# US 12,005,845 B2 · Vehicular control system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,005,845 B2 - Document ID: US12005845B2 - Status: Granted - Kind: B2 - Application number: 17/445,100 - Filed: 2021-08-16 - Published: 2021-12-02 - Granted: 2024-06-11 - Earliest claimed: 2008-07-24 - Assignees: Magna Electronics Inc. - Applicants: Magna Electronics, Inc. - Inventors: Michael J. Higgins-Luthman; Yuesheng Lu - Web page: https://patentgrep.com/patent/US12005845B2 ## CPC - B60R 16/0236: {for economical driving} - B60W 50/0097: {Predicting future conditions} - B60Q 1/1423: {Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic} - B60Q 1/143: {combined with another condition, e.g. using vehicle recognition from camera images or activation of wipers} - B60R 1/00: Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles - B60R 1/062: with remote control for adjusting position {(B60R1/0607 takes precedence)} - B60R 1/12: Mirror assemblies combined with other articles, e.g. clocks - B60R 1/23: with a predetermined field of view - B60R 16/03: for supply of electrical power to vehicle subsystems {or for (circuit arrangements for charging batteries H02J7/00)} - B60W 30/16: Control of distance between vehicles, e.g. keeping a distance to preceding vehicle - B60W 40/06: Road conditions - G06V 20/56: exterior to a vehicle by using sensors mounted on the vehicle - G06V 40/10: Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands - H04N 7/18: Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast - H04N 23/56: provided with illuminating means - H04N 23/63: by using electronic viewfinders - H04N 23/65: Control of camera operation in relation to power supply - B60Q 2300/054: Variable non-standard intensity, i.e. emission of various beam intensities different from standard intensities, e.g. continuous or stepped transitions of intensity - B60R 2001/1215: {with information displays} - B60R 2300/105: using multiple cameras - B60R 2300/307: virtually distinguishing relevant parts of a scene from the background of the scene - B60R 2300/8093: for obstacle warning - B60W 2552/00: Input parameters relating to infrastructure - B60W 2552/30: Road curve radius - B60W 2552/40: Coefficient of friction - B60W 2552/53: Road markings, e.g. lane marker or crosswalk - B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR - 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 - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION ## Abstract A vehicular control system includes a camera disposed at an in-cabin side of a windshield of a vehicle, the camera viewing forward of the vehicle through the windshield, and the camera capturing image data representative of at least an upcoming road surface of a road ahead of the vehicle. The vehicular control system, via processing at an image processor of image data captured by the camera, determines traction condition of at least a portion of the imaged upcoming road surface that is ahead of the vehicle. The vehicular control system, via processing at the image processor of captured image data, determines a change in traction condition ahead of the vehicle and adjusts an adaptive cruise control system of the vehicle responsive at least in part to the determined change in traction condition ahead of the vehicle. ## Claims ### Claim 1 A vehicular control system, the vehicular control system comprising: a camera disposed at an in-cabin side of a windshield of a vehicle equipped with the vehicular control system, the camera viewing forward of the equipped vehicle through the windshield, the camera capturing image data representative of at least an upcoming road surface of a road ahead of the equipped vehicle; an image processor processing image data captured by the camera as the equipped vehicle travels along the road; wherein the vehicular control system, via processing at the image processor of captured image data, determines a leading vehicle traveling along a traffic lane of the road ahead of the equipped vehicle; wherein the vehicular control system, via processing at the image processor of captured image data, detects lateral movement of the leading vehicle relative to the traffic lane that is indicative of sliding of the leading vehicle on the upcoming road surface that is ahead of the equipped vehicle; wherein the vehicular control system, responsive to detecting the lateral movement of the leading vehicle, determines traction condition of at least a portion of the imaged upcoming road surface that is ahead of the equipped vehicle; and wherein the vehicular control system, via processing at the image processor of captured image data, determines a change in traction condition ahead of the equipped vehicle and adjusts an adaptive cruise control system of the equipped vehicle responsive at least in part to the determined change in traction condition ahead of the equipped vehicle. ### Claim 2 (depends on 1) The