Patent ID: 11927954
Assignee: MAGNA ELECTRONICS INC.
Field: Control (Instruments)
Classification: CPC G  B | IPC B  G

Claim 0:
1. A vehicular control system, the vehicular control system comprising:
a forward-viewing camera disposed at a windshield of a vehicle equipped with the vehicular control system, the forward-viewing camera viewing through the windshield forward of the vehicle, the forward-viewing camera capturing image data;
a forward-sensing sensor disposed at the vehicle and sensing forward of the vehicle, the forward-sensing sensor capturing sensor data, wherein the forward-sensing sensor comprises one selected from the group consisting of (i) a forward-sensing radar sensor sensing forward of the vehicle, and (ii) a forward-sensing lidar sensor sensing forward of the vehicle;
a cabin-sensing sensor disposed in a cabin of the vehicle and sensing interior of the cabin of the vehicle, the cabin-sensing sensor capturing in-cabin data;
an electronic control unit (ECU) comprising electronic circuitry, the electronic circuitry of the ECU processing (i) the image data captured by the forward-viewing camera and (ii) the sensor data captured by the forward-sensing sensor;
wherein the vehicular control system is operable to control driving of the vehicle at least in part responsive to processing by the vehicular control system of (i) the image data captured by the forward-viewing camera, (ii) the sensor data captured by the forward-sensing sensor and (iii) the in-cabin data captured by the cabin-sensing sensor;
wherein, with the vehicular control system controlling driving of the vehicle, and responsive at least in part to processing at the ECU of the image data captured by the forward-viewing camera and the sensor data captured by the forward-sensing sensor, the vehicular control system determines a triggering event that triggers handing over driving of the vehicle to a driver of the vehicle before the vehicle encounters an event point associated with the triggering event;
wherein, responsive at least in part to determination of the triggering event, the vehicular control system (i) determines a total action time available before the vehicle encounters the event point, (ii) estimates a driver takeover time for the driver to take over control of the vehicle and (iii) estimates a handling time for the driver to control the vehicle to avoid encountering the event point;
wherein, responsive to the vehicular control system determining that the estimated driver takeover time is greater than the difference between the determined total action time and the estimated handling time, the vehicular control system maneuvers the vehicle to a stopping location; and
wherein, responsive to the vehicular control system determining that the estimated driver takeover time is less than the difference between the determined total action time and the estimated handling time, control of the vehicle is handed over to the driver of the vehicle.