US 12,321,173 B2
Vehicular control system with handover procedure for driver of controlled vehicle
Ralph Latotzki, Hamburg (DE); and Frank Goseberg, Aschaffenburg (DE)
Assigned to MAGNA ELECTRONICS INC., Auburn Hills, MI (US)
Filed by MAGNA ELECTRONICS INC., Auburn Hills, MI (US)
Filed on Mar. 11, 2024, as Appl. No. 18/600,958.
Application 18/600,958 is a continuation of application No. 18/151,533, filed on Jan. 9, 2023, granted, now 11,927,954.
Application 18/151,533 is a continuation of application No. 17/449,824, filed on Oct. 4, 2021, granted, now 11,550,319, issued on Jan. 10, 2023.
Application 17/449,824 is a continuation of application No. 16/699,905, filed on Dec. 2, 2019, granted, now 11,137,760, issued on Oct. 5, 2021.
Application 16/699,905 is a continuation of application No. 15/716,718, filed on Sep. 27, 2017, granted, now 10,496,090, issued on Dec. 3, 2019.
Claims priority of provisional application 62/401,310, filed on Sep. 29, 2016.
Prior Publication US 2024/0264592 A1, Aug. 8, 2024
Int. Cl. G05D 1/00 (2024.01); B60W 30/095 (2012.01); G05D 1/243 (2024.01); G05D 1/249 (2024.01); G05D 1/81 (2024.01)
CPC G05D 1/0061 (2013.01) [B60W 30/095 (2013.01); G05D 1/0246 (2013.01); G05D 1/0251 (2013.01); G05D 1/2435 (2024.01); G05D 1/249 (2024.01); G05D 1/81 (2024.01); B60G 2400/823 (2013.01)] 45 Claims
OG exemplary drawing
 
1. A vehicular control system, the vehicular control system comprising:
a forward-viewing camera disposed at a windshield of a vehicle equipped with the vehicular control system, the forward-viewing camera viewing through the windshield forward of the vehicle, the forward-viewing camera capturing image data;
at least one forward-sensing sensor disposed at the vehicle and sensing forward of the vehicle, the at least one forward-sensing sensor capturing sensor data;
a cabin-sensing imaging sensor disposed in a cabin of the vehicle and sensing interior of the cabin of the vehicle, the cabin-sensing imaging sensor capturing in-cabin image data;
an electronic control unit (ECU) comprising electronic circuitry, the electronic circuitry of the ECU processing (i) the image data captured by the forward-viewing camera and (ii) the sensor data captured by the at least one forward-sensing sensor;
wherein the vehicular control system is operable to control driving of the vehicle at least in part responsive to processing by the vehicular control system of (i) the image data captured by the forward-viewing camera, (ii) the sensor data captured by the at least one forward-sensing sensor and (iii) the in-cabin image data captured by the cabin-sensing imaging sensor;
wherein, with the vehicular control system controlling driving of the vehicle in, and responsive at least in part to processing at the ECU of the image data captured by the forward-viewing camera and the sensor data captured by the at least one forward-sensing sensor, the vehicular control system determines a triggering event that triggers handing over driving of the vehicle to a driver of the vehicle before the vehicle encounters an event point associated with the triggering event;
wherein the triggering event comprises a hazardous condition ahead of the vehicle that is hazardous to driving of the vehicle, and wherein the event point is the location of the hazardous condition;
wherein, responsive at least in part to determination of the triggering event, the vehicular control system (i) determines a total action time available before the vehicle encounters the event point, (ii) estimates a driver takeover time for the driver to take over control of the vehicle and (iii) estimates a handling time for the driver to control the vehicle to avoid encountering the event point; and
wherein the vehicular control system estimates the driver takeover time based at least in part on processing by the vehicular control system of the in-cabin image data captured by the cabin-sensing imaging sensor.