vehicular control system of claim 1, wherein, at least in part via processing at the image processor of captured image data, the vehicular control system determines a targeted separation gap between the equipped vehicle and the leading vehicle, and wherein the adaptive cruise control system controls the equipped vehicle to maintain a separation gap between the equipped vehicle and the leading vehicle at the determined targeted separation gap. ### Claim 3 (depends on 2) The vehicular control system of claim 2, wherein, at least in part responsive to determination of the change in traction condition ahead of the equipped vehicle, the vehicular control system adjusts the determined targeted separation gap. ### Claim 4 (depends on 3) The vehicular control system of claim 3, wherein the vehicular control system increases the determined targeted separation gap responsive at least in part to the determined change in traction condition being indicative of a reduction in traction at the upcoming road surface that is ahead of the equipped vehicle. ### Claim 5 (depends on 3) The vehicular control system of claim 3, wherein the vehicular control system increases the determined targeted separation gap responsive at least in part to the determined change in traction condition being indicative of water on the upcoming road surface that is ahead of the equipped vehicle. ### Claim 6 (depends on 3) The vehicular control system of claim 3, wherein the vehicular control system increases the determined targeted separation gap responsive at least in part to the determined change in traction condition being indicative of road irregularities of the upcoming road surface that is ahead of the equipped vehicle. ### Claim 7 (depends on 3) The vehicular control system of claim 3, wherein the vehicular control system adjusts the determined targeted separation gap responsive at least in part to the determined change in traction condition being indicative of a change in type of the upcoming road surface that is ahead of the equipped vehicle. ### Claim 8 (depends on 3) The vehicular control system of claim 3, wherein the vehicular control system increases the determined targeted separation gap responsive at least in part to determination of a curve in the road ahead of the equipped vehicle. ### Claim 9 (depends on 8) The vehicular control system of claim 8, wherein the vehicular control system increases the determined targeted separation gap responsive to the detection of lateral movement of the leading vehicle that is indicative of sliding of the leading vehicle on the upcoming road surface that is ahead of the equipped vehicle. ### Claim 10 (depends on 2) The vehicular control system of claim 2, wherein the determined targeted separation gap is adjusted based in part on a current driving condition. ### Claim 11 (depends on 2) The vehicular control system of claim 2, wherein the vehicular control system adjusts the determined targeted separation gap based in part on a driving capability of a driver of the equipped vehicle. ### Claim 12 (depends on 11) The vehicular control system of claim 11, wherein the vehicular control system determines the driving capability of the driver of the equipped vehicle responsive at least in part to a driver monitoring system of the equipped vehicle. ### Claim 13 (depends on 1) The vehicular control system of claim 1, wherein the vehicular control system determines traction condition based, at least in part, on an estimation of a friction condition at the imaged upcoming road surface that is ahead of the equipped vehicle. ### Claim 14 (depends on 13) The vehicular control system of claim 13, wherein the vehicular control system utilizes an estimation of a tire contribution to the friction condition when estimating the friction condition. ### Claim 15 (depends on 1) The vehicular control system of claim 1, wherein the vehicular control system determines traction condition based, at least in part, on a detection of movement of an object on the upcoming road surface that is ahead of the equipped vehicle. ### Claim 16 (depends on 15) The vehicular control system of claim 15, wherein, responsive to a detection of movement of an object that is indicative of sliding by the object, the vehicular control system determines that traction condition is reduced ahead of the equipped vehicle. ### Claim 17 (depends on 16) The vehicular control system of claim 16, wherein the vehicular control system reduces a speed setting of the adaptive cruise control system of the equipped vehicle responsive to determination that traction condition is reduced ahead of the equipped vehicle. ### Claim 18 (depends on 1) The vehicular control system of claim 1, wherein the vehicular control system adjusts a speed setting of the adaptive cruise control system of the equipped vehicle responsive to the determined change in traction condition ahead of the equipped vehicle. ### Claim 19 (depends on 18) The vehicular control system of claim 18, wherein the vehicular control system changes a targeted separation gap between the equipped vehicle and the leading vehicle ahead of the equipped vehicle based, at least in part, on an estimated stopping distance of the equipped vehicle. ### Claim 20 (depends on 19) The vehicular control system of claim 19, wherein the estimated stopping distance is estimated based, at least in part, on the speed of the equipped vehicle and the determined traction condition ahead of the equipped vehicle. ### Claim 21 (depends on 1) The vehicular control system of claim 1, wherein the vehicular control system processes image data captured by the camera for at least one selected from the group consisting of (i) a lane departure warning of the equipped vehicle, (ii) a forward collision warning of the equipped vehicle, (iii) a headlamp control system of the equipped vehicle and (iv) a traffic sign recognition system of the equipped vehicle. ### Claim 22 A vehicular control system, the vehicular control system comprising: a camera disposed at an in-cabin side of a windshield of a vehicle equipped with the vehicular control system, the camera viewing forward of the equipped vehicle through the windshield, the camera capturing image data representative of at least an upcoming road surface of a road ahead of the equipped vehicle; an image processor processing image data captured by the camera as the equipped vehicle travels along the road; wherein the vehicular control system, via processing at the image processor of captured image data, determines a leading vehicle traveling along a traffic lane of the road ahead of the equipped vehicle; wherein the vehicular control system, via processing at the image processor of captured image data, detects lateral movement of the leading vehicle relative to the traffic lane that is indicative of sliding of the leading vehicle on the upcoming road surface that is ahead of the equipped vehicle; wherein the vehicular control system, responsive to detecting the lateral movement of the leading vehicle, determines traction condition of at least a portion of the imaged upcoming road surface that is ahead of the equipped vehicle; wherein the vehicular control system, via processing at the image processor of captured image data, determines a change in traction condition ahead of the equipped vehicle and adjusts an adaptive cruise control system of the equipped vehicle responsive at least in part to the determined change in traction condition ahead of the equipped vehicle; and wherein the vehicular control system processes image data captured by the camera for (a) a headlamp control system of the equipped vehicle and (b) at least one selected from the group consisting of (i) a lane departure warning of the equipped vehicle, (ii) a forward collision warning of the equipped vehicle and (iii) a traffic sign recognition system of the equipped vehicle. ### Claim 23 (depends on 22) The vehicular control system of claim 22, wherein, at least in part via processing at the image processor of captured image data, the vehicular control system determines a targeted separation gap between the equipped vehicle and the leading vehicle, and wherein the adaptive cruise control system controls the equipped vehicle to maintain a separation gap between the equipped vehicle and the leading vehicle at the determined targeted separation gap. ### Claim 24 (depends on 23) The vehicular control system of claim 23, wherein, at least in part responsive to determination of the change in traction condition ahead of the equipped vehicle, the vehicular control system adjusts the determined targeted separation gap. ### Claim 25 (depends on 24) The vehicular control system of claim 24, wherein the vehicular control system increases the determined targeted separation gap responsive at least in part to the determined change in traction condition being indicative of a reduction in traction at the upcoming road surface that is ahead of the equipped vehicle. ### Claim 26 (depends on 24) The vehicular control system of claim 24, wherein the vehicular control system increases the determined targeted separation gap responsive at least in part to the determined change in traction condition being indicative of water on the upcoming road surface that is ahead of the equipped vehicle. ### Claim 27 (depends on 24) The vehicular control system of claim 24, wherein the vehicular control system increases the determined targeted separation gap responsive at least in part to the determined change in traction condition being indicative of road irregularities of the upcoming road surface that is ahead of the equipped vehicle. ### Claim 28 (depends on 24) The vehicular control system of claim 24, wherein the vehicular control system adjusts the determined targeted separation gap responsive at least in part to the determined change in