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

Claim 19:
20. 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 radar sensor disposed at the vehicle and sensing forward of the vehicle, the forward-sensing radar sensor capturing radar data;
a cabin-viewing camera disposed in a cabin of the vehicle and viewing interior of the cabin of the vehicle, the cabin-viewing camera capturing in-cabin image 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 radar data captured by the forward-sensing radar 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 radar data captured by the forward-sensing radar sensor and (iii) the in-cabin image data captured by the cabin-viewing camera;
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 radar data captured by the forward-sensing radar 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 the vehicular control system estimates the driver takeover time for the driver to take over control of the vehicle based at least in part on monitoring of driver attentiveness via processing by the vehicular control system of the in-cabin image data captured by the cabin-viewing camera;
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.