected from the group consisting of (i) direction of a speed vector of that determined vehicle and (ii) magnitude of a speed vector of that determined vehicle;

    wherein the weighted determined respective influence values for the determined vehicles are ranked according to their hazard potential;

    wherein said vehicular control system selects a path of travel for the equipped vehicle responsive to the rankings of the weighted determined respective influence values; and

    wherein said vehicular control system at least in part controls steering of the equipped vehicle to guide the equipped vehicle along the selected path of travel.

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