US 12,420,707 B2
Vehicular control system with cross traffic alert and collision avoidance
Naresh Ravuri, Novi, MI (US); Jeremy J. Baca, Ann Arbor, MI (US); and Suresh Boddi, New Hudson, MI (US)
Assigned to Magna Electronics Inc., Auburn Hills, MI (US)
Filed by Magna Electronics Inc., Auburn Hills, MI (US)
Filed on Jun. 22, 2023, as Appl. No. 18/339,410.
Claims priority of provisional application 63/366,942, filed on Jun. 24, 2022.
Prior Publication US 2023/0415647 A1, Dec. 28, 2023
Int. Cl. B60Q 9/00 (2006.01); B60Q 5/00 (2006.01); B60R 1/22 (2022.01); B60T 7/22 (2006.01); G08G 1/16 (2006.01)
CPC B60Q 9/008 (2013.01) [B60Q 5/006 (2013.01); B60R 1/22 (2022.01); B60T 7/22 (2013.01); G08G 1/166 (2013.01); B60R 2300/105 (2013.01); B60R 2300/70 (2013.01); B60T 2201/022 (2013.01); B60T 2210/32 (2013.01); B60T 2220/00 (2013.01); B60T 2250/00 (2013.01); B60T 2250/04 (2013.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01)] 35 Claims
OG exemplary drawing
 
1. A vehicular driving assist system, the vehicular driving assist system comprising:
a plurality of cameras disposed at a vehicle equipped with the vehicular driving assist system and viewing exterior of the vehicle, the cameras capturing image data;
wherein each camera of the plurality of cameras comprises a CMOS imaging array, having at least one million photosensors arranged in rows and columns;
a plurality of sensors disposed at the vehicle, the plurality of sensors capturing sensor data;
wherein the plurality of sensors comprises at least one selected from the group consisting of (i) a plurality of radar sensors and (ii) a plurality of lidar sensors;
wherein the plurality of sensors includes at least (i) a driver-side sensor that senses at least forward and sideward of the vehicle and (ii) a passenger-side sensor that senses at least forward and sideward of the vehicle;
an electronic control unit (ECU) comprising electronic circuitry and associated software;
wherein the electronic circuitry of the ECU comprises at least one data processor for processing image data captured by the plurality of cameras and for processing sensor data captured by the plurality of sensors;
wherein the vehicular driving assist system, while the vehicle is travelling in a forward direction along a path of travel and responsive to processing at the ECU of image data captured by the plurality of cameras and sensor data captured by the plurality of sensors, is operable to determine presence of an object approaching the path of travel of the vehicle;
wherein the vehicular driving assist system, based at least in part on a driving environment at the vehicle, and when operating to determine presence of the object approaching the path of travel of the vehicle, adjusts (i) processing at the ECU of the image data captured by the plurality of cameras and (ii) processing at the ECU of the sensor data captured by the plurality of sensors;
wherein the vehicular driving assist system, responsive to determining presence of the object approaching the path of travel of the vehicle, alerts a driver of the vehicle;
wherein the driving environment is determined by the vehicular driving assist system; and
wherein the vehicular driving assist system, responsive to the driving environment at the vehicle corresponding to an environment in which sensor data captured by the plurality of sensors is compromised, increases reliance on processing at the ECU of the image data captured by the plurality of cameras and decreases reliance on of processing at the ECU of the sensor data captured by the plurality of sensors.