Vehicular control system using cameras and radar sensor

  • US 9,834,216 B2
  • Filed: 01/24/2017
  • Issued: 12/05/2017
  • Est. Priority Date: 05/03/2002
  • 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 cameras disposed at a vehicle equipped with said vehicular control system, wherein said plurality of cameras comprises at least three cameras;

    said plurality of cameras at least comprising (i) a forward-viewing camera mounted at a front portion of the equipped vehicle and having a field of view at least forward of the equipped vehicle, said forward-viewing camera operable to capture image data, (ii) a driver side-viewing camera mounted at a driver-side portion of the equipped vehicle and having a field of view at least sideward and rearward of the equipped vehicle at the driver side of the equipped vehicle, said driver side-viewing camera operable to capture image data, and (iii) a passenger side-viewing camera mounted at a passenger-side portion of the equipped vehicle and having a field of view at least sideward and rearward of the equipped vehicle at the passenger side of the equipped vehicle, said passenger side-viewing camera operable to capture image data;

    at least one radar sensor having a field of sensing exterior of the equipped vehicle and operable to sense radar data;

    a control comprising a processor;

    wherein image data captured by at least said forward-viewing camera, said driver side-viewing camera and said passenger side-viewing camera is provided to said control;

    wherein radar data sensed by said at least one radar sensor is provided to said control;

    wherein said control, responsive to processing of image data captured at least by said forward-viewing camera, detects at least one of (a) lane markers within the exterior field of view of at least said forward-viewing camera on a road being traveled by the equipped vehicle and (b) road edges within the exterior field of view of at least said forward-viewing camera on a road being traveled by the equipped vehicle;

    wherein said control, based at least in part on detection of at least one of (a) lane markers via processing of captured image data and (b) road edges via processing of captured image data, determines curvature of the road being traveled by the equipped vehicle;

    wherein said control processes captured image data provided thereto via an edge detection algorithm to detect vehicles present exteriorly of the equipped vehicle and within the exterior field of view of at least one of said forward-viewing camera, said driver side-viewing camera and said passenger side-viewing camera;

    wherein said control processes sensed radar data provided thereto to detect vehicles present exteriorly of the equipped vehicle and within the exterior field of sensing of said at least one radar sensor;

    wherein said control, based on processing of at least one of (i) captured image data and (ii) sensed radar data, detects another vehicle that is present exterior of the equipped vehicle and determines distance from the equipped vehicle to the detected other vehicle that is present exterior of the equipped vehicle; and

    wherein said control, based at least in part on said detection of another vehicle and said determination of distance from the equipped vehicle to the detected other vehicle, determines whether it is safe for the equipped vehicle to execute a lane change maneuver.

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