US 12,319,281 B2
Vehicular radar system for predicting lanes using smart camera input
Alan M. Cordeiro, Farmington Hills, MI (US)
Assigned to Magna Electronics Inc., Auburn Hills, MI (US)
Filed by Magna Electronics Inc., Auburn Hills, MI (US)
Filed on Jan. 17, 2023, as Appl. No. 18/155,089.
Claims priority of provisional application 63/267,203, filed on Jan. 27, 2022.
Prior Publication US 2023/0234583 A1, Jul. 27, 2023
Int. Cl. B60W 30/12 (2020.01); B60W 30/18 (2012.01)
CPC B60W 30/12 (2013.01) [B60W 30/18163 (2013.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2552/53 (2020.02)] 22 Claims
OG exemplary drawing
 
1. A vehicular sensing system, the vehicular sensing system comprising:
a camera disposed at a vehicle equipped with the vehicular sensing system and viewing exterior of the vehicle, the camera capturing image data;
a radar sensor disposed at the vehicle and sensing exterior of the vehicle, the radar sensor capturing radar data;
wherein the camera comprises a CMOS imaging array, and wherein the CMOS imaging array comprises at least one million photosensors arranged in rows and columns;
an electronic control unit (ECU) comprising electronic circuitry and associated software;
wherein the electronic circuitry of the ECU comprises at least one data processor;
wherein image data captured by the camera and radar data captured by the radar sensor is processed at the ECU;
wherein the vehicular sensing system, responsive to processing at the ECU of radar data captured by the radar sensor, determines an edge of a road along which the vehicle is traveling;
wherein the vehicular sensing system, responsive to processing at the ECU of image data captured by the camera, determines location of a lane marking of a traffic lane of the road along which the vehicle is traveling;
wherein the vehicular sensing system, after determining location of the lane marking of the traffic lane of the road along with the vehicle is traveling, and responsive to failing to determine a location of a subsequent lane marking of the traffic lane on the road along which the vehicle is traveling via processing at the ECU of the image data captured by the camera, predicts the location of the subsequent lane marking of the road based on the determined edge of the road along which the vehicle is traveling and the location of the lane marking determined prior to failing to determine the location of the subsequent lane marking; and
wherein the vehicle is controlled based at least in part on the predicted location of the lane marking of the road.