DRIVER ASSISTANT SYSTEM USING INFLUENCE MAPPING FOR CONFLICT AVOIDANCE PATH DETERMINATION
First Claim
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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Accused Products
Abstract
A vehicular control system for a vehicle includes a plurality of sensors. Responsive to data processing, the vehicular control system determines respective speeds of the determined vehicles and respective directions of travel of the determined vehicles, and determines respective influence values for the determined vehicles based on determined potential hazards to the equipped vehicle presented by the respective determined vehicles. The determined respective influence value for each determined vehicle is weighted according to direction and/or magnitude of a speed vector of that determined vehicle. The weighted determined respective influence values for the determined vehicles are ranked according to their hazard potential. A path of travel is selected from the plurality of determined paths responsive at least in part to the rankings of the weighted determined respective influence values. The system at least in part controls vehicle steering to guide the equipped vehicle along the selected path of travel.
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31 Claims
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1. A vehicular control system, said vehicular control system comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
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20. A vehicular control system, said vehicular control system comprising:
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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, responsive to the weighted determined respective influence values, said vehicular control system determines multiple potential paths for the equipped vehicle; wherein the multiple determined potential paths for the equipped vehicle are ranked according to their hazard potential; wherein said vehicular control system selects a path of travel for the equipped vehicle responsive at least in part to the rankings of the multiple determined potential paths; wherein said vehicular control system selects the path of travel based at least in part on a driving condition at a road being traveled by the equipped vehicle; 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. - View Dependent Claims (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 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 a plurality of radar sensors disposed at the equipped vehicle and sensing exterior of the equipped vehicle; a control comprising a data processor, wherein data captured by at least one of said plurality of radar sensors 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 of said plurality of radar sensors 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; wherein said vehicular control system informs a driver of the equipped vehicle of the selected path of travel; 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; and wherein said vehicular control system at least in part controls a brake system of the equipped vehicle as the equipped vehicle is guided along the selected path of travel. - View Dependent Claims (29, 30, 31)
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Specification