US 12,115,977 B2
Vehicular control system with road surface and debris detection and classification
Nagender Reddy Kasarla, New Hudson, MI (US); Sujith Gurram, Orion Township, 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 Mar. 10, 2022, as Appl. No. 17/654,244.
Claims priority of provisional application 63/200,984, filed on Apr. 7, 2021.
Claims priority of provisional application 63/200,486, filed on Mar. 10, 2021.
Prior Publication US 2022/0289175 A1, Sep. 15, 2022
Int. Cl. B60W 30/09 (2012.01); B60W 10/18 (2012.01); B60W 10/20 (2006.01); B60W 10/22 (2006.01); B60W 50/14 (2020.01)
CPC B60W 30/09 (2013.01) [B60W 10/18 (2013.01); B60W 10/20 (2013.01); B60W 10/22 (2013.01); B60W 50/14 (2013.01); B60W 2050/143 (2013.01); B60W 2050/146 (2013.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2552/10 (2020.02); B60W 2552/35 (2020.02); B60W 2552/50 (2020.02); B60W 2554/20 (2020.02); B60W 2556/65 (2020.02); B60W 2710/18 (2013.01); B60W 2710/20 (2013.01); B60W 2710/22 (2013.01)] 23 Claims
OG exemplary drawing
 
1. A vehicular control system, the vehicular control system comprising:
a plurality of sensors disposed at a vehicle equipped with the vehicular control system and sensing exterior of the vehicle, the plurality of sensors capturing sensor data;
a first electronic control unit (ECU) comprising electronic circuitry and associated software;
wherein the electronic circuitry of the first ECU comprises a processor for processing sensor data captured by at least one sensor of the plurality of sensors to detect presence of an object;
wherein the vehicular control system, responsive to processing by the processor of sensor data captured by the at least one sensor of the plurality of sensors, detects an object in a path of travel of the equipped vehicle as the equipped vehicle travels along a traffic lane of a road, and wherein the object comprises at least one selected from the group consisting of (i) a pothole ahead of the equipped vehicle in the traffic lane of the road, (ii) road debris ahead of the equipped vehicle in the traffic lane of the road, and (iii) a speed bump ahead of the equipped vehicle in the traffic lane of the road;
wherein the first ECU, responsive to detecting the object in the path of travel of the equipped vehicle, determines whether another vehicle is present in a traffic lane adjacent to the traffic lane along which the equipped vehicle is traveling;
wherein the first ECU, responsive to determining that another vehicle is present in the traffic lane adjacent to the traffic lane along which the equipped vehicle is traveling, provides output to a second ECU of the equipped vehicle, wherein the second ECU of the equipped vehicle is operable to control one or more selected from the group consisting of (i) braking of the equipped vehicle and (ii) suspension of the equipped vehicle; and
wherein the second ECU of the equipped vehicle, responsive to receiving the provided output, controls the one or more selected from the group consisting of (i) braking of the equipped vehicle and (ii) suspension of the equipped vehicle.