US 12,311,930 B2
Vehicular driving assistance system with enhanced traffic lane determination
Alan M. Cordeiro, Farmington Hills, MI (US); Tejas Murlidhar Varunjikar, Troy, MI (US); Mayank Hitesh Desai, Novi, MI (US); and Harold E. Joseph, Brampton (CA)
Assigned to Magna Electronics Inc., Auburn Hills, MI (US)
Filed by Magna Electronics Inc., Auburn Hills, MI (US)
Filed on Jul. 8, 2022, as Appl. No. 17/811,312.
Claims priority of provisional application 63/203,123, filed on Jul. 9, 2021.
Prior Publication US 2023/0008230 A1, Jan. 12, 2023
Int. Cl. B60W 30/12 (2020.01); B60W 10/20 (2006.01); B60W 50/02 (2012.01); B60W 50/029 (2012.01); G06V 20/56 (2022.01)
CPC B60W 30/12 (2013.01) [B60W 10/20 (2013.01); B60W 50/0205 (2013.01); B60W 50/029 (2013.01); G06V 20/588 (2022.01); B60W 2050/0215 (2013.01); B60W 2050/0292 (2013.01); B60W 2420/403 (2013.01); B60W 2510/202 (2013.01); B60W 2540/18 (2013.01); B60W 2552/53 (2020.02); B60W 2556/20 (2020.02); B60W 2556/35 (2020.02)] 24 Claims
OG exemplary drawing
 
1. A vehicular driver assistance system, the vehicular driver assistance system comprising:
a front camera module (FCM) disposed at a vehicle equipped with the vehicular driver assistance system and viewing exterior of the equipped vehicle, the FCM comprising a camera, the camera capturing image data;
an image processor for processing image data captured by the camera, wherein the vehicular driver assistance system, responsive to processing at the image processor of image data captured by the camera, generates FCM lane information comprising information regarding a traffic lane along which the equipped vehicle is traveling;
an e-Horizon module (EHM) comprising one or more localization sensors, wherein the EHM uses map data to anticipate a road ahead of the equipped vehicle, and wherein the EHM generates EHM lane information comprising information regarding the traffic lane along which the equipped vehicle is traveling;
at least one secondary sensor disposed exterior of the equipped vehicle and at least partially sensing the traffic lane along which the equipped vehicle is traveling, the at least one secondary sensor capturing secondary sensor data;
wherein the vehicular driver assistance system determines an FCM correlation using the generated FCM lane information and the secondary sensor data captured by the at least one secondary sensor, the FCM correlation indicating a difference between the generated FCM lane information and the secondary sensor data;
wherein the vehicular driver assistance system determines an EHM correlation using the generated EHM lane information and the secondary sensor data captured by the at least one secondary sensor, the EHM correlation indicating a difference between the generated EHM lane information and the secondary sensor data;
wherein, responsive to the FCM correlation satisfying an FCM correlation threshold, the vehicular driver assistance system controls lateral movement of the equipped vehicle based at least in part on the generated FCM lane information; and
wherein, responsive to the EHM correlation satisfying an EHM correlation threshold, the vehicular driver assistance system controls lateral movement of the equipped vehicle based at least in part on the generated EHM lane information.