# US 10,870,426 B2 · Driving assistance system with rear collision mitigation > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,870,426 B2 - Document ID: US10870426B2 - Status: Granted - Kind: B2 - Application number: 16/014,562 - Filed: 2018-06-21 - Published: 2018-12-27 - Granted: 2020-12-22 - Earliest claimed: 2017-06-22 - Assignees: Magna Electronics Inc. - Applicants: Magna Electronics Inc. - Inventors: Martin Rachor - Web page: https://patentgrep.com/patent/US10870426B2 ## CPC - B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering - B60Q 9/008: {for anti-collision purposes} - B60W 30/16: Control of distance between vehicles, e.g. keeping a distance to preceding vehicle - B60W 30/18163: {Lane change; Overtaking manoeuvres} - B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention - B60W 2420/40: Photo, light or radio wave sensitive means, e.g. infrared sensors - B60W 2520/10: Longitudinal speed - B60W 2554/80: Spatial relation or speed relative to objects - B60W 2554/801: Lateral distance - B60W 2754/30: Longitudinal distance - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - B60Q: ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL ## Abstract A vehicular control system for a vehicle includes a plurality of sensors disposed at the vehicle and having respective fields of sensing exterior of the vehicle. A control includes a processor that is operable to process sensor data captured by the sensors. The control, responsive at least in part to processing of sensor data captured by the sensors, determines a rearward approaching vehicle rearward of the equipped vehicle and traveling at a speed greater than the equipped vehicle. The control determines a speed of the equipped vehicle and the control determines a speed of the determined rearward approaching vehicle. At least in part responsive to determination of the rearward approaching vehicle, the control controls the equipped vehicle to accelerate the equipped vehicle to at least the determined speed of the determined rearward approaching vehicle. ## Claims ### Claim 1 A vehicular control system for a vehicle, said vehicular control system comprising: a plurality of sensors disposed at a vehicle and having respective fields of sensing exterior of the vehicle; a control comprising a processor operable to process sensor data captured by said sensors; wherein said control determines a speed of the equipped vehicle; wherein said control, responsive at least in part to processing of sensor data captured by at least one rearward sensing sensor of said plurality of said sensors, determines a rearward approaching vehicle rearward of the equipped vehicle and traveling at a speed greater than the speed of the equipped vehicle and in an adjacent traffic lane immediately adjacent to a traffic line in which the equipped vehicle is traveling; wherein said control, responsive at least in part to processing of sensor data captured by at least one forward sensing sensor of said plurality of sensors, determines a leading vehicle ahead of the equipped vehicle and traveling in the traffic lane that the equipped vehicle is traveling in and at a speed slower than the speed of the equipped vehicle; and wherein, at least in part responsive to determination of the rearward approaching vehicle and determination of free space in the adjacent traffic lane ahead of the determined rearward approaching vehicle, said control controls the equipped vehicle to accelerate the equipped vehicle to at least the determined speed of the determined rearward approaching vehicle and to maneuver into the adjacent traffic lane to pass the determined leading vehicle ahead of the determined rearward approaching vehicle. ### Claim 2 (depends on 1) The vehicular control system of claim 1, wherein said control controls the equipped vehicle by generating an alert to a driver of the equipped vehicle, whereby the driver maneuvers the equipped vehicle to accelerate the equipped vehicle and/or to maneuver the equipped vehicle into the adjacent traffic lane. ### Claim 3 (depends on 1) The vehicular control system of claim 1, wherein said plurality of sensors comprises a plurality of cameras having respective fields of view exterior the equipped vehicle. ### Claim 4 (depends on 1) The vehicular control system of claim 1, wherein said control determines the speed of the equipped vehicle based at least in part on a speed sensor of the equipped vehicle. ### Claim 5 (depends on 1) The vehicular control system of claim 1, wherein said control determines the speed of the determined rearward approaching vehicle based at least in part on the determined speed of the equipped vehicle. ### Claim 6 A vehicular control system for a vehicle, said vehicular control system comprising: a plurality of sensors disposed at a vehicle and having respective fields of sensing exterior of the vehicle, wherein said plurality of sensors comprises (i) at least one camera having a field of view rearward of the equipped vehicle and (ii) at least one non-imaging sensor having a field of sensing rearward of the equipped vehicle; a control comprising a processor operable to process sensor data captured by said sensors; wherein said control determines a speed of the equipped vehicle; wherein said control, responsive at least in part to processing of sensor data captured by at least one rearward sensing sensor of said plurality of sensors, determines a rearward approaching vehicle rearward of the equipped vehicle and traveling at a speed greater than the speed of the equipped vehicle; wherein said control determines a speed of the determined rearward approaching vehicle; wherein said control, responsive at least in part to processing of sensor data captured by a forward sensing sensor of the equipped vehicle, determines a leading vehicle ahead of the equipped vehicle and traveling in the traffic lane that the equipped vehicle is traveling in and at a speed slower than the speed of the equipped vehicle; wherein, at least in part responsive to determination of the rearward approaching vehicle, said control controls the equipped vehicle to accelerate the equipped vehicle to at least the determined speed of the determined rearward approaching vehicle; and wherein, at least in part responsive to determination of the rearward approaching vehicle and determination of free space in the adjacent traffic lane, said control controls the equipped vehicle to maneuver the equipped vehicle into the adjacent traffic lane immediately adjacent the lane in which the equipped vehicle is traveling and to maneuver into the adjacent traffic lane to pass the determined leading vehicle ahead of the determined rearward approaching vehicle. ### Claim 7 (depends on 6) The vehicular control system of claim 6, wherein said control controls the equipped vehicle to maneuver the equipped vehicle into the adjacent traffic lane responsive at least in part to determination that the determined rearward approaching vehicle is in the adjacent traffic lane. ### Claim 8 A vehicular control system for a vehicle, said vehicular control system comprising: a plurality of sensors disposed at a vehicle and having respective fields of sensing exterior of the vehicle, wherein said plurality of sensors comprises at least one sensor selected from the group consisting of (i) at least one camera having a field of view rearward of the equipped vehicle and (ii) at least one non-imaging sensor having a field of sensing rearward of the equipped vehicle; a control comprising a processor operable to process sensor data captured by said sensors; wherein said control determines a speed of the equipped vehicle; wherein said control, responsive at least in part to processing of sensor data captured by at least one rearward sensing sensor of said plurality of said sensors, determines a rearward approaching vehicle rearward of the equipped vehicle and traveling at a speed greater than the speed of the equipped vehicle and in an adjacent traffic lane immediately adjacent to a traffic line in which the equipped vehicle is traveling; wherein said control determines a speed of the determined rearward approaching vehicle; wherein said control, responsive at least in part to processing of sensor data captured by at least one forward sensing sensor of the equipped vehicle, determines a leading vehicle ahead of the equipped vehicle and traveling in the traffic lane that the equipped vehicle is traveling in and at a speed slower than the speed of the equipped vehicle; wherein, at least in part responsive to determination of the rearward approaching vehicle, said control controls the equipped vehicle to accelerate the equipped vehicle to at least the determined speed of the determined rearward approaching vehicle; wherein, at least in part responsive to determination of the rearward approaching vehicle and determination of free space in the adjacent traffic lane, said control controls the equipped vehicle to maneuver the equipped vehicle into the adjacent traffic lane immediately adjacent the lane in which the equipped vehicle is traveling to pass the determined leading vehicle ahead of the determined rearward approaching vehicle; and wherein said control controls the equipped vehicle to maneuver the equipped vehicle into the adjacent lane at least in part responsive to determination that the determined rearward approaching vehicle is in the adjacent traffic lane.