Patent ID: 11972615
Assignee: MAGNA ELECTRONICS INC.
Field: Transport (Mechanical engineering)
Classification: CPC G  B | IPC B  G

Claim 0:
1. A vehicular control system, the vehicular control system comprising:
a camera housed in a camera module;
wherein the camera module is disposed behind a windshield of a vehicle equipped with the vehicular control system, the camera viewing through the windshield forward of the equipped vehicle and operable to capture image data;
wherein the camera comprises an imaging sensor comprising at least one million photosensor elements arranged in a two dimensional array of columns and rows;
a radar sensor disposed at the equipped vehicle, the radar sensor sensing forward of the vehicle and operable to capture radar data;
a processor operable to (i) process image data captured by the camera to detect an approaching vehicle present forward of the equipped vehicle that is travelling on a road that the equipped vehicle is travelling along, and that is approaching an intersection of another road with the road that the equipped vehicle is travelling along, and (ii) process radar data captured by the radar sensor;
wherein the approaching vehicle is detected by the vehicular control system via at least one selected from the group consisting of (i) processing at the processor of image data captured by the camera and (ii) processing at the processor of radar data captured by the radar sensor;
wherein the vehicular control system determines a projected path of travel of the equipped vehicle, the projected path of travel of the equipped vehicle comprising a turn by the equipped vehicle at the intersection and across a traffic lane of the road along which both the approaching vehicle and the equipped vehicle are traveling along;
wherein the vehicular control system determines estimated time to arrival of the approaching vehicle at the intersection;
wherein, responsive at least in part to determination that, while proceeding along the projected path of travel of the equipped vehicle, the equipped vehicle will not complete the turn at the intersection before the estimated time to arrival of the approaching vehicle at the intersection elapses, the vehicular control system determines that it is not safe to proceed along the projected path of travel;
wherein the vehicular control system determines that it is not safe to proceed along the projected path of travel responsive at least in part to (i) determination that, while proceeding along the projected path of travel of the equipped vehicle, the equipped vehicle will complete the turn at the intersection before the estimated time to arrival of the approaching vehicle at the intersection elapses and (ii) determination that an object is present in the projected path of travel of the equipped vehicle via at least one selected from the group consisting of (a) processing at the processor of captured image data and (b) processing at the processor of captured radar data; and
wherein the vehicular control system determines that it is safe for the equipped vehicle to proceed along the projected path of travel responsive at least in part to (i) determination that, while proceeding along the projected path of travel of the equipped vehicle, the equipped vehicle will complete the turn at the intersection before the estimated time to arrival of the approaching vehicle at the intersection elapses and (ii) determination that no object is present in the projected path of travel of the equipped vehicle via at least one selected from the group consisting of (a) processing at the processor of captured image data and (b) processing at the processor of captured radar data.