Magna Electronics Inc.

Nathaniel S Johnson

William Joseph Chundrlik, Jr

Marc Wimmershoff

Christopher Louis Van Dan Elzen

Paul A VanOphem

Gayatri U Powar

Christoph Klas

William J Chundrik, Jr

A vehicular control system includes a forward viewing camera and a non-vision sensor. The control, responsive to processing of captured non-vision sensor data and processing of frames of captured image data, at least in part controls the equipped vehicle to travel along a road. The control, responsive at least in part to processing of frames of captured image data, determines lane markers on the road and determines presence of another vehicle traveling along the traffic lane ahead of the equipped vehicle and determines a trajectory of the other vehicle relative to the equipped vehicle. The control stores a trajectory history of the determined trajectory of the other vehicle relative to the equipped vehicle as the other vehicle and the equipped vehicle travel along the traffic lane.

Vehicular control system with vehicle trajectory tracking

A vehicular parking assist system includes a location sensor disposed at a vehicle that at least in part determines a current geographical location of the vehicle. An ECU is disposed in the vehicle and stores a database of parking space locations where the vehicle has previously been parked. The vehicular parking assist system receives wireless communications from a remote server pertaining to parking spaces at or near the current geographical location of the vehicle. Responsive at least in part to (i) an output of the location sensor, (ii) the stored database of parking space locations where the vehicle has previously been parked and (iii) the received wireless communications from the remote server, the vehicular parking assist system determines a likelihood of finding an empty parking space at or near the current geographical location of the vehicle.

Vehicular parking assist system that determines a parking space based in part on previously parked spaces

A control system for a vehicle includes a camera having a field of view exterior of the vehicle. Responsive at least in part to processing by a processor of image data captured by the camera, the control system determines traffic lanes on the road. The control system determines a leading vehicle ahead of the equipped vehicle and determines a traffic condition where two traffic lanes change to a different number of traffic lanes. The traffic lane being traveled by the equipped vehicle is one of the two traffic lanes that change to the different number of traffic lanes. Responsive to determination of the traffic condition and responsive to detection of the leading vehicle moving from the traffic lane being traveled by the equipped vehicle into another traffic lane, the control system controls the steering system of the equipped vehicle to follow the leading vehicle into the other traffic lane.

Vehicle control system with traffic driving control

A driver assistance system of an equipped vehicle includes at least one camera disposed at the equipped vehicle so as to have a field of view exterior of the equipped vehicle. A control has an image processor operable to process frames of image data captured by the camera. The image processor processes frames of captured image data to determine a target vehicle present in the field of view of the camera and to determine motion of the determined target vehicle relative to the equipped vehicle. The control, responsive to processing frames of captured image data via the image processor, determines a path of travel of the determined target vehicle relative to the equipped vehicle as the equipped vehicle is moving. The control translates the determined motion of the target vehicle to a local coordinate system of the equipped vehicle.

Vehicle control system with target vehicle trajectory tracking

A parking assist system of a vehicle includes a sensor, a control and a display. The sensor is disposed at a vehicle and is operable to, at least in part, determine the current geographical location of the vehicle. The control is responsive to an output of the sensor and at least one of (i) a database and (ii) a communication from a remote server. Responsive at least in part to historic parking location data representative of geographical locations of parking spaces where the equipped vehicle has previously been parked, the control is operable to display at the display parking information pertaining to parking spaces at or near the current geographical location of the equipped vehicle.

System for locating a parking space based on a previously parked space

A method for vehicular control includes providing a forward viewing camera, a yaw rate sensor, a longitudinal accelerometer, a speed sensor and a control system at the vehicle. While the vehicle is moving, an angular rotational velocity of the vehicle about a local vertical axis is determined, a yaw rate offset is determined, and a longitudinal acceleration is determined. A corrected yaw rate is determined responsive to the determined yaw rate offset of the yaw rate sensor and the determined longitudinal acceleration of the vehicle. The control system determines a projected driving path of the vehicle based at least in part on the determined corrected yaw rate. A hazard condition ahead of the vehicle in the projected driving path is determined at least in part responsive to detecting an object and to the projected driving path. The system automatically applies the brakes of the vehicle responsive to the determined hazard condition.

Method for vehicular control

An automatic emergency braking system for a vehicle includes a forward viewing camera and a control. At least in part responsive to processing of captured image data, the presence of another vehicle closing on the subject vehicle is determined, and a relative speed of the subject vehicle relative to the other vehicle is also determined. Responsive at least in part to a speed of the subject vehicle and the determined relative speed, the control controls the subject vehicle's brake system. Responsive to determination that the driver of the subject vehicle is impaired, the automatic emergency braking system does not allow the driver to override the control's control of the subject vehicle's brake system. Responsive to a determination that the driver of the subject vehicle is not impaired, the automatic emergency braking system allows the driver to override the control's control of the subject vehicle' brake system.

