Collision avoidance system for vehicle

  • US 9,802,609 B2
  • Filed: 01/16/2017
  • Issued: 10/31/2017
  • Est. Priority Date: 04/10/2013
  • Status: Active Grant
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First Claim
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1. A collision avoidance system suitable for use in a vehicle, said collision avoidance system comprising:

  • a forward-viewing camera disposed at a vehicle equipped with said collision avoidance system, said forward-viewing camera having a field of view forward of the equipped vehicle;

    wherein the field of view of said forward-viewing camera at least encompasses (i) a traffic lane the equipped vehicle is driving in and (ii) an adjacent traffic lane that is adjacent to the traffic lane the equipped vehicle is driving in;

    a first image processor operable to process image data captured by said forward-viewing camera;

    wherein, responsive at least in part to image processing by said first image processor of image data captured by said forward-viewing camera, said collision avoidance system detects the presence of vehicles present ahead of the equipped vehicle;

    wherein, responsive at least in part to image processing by said first image processor of image data captured by said forward-viewing camera, said collision avoidance system is operable to determine a detected vehicle to be present in the traffic lane the equipped vehicle is driving in;

    wherein, responsive at least in part to image processing by said first image processor of image data captured by said forward-viewing camera, said collision avoidance system is operable to determine a detected vehicle to be present in an adjacent traffic lane that is adjacent to the traffic lane the equipped vehicle is driving in;

    a plurality of other sensors disposed at the equipped vehicle;

    wherein said plurality of other sensors sense at least forwardly and sidewardly of the equipped vehicle;

    wherein said plurality of other sensors capture sensor data;

    a rearward-viewing camera disposed at the equipped vehicle, said rearward-viewing camera having a field of view rearward of the equipped vehicle;

    wherein the field of view of said rearward-viewing camera encompasses (i) the traffic lane the equipped vehicle is driving in and (ii) an adjacent traffic lane that is adjacent to the traffic lane the equipped vehicle is driving in;

    a second image processor operable to process image data captured by said rearward-viewing camera;

    wherein, responsive at least in part to image processing by said second image processor of image data captured by said rearward-viewing camera, said collision avoidance system detects the presence of vehicles present rearward of the equipped vehicle;

    wherein, responsive at least in part to image processing by said second image processor of image data captured by said rearward-viewing camera, said collision avoidance system is operable to determine a detected vehicle to be present in the traffic lane the equipped vehicle is driving in;

    wherein, responsive at least in part to image processing by said second image processor of image data captured by said rearward-viewing camera, said collision avoidance system is operable to determine a detected vehicle to be present in an adjacent traffic lane that is adjacent to the traffic lane the equipped vehicle is driving in;

    wherein information relating to other vehicles present exterior the equipped vehicle is wirelessly transmitted to the equipped vehicle via a car2car (v2v) communication system;

    wherein information relating to the equipped vehicle is wirelessly transmitted to other vehicles present exterior the equipped vehicle via the car2car (v2v) communication system; and

    wherein, responsive at least in part to at least one of (i) image processing by said first image processor of image data captured by said forward-viewing camera, (ii) image processing by said second image processor of image data captured by said rearward-viewing camera, (iii) radar data sensed by at least one radar sensor of said plurality of other sensors, (iv) lidar data sensed by at least one lidar sensor of said plurality of other sensors and (v) information transmitted to or from the equipped vehicle via the car2car (v2v) communication system, said collision avoidance system is operable to determine imminence of collision with the equipped vehicle by another vehicle present exterior the equipped vehicle.

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