US 11,676,400 B2
Vehicular control system
Rohan J. Divekar, Auburn Hills, MI (US); and Paul A. VanOphem, Washington, MI (US)
Assigned to MAGNA ELECTRONICS INC., Auburn Hills, MI (US)
Filed by MAGNA ELECTRONICS INC., Auburn Hills, MI (US)
Filed on Sep. 2, 2022, as Appl. No. 17/929,406.
Application 17/929,406 is a continuation of application No. 16/949,051, filed on Oct. 12, 2020, granted, now 11,436,840.
Application 16/949,051 is a continuation of application No. 16/600,657, filed on Oct. 14, 2019, granted, now 10,803,329, issued on Oct. 13, 2020.
Application 16/600,657 is a continuation of application No. 16/221,690, filed on Dec. 17, 2018, granted, now 10,445,600, issued on Oct. 15, 2019.
Application 16/221,690 is a continuation of application No. 16/059,536, filed on Aug. 9, 2018, granted, now 10,157,322, issued on Dec. 18, 2018.
Application 16/059,536 is a continuation of application No. 15/681,699, filed on Aug. 21, 2017, granted, now 10,049,285, issued on Aug. 14, 2018.
Application 15/681,699 is a continuation of application No. 14/994,595, filed on Jan. 13, 2016, granted, now 9,740,945, issued on Aug. 22, 2017.
Claims priority of provisional application 62/103,220, filed on Jan. 14, 2015.
Prior Publication US 2023/0005275 A1, Jan. 5, 2023
Int. Cl. G06V 20/58 (2022.01); B60R 1/00 (2022.01); B60T 7/18 (2006.01); B60T 7/22 (2006.01); G08G 1/16 (2006.01)
CPC G06V 20/58 (2022.01) [B60R 1/00 (2013.01); B60T 7/18 (2013.01); B60T 7/22 (2013.01); G08G 1/161 (2013.01); B60R 2300/302 (2013.01); B60R 2300/8093 (2013.01); B60T 2201/022 (2013.01)] 29 Claims
OG exemplary drawing
 
1. A vehicular control system, the vehicular control system comprising:
a camera housed in a camera module;
wherein the camera module is disposed at and behind a windshield of a vehicle equipped with the vehicular control system, the camera viewing through the windshield forward of the equipped vehicle and operable to capture image data;
wherein the camera comprises an imaging sensor comprising at least one million photosensor elements arranged in a two dimensional array of columns and rows;
a control comprising a processor operable to process image data captured by the camera to detect an approaching vehicle present forward of the equipped vehicle, wherein the approaching vehicle is approaching an intersection of at least two roads forward of the equipped vehicle;
wherein the vehicular control system determines projected path of travel of the equipped vehicle;
wherein image data captured by the camera is processed at the control to determine estimated time to arrival of the approaching vehicle at the intersection;
wherein the projected path of travel of the equipped vehicle comprises a turn by the equipped vehicle at the intersection and across a traffic lane of the road along which the approaching vehicle is traveling;
wherein, responsive at least in part to determination that, while proceeding along the projected path of travel of the equipped vehicle, the equipped vehicle will not complete the turn at the intersection before the estimated time to arrival of the approaching vehicle at the intersection elapses, the vehicular control system determines that it is not safe to proceed along the projected path of travel;
wherein, responsive at least in part to (i) determination that, while proceeding along the projected path of travel of the equipped vehicle, the equipped vehicle will complete the turn at the intersection before the estimated time to arrival of the approaching vehicle at the intersection elapses, and (ii) determination via image processing of captured image data that an object is present in the projected path of travel of the equipped vehicle, the vehicular control system determines that it is not safe to proceed along the projected path of travel; and
wherein, responsive at least in part to (i) determination that, while proceeding along the projected path of travel of the equipped vehicle, the equipped vehicle will complete the turn at the intersection before the estimated time to arrival of the approaching vehicle at the intersection elapses, and (ii) determination via image processing of captured image data that no object is present in the projected path of travel of the equipped vehicle, the vehicular control system determines that it is safe for the equipped vehicle to proceed along the projected path of travel.