Braking control system for vehicle

A control system for a vehicle includes a camera disposed at a vehicle and having a field of view exterior of the vehicle. An image processor is operable to process image data captured by the camera to at least detect objects or other vehicles. The control system, responsive to determination of a traffic condition, is operable to control a steering system of the vehicle. Responsive at least in part to image processing of captured image data, the control system is operable to detect a lane splitting vehicle approaching or adjacent to the vehicle. With the vehicle traveling in an occupied traffic lane and responsive to detection of the lane splitting vehicle approaching the vehicle, the control system controls the steering system of the vehicle to move the vehicle in a direction away from a side region of the occupied lane at which the lane splitting vehicle is detected.

A method for determining a corrected yaw rate for a vehicle includes receiving a first yaw rate input from a yaw rate sensor of the vehicle and determining if the vehicle is moving or stationary. If the vehicle is determined to be moving, the method includes determining a steering angle of the vehicle, and determining an offset correction value based at least in part on a determined speed of the vehicle and the determined steering angle. A yaw rate offset is determined based at least in part on the determined offset correction value and the received first yaw rate input. A second yaw rate input is received from the yaw rate sensor of the vehicle, and a corrected yaw rate value is determined based at least in part on the received second yaw rate input and the determined yaw rate offset.

Process for determining state of a vehicle

A process for determining a stationary state of a vehicle includes providing a camera and a control having an image processor. Vehicle data is provided to the control by an accelerometer of the vehicle and by at least one of (i) a transmission sensor of the vehicle and (ii) a speed sensor of the vehicle. A determination that the vehicle is stationary is made when at least one of (i) the control determines a jerk value that is approximately zero for a selected duration of time and the control receives vehicle data indicating that the speed of the vehicle was approximately zero for the selected duration of time and (ii) the control determines a jerk value that is approximately zero for a selected duration of time and the control receives vehicle data indicating that the transmission of the vehicle was in 'Park' for the selected duration of time.

A braking control system for a vehicle includes a camera configured to be disposed at a vehicle so as to have an exterior field of view. After actuation of the brake system by an automatic emergency braking system of the vehicle, a control controls the brake system of the subject vehicle. While the control is controlling the brake system of the subject vehicle, the braking control system determines if the driver of the subject vehicle is impaired. Responsive to a determination that the driver of the subject vehicle is impaired, the braking control system does not allow the driver to override the control's control of the brake system of the subject vehicle, and responsive to a determination that the driver of the subject vehicle is not impaired, the braking control system allows the driver to override the control's control of the brake system of the subject vehicle.

A vision system for a vehicle includes a camera having a forward field of view to the exterior of the vehicle through the vehicle windshield. A control includes an image processor that is operable to process captured image data to determine lane delimiters present in the field of view of the camera. The control connects to and receives vehicle data via a vehicle communication bus. The vehicle data includes a yaw rate sensed by a yaw rate sensor of the vehicle. Responsive at least in part to processing of captured image data by the image processor and to vehicle data received via the vehicle communication bus, the control determines a corrected yaw rate at least one of (i) when the vehicle is stationary and (ii) when the vehicle is moving straight. The control provides the corrected yaw rate to a driver assistance system of the vehicle.

Vehicle vision system with yaw rate determination

A braking control system for a vehicle includes at least one sensor having a field of view exterior of the vehicle. A control, after actuation of the vehicle brake system, determines the speed of the vehicle and relative speed of the vehicle to another vehicle or object, and, responsive to the speed of the vehicle and the relative speed, the control controls the vehicle brake system. Responsive to a determination that at least one of (i) a collision has occurred, (ii) the vehicle speed is greater than a threshold amount and (iii) the relative speed is greater than a threshold amount, the system determines if the vehicle driver is impaired, and, responsive to a determination that the driver is impaired, the control controls braking of the subject vehicle, and responsive to a determination that the driver is not impaired, the control allows the driver to override the system.

A vision system for a vehicle includes a camera disposed at or proximate to an in-cabin portion of a windshield of the vehicle. The camera has a forward field of view to the exterior of the vehicle through the windshield of the vehicle. The camera is operable to capture image data. A control includes an image processor that is operable to process captured image data to determine lane delimiters present in the field of view of the camera. The control connects to a vehicle communication bus of the vehicle and receives vehicle data via the vehicle communication bus. Responsive at least in part to processing of captured image data by the image processor and to vehicle data received via the vehicle communication bus, the control determines a yaw rate. The control provides the determined yaw rate to a driver assistance system of the vehicle.

A control system or method for a vehicle references a camera and sensors to determine when an offset of a yaw rate sensor may be updated. The sensors may include a longitudinal accelerometer, a transmission sensor, a vehicle speed sensor, and a steering angle sensor. The offset of the yaw rate sensor may be updated when the vehicle is determined to be stationary by referencing at least a derivative of an acceleration from the longitudinal accelerometer. The offset of the yaw rate sensor may be updated when the vehicle is determined to be moving straight by referencing at least image data captured by the camera. Lane delimiters may be detected in the captured image data and evaluated to determine a level of confidence in the straight movement. When the offset of the yaw rate sensor is to be updated, a ratio of new offset to old offset may be used.

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Royal Oak, MI, United States of America

Nathaniel S Johnson