US 12,286,154 B2
Vehicular control system with autonomous braking
Venkata Satya Siva Prasad Challa, Troy, MI (US); and Nikunj Vinubhai Kumbhani, Troy, MI (US)
Assigned to Magna Electronics Inc., Auburn Hills, MI (US)
Filed by Magna Electronics Inc., Auburn Hills, MI (US)
Filed on Apr. 22, 2024, as Appl. No. 18/641,667.
Application 18/641,667 is a continuation of application No. 17/445,200, filed on Aug. 17, 2021, granted, now 11,964,691.
Claims priority of provisional application 62/706,438, filed on Aug. 17, 2020.
Prior Publication US 2024/0270312 A1, Aug. 15, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. B62D 15/02 (2006.01); B60W 30/09 (2012.01); B60W 30/095 (2012.01); B60W 30/10 (2006.01); B60W 30/18 (2012.01); B60W 40/04 (2006.01); B60W 50/029 (2012.01); B60W 50/14 (2020.01); G06F 18/25 (2023.01); G06T 7/70 (2017.01); G06V 20/58 (2022.01)
CPC B62D 15/025 (2013.01) [B60W 30/09 (2013.01); B60W 30/0953 (2013.01); B60W 30/10 (2013.01); B60W 30/18018 (2013.01); B60W 30/18159 (2020.02); B60W 40/04 (2013.01); B60W 50/029 (2013.01); B60W 50/14 (2013.01); G06F 18/25 (2023.01); G06T 7/70 (2017.01); G06V 20/584 (2022.01); B60W 2050/0292 (2013.01); B60W 2050/146 (2013.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2552/53 (2020.02); B60W 2554/402 (2020.02); B60W 2554/404 (2020.02); B60W 2554/4041 (2020.02); B60W 2554/80 (2020.02); G06T 2207/30236 (2013.01); G06T 2207/30256 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A vehicular control system, the vehicular control system comprising:
a camera disposed at a windshield of a vehicle equipped with the vehicular control system and viewing at least forward of the equipped vehicle through the windshield of the equipped vehicle, wherein the camera is operable to capture image data;
a radar sensor disposed at the equipped vehicle and sensing at least forward of the equipped vehicle;
an electronic control unit (ECU) comprising electronic circuitry and associated software;
wherein the image data captured by the camera is transferred to and is processed at the ECU;
wherein sensor data captured by the radar sensor is transferred to and is processed at the ECU;
wherein the electronic circuitry of the ECU comprises at least one processor for processing the image data captured by the camera and for processing the sensor data captured by the radar sensor;
wherein, as the equipped vehicle travels along a road, the vehicular control system, via processing at the ECU of the image data captured by the camera and processing at the ECU of the sensor data captured by the radar sensor, determines other vehicles present on the road ahead of the equipped vehicle;
wherein, as the equipped vehicle travels along the road, the image data captured by the camera and the sensor data captured by the radar sensor are processed at the ECU to determine presence of a plurality of other vehicles present on the road ahead of the equipped vehicle;
wherein the vehicular control system, based on the processing at the ECU of the image data captured by the camera and the sensor data captured by the radar sensor, determines (i) object data for each vehicle of the plurality of other vehicles and (ii) a threat level for each vehicle of the plurality of other vehicles;
wherein an autonomous emergency braking system (AEB) of the equipped vehicle is controlled responsive to the determined threat levels;
wherein the vehicular control system generates an alert for an occupant of the vehicle responsive to the determined threat levels; and
wherein the vehicular control system, when a vehicle of the plurality of other vehicles is no longer detectable via processing at the ECU of the image data captured by the camera and processing at the ECU of the sensor data captured by the radar sensor, predicts a position for the no longer detectable vehicle of the plurality of other vehicles based on the determined object data of the no longer detectable vehicle of the plurality of other vehicles.