US 12,007,476 B2
Method for detecting objects via a vehicular sensing system
Helmut A. H. Wodrich, Clarkston, MI (US); Deniz B. Gunel, Clawson, MI (US); and James W. Reynolds, III, Lapeer, MI (US)
Assigned to Magna Electronics Inc., Auburn Hills, MI (US)
Filed by Magna Electronics Inc., Auburn Hills, MI (US)
Filed on Sep. 9, 2022, as Appl. No. 17/930,785.
Claims priority of provisional application 63/261,111, filed on Sep. 13, 2021.
Prior Publication US 2023/0080530 A1, Mar. 16, 2023
Int. Cl. G01S 15/00 (2020.01); G01S 15/42 (2006.01); G01S 15/931 (2020.01)
CPC G01S 15/931 (2013.01) [G01S 15/42 (2013.01); G01S 2015/938 (2013.01); G01S 2015/939 (2013.01)] 23 Claims
OG exemplary drawing
 
1. A vehicular sensing system, the vehicular sensing system comprising:
a first set of sensors disposed at a first rear portion of a vehicle equipped with the vehicular sensing system, wherein the first set of sensors comprises a plurality of first sensors, and wherein each first sensor of the first set of sensors has a respective first field of sensing that extends exterior and at least rearward of the vehicle;
a second set of sensors disposed at a second rear portion of the vehicle that is above the first rear portion of the vehicle, wherein the second set of sensors comprises a plurality of second sensors, and wherein each second sensor of the second set of sensors has a respective second field of sensing that extends exterior and at least rearward of the vehicle;
wherein the respective first field of sensing of at least one first sensor of the plurality of first sensors at least partially overlaps the respective second field of sensing of at least one second sensor of the plurality of second sensors;
an electronic control unit (ECU) comprising electronic circuitry and associated software;
wherein the electronic circuitry of the ECU comprises a data processor for (i) processing sensor data captured by first sensors of the first set of sensors and (ii) processing sensor data captured by second sensors of the second set of sensors to detect presence of objects exterior and at least rearward of the vehicle;
wherein the vehicular sensing system, responsive at least in part to processing at the ECU of sensor data captured by the first sensors of the first set of sensors and by the second sensors of the second set of sensors, detects the objects that are located within the at least partially overlapping fields of sensing of the at least one first sensor and the at least one second sensor; and
wherein the vehicular sensing system, responsive to detecting the objects that are located within the at least partially overlapping fields of sensing, determines three-dimensional locations of the detected objects relative to the vehicle.