Vehicular collision mitigation system

  • US 10,803,744 B2
  • Filed: 12/02/2019
  • Issued: 10/13/2020
  • Est. Priority Date: 02/04/2013
  • Status: Active Grant
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First Claim
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1. A method for mitigating collision of an equipped vehicle with another vehicle, said method comprising:

  • disposing a plurality of cameras at a vehicle equipped with an automatic emergency braking system;

    wherein disposing the plurality of cameras at the equipped vehicle comprises disposing a forward viewing camera at the equipped vehicle so as to view at least forward of the equipped vehicle;

    wherein disposing the plurality of cameras at the equipped vehicle comprises disposing a rearward viewing camera at the equipped vehicle so as to view at least rearward of the equipped vehicle;

    disposing at least one non-imaging sensor at the equipped vehicle;

    wherein disposing the at least one non-imaging sensor comprises at least one selected from the group consisting of (i) disposing a radar sensor at the equipped vehicle so as to sense at least forward of the equipped vehicle and (ii) disposing a lidar sensor at the equipped vehicle so as to sense at least forward of the equipped vehicle;

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

    capturing image data with the forward viewing camera and providing captured image data to the control;

    capturing image data with the rearward viewing camera and providing captured image data to the control;

    capturing sensor data with the at least one non-imaging sensor and providing captured sensor data to the control;

    when the equipped vehicle is traveling forward, determining, via at least one selected from the group consisting of (i) image processing at the control of image data captured by the forward viewing camera and (ii) processing at the control of sensor data captured by the at least one non-imaging sensor disposed at the equipped vehicle, that the equipped vehicle is approaching an object present forward of the equipped vehicle;

    when the equipped vehicle is traveling forward, and responsive at least in part to determination, via processing at the control of provided data, that the equipped vehicle is approaching the object present forward of the equipped vehicle, controlling braking by the automatic emergency braking system of the equipped vehicle to mitigate collision with the object present forward of the equipped vehicle; and

    responsive to determination, at least in part via image processing at the control of image data captured by the rearward viewing camera, that a following vehicle is following the equipped vehicle and that 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, adjusting braking by the automatic emergency braking system of the equipped vehicle to mitigate collision at the rear of the equipped vehicle by the determined following vehicle.

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