US 12,110,015 B2
Vehicular driving assistance system with lateral motion control
Tejas Murlidhar Varunjikar, Troy, MI (US); Pushpendra Kushwaha, Uttar Pradesh (IN); and Arpit Awathe, Auburn Hills, MI (US)
Assigned to Magna Electronics Inc., Auburn Hills, MI (US)
Filed by Magna Electronics Inc., Auburn Hills, MI (US)
Filed on May 9, 2022, as Appl. No. 17/662,465.
Claims priority of provisional application 63/201,724, filed on May 11, 2021.
Prior Publication US 2022/0363250 A1, Nov. 17, 2022
Int. Cl. B60W 30/12 (2020.01); B60W 10/20 (2006.01); B60W 40/06 (2012.01); B60W 40/105 (2012.01); B60W 50/00 (2006.01); B62D 15/02 (2006.01); G06V 20/56 (2022.01)
CPC B60W 30/12 (2013.01) [B60W 10/20 (2013.01); B60W 40/06 (2013.01); B60W 40/105 (2013.01); B60W 50/00 (2013.01); B62D 15/021 (2013.01); G06V 20/588 (2022.01); B60W 2050/0012 (2013.01); B60W 2420/403 (2013.01); B60W 2520/14 (2013.01); B60W 2520/18 (2013.01); B60W 2540/18 (2013.01); B60W 2552/53 (2020.02); B60W 2710/207 (2013.01)] 22 Claims
OG exemplary drawing
 
1. A vehicular driving assistance system, the vehicular driving assistance system comprising:
a camera disposed at a vehicle equipped with the vehicular driving assistance system and viewing exterior of the vehicle, the camera capturing image 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 an image processor for processing image data captured by the camera;
wherein the vehicular driving assistance system, via processing at the ECU of image data captured by the camera as the vehicle travels along a first traffic lane of a road, determines a first target lateral position of the vehicle within the first traffic lane;
wherein the vehicular driving assistance system, responsive to determining the first target lateral position for the vehicle within the first traffic lane, determines a first steering command to position the vehicle at the first target lateral position within the first traffic lane as the vehicle travels along the first traffic lane;
wherein the vehicular driving assistance system, after beginning execution of the first steering command to maneuver the vehicle toward the first target lateral position, determines a steering angle offset that comprises an amount of error of the first steering command;
wherein the vehicular driving assistance system stores the determined steering angle offset in nonvolatile memory disposed at the vehicle;
wherein the vehicular driving assistance system, after storing the determined steering angle offset and when the vehicle is traveling along a second traffic lane, determines a second target lateral position for the vehicle within the second traffic lane;
wherein the vehicular driving assistance system, responsive to determining the second target lateral position for the vehicle within the second traffic lane, determines a second steering command to position the vehicle at the second target lateral position within the second traffic lane as the vehicle travels along the second traffic lane; and
wherein the vehicular driving assistance system, responsive to determining the second target lateral position of the vehicle within the second traffic lane, applies the stored determined steering angle offset to the second steering command to position the vehicle at the second target lateral position within the second traffic lane as the vehicle travels along the second traffic lane.