US 12,485,918 B2
Vehicular driving assistance system with enhanced road curve management
SeHwan Kim, Troy, MI (US); Sasi Preetham Devarasetty, Union City, CA (US); and Tejas Murlidhar Varunjikar, Troy, MI (US)
Assigned to Magna Electronics Inc., Auburn Hills, MI (US)
Filed by Magna Electronics Inc., Auburn Hills, MI (US)
Filed on Mar. 21, 2024, as Appl. No. 18/612,260.
Claims priority of provisional application 63/491,556, filed on Mar. 22, 2023.
Prior Publication US 2024/0317256 A1, Sep. 26, 2024
Int. Cl. B60W 40/072 (2012.01); B60R 11/04 (2006.01); B60W 30/14 (2006.01); B60W 60/00 (2020.01); G06V 10/80 (2022.01); G06V 20/56 (2022.01); B60R 11/00 (2006.01); G06V 10/147 (2022.01)
CPC B60W 60/001 (2020.02) [B60R 11/04 (2013.01); B60W 30/146 (2013.01); G06V 10/80 (2022.01); G06V 20/588 (2022.01); B60R 2011/0026 (2013.01); B60R 2300/804 (2013.01); B60W 2420/403 (2013.01); B60W 2520/125 (2013.01); B60W 2552/20 (2020.02); B60W 2552/53 (2020.02); B60W 2556/00 (2020.02); B60W 2720/103 (2013.01); B60W 2720/106 (2013.01); G06V 10/147 (2022.01)] 22 Claims
OG exemplary drawing
 
1. A vehicular driving assist system, the vehicular driving assist system comprising:
a camera disposed at a vehicle equipped with the vehicular driving assist system and viewing forward of the equipped vehicle, wherein the camera is operable to capture 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 image data captured by the camera is transferred to and is processed at the ECU;
wherein the electronic circuitry of the ECU comprises an image processor operable to process image data captured by the camera and transferred to the ECU;
wherein the vehicular driving assist system, while the equipped vehicle is traveling along a traffic lane of a road and responsive to processing at the ECU of image data captured by the camera and transferred to the ECU, determines lane markings of the traffic lane of the road along which the equipped vehicle is traveling;
wherein the vehicular driving assist system determines curvature of the traffic lane of the road ahead of the equipped vehicle based on (i) curvature of the determined lane markings and (ii) map data representative of a current geographical location of the equipped vehicle;
wherein the vehicular driving assist system, based at least in part on the determined curvature of the traffic lane of the road ahead of the equipped vehicle, determines a target velocity profile that establishes a target lateral velocity for the equipped vehicle to follow as the equipped vehicle travels along the traffic lane of the road;
wherein, based at least in part on the determined target velocity profile, the vehicular driving assist system decelerates the equipped vehicle to follow the target velocity profile as the equipped vehicle travels along the traffic lane of the road; and
wherein lateral acceleration of the equipped vehicle, as the equipped vehicle travels along the traffic lane of the road following the target velocity profile, remains below a maximum allowable lateral acceleration.