traction condition being indicative of a change in type of the upcoming road surface that is ahead of the equipped vehicle. ### Claim 29 (depends on 24) The vehicular control system of claim 24, wherein the vehicular control system increases the determined targeted separation gap responsive at least in part to determination of a curve in the road ahead of the equipped vehicle. ### Claim 30 (depends on 29) The vehicular control system of claim 29, wherein the vehicular control system increases the determined targeted separation gap responsive to the detection of lateral movement of the leading vehicle that is indicative of sliding of the leading vehicle on the upcoming road surface that is ahead of the equipped vehicle. ### Claim 31 (depends on 23) The vehicular control system of claim 23, wherein the determined targeted separation gap is adjusted based in part on a current driving condition. ### Claim 32 (depends on 23) The vehicular control system of claim 23, wherein the vehicular control system adjusts the determined targeted separation gap based in part on a driving capability of a driver of the equipped vehicle. ### Claim 33 (depends on 22) The vehicular control system of claim 22, wherein the vehicular control system adjusts a speed setting of the adaptive cruise control system of the equipped vehicle responsive to the determined change in traction condition ahead of the equipped vehicle. ### Claim 34 A vehicular control system, the vehicular control system comprising: a camera disposed at an in-cabin side of a windshield of a vehicle equipped with the vehicular control system, the camera viewing forward of the equipped vehicle through the windshield, the camera capturing image data representative of at least an upcoming road surface of a road ahead of the equipped vehicle; an image processor processing image data captured by the camera as the equipped vehicle travels along the road; wherein the vehicular control system, via processing at the image processor of captured image data, determines a leading vehicle traveling along a traffic lane of the road ahead of the equipped vehicle; wherein the vehicular control system, via processing at the image processor of captured image data, detects lateral movement of the leading vehicle relative to the traffic lane that is indicative of sliding of the leading vehicle on the upcoming road surface that is ahead of the equipped vehicle; wherein the vehicular control system, responsive to detecting the lateral movement of the leading vehicle, determines traction condition of at least a portion of the imaged upcoming road surface that is ahead of the equipped vehicle; wherein the vehicular control system, via processing at the image processor of captured image data, determines a change in traction condition ahead of the equipped vehicle and adjusts a speed setting of an adaptive cruise control system of the equipped vehicle responsive at least in part to the determined change in traction condition ahead of the equipped vehicle; and wherein the vehicular control system determines a driving capability of a driver of the equipped vehicle responsive at least in part to a driver monitoring system of the equipped vehicle. ### Claim 35 (depends on 34) The vehicular control system of claim 34, wherein, at least in part via processing at the image processor of captured image data, the vehicular control system determines a targeted separation gap between the equipped vehicle and the leading vehicle, and wherein the adaptive cruise control system controls the equipped vehicle to maintain a separation gap between the equipped vehicle and the leading vehicle at the determined targeted separation gap. ### Claim 36 (depends on 35) The vehicular control system of claim 35, wherein, at least in part responsive to determination of the change in traction condition ahead of the equipped vehicle, the vehicular control system adjusts the determined targeted separation gap. ### Claim 37 (depends on 36) The vehicular control system of claim 36, wherein the vehicular control system increases the determined targeted separation gap responsive at least in part to the determined change in traction condition being indicative of a reduction in traction at the upcoming road surface that is ahead of the equipped vehicle. ### Claim 38 (depends on 36) The vehicular control system of claim 36, wherein the vehicular control system increases the determined targeted separation gap responsive at least in part to the determined change in traction condition being indicative of water on the upcoming road surface that is ahead of the equipped vehicle. ### Claim 39 (depends on 36) The vehicular control system of claim 36, wherein the vehicular control system increases the determined targeted separation gap responsive at least in part to the determined change in traction condition being indicative of road irregularities of the upcoming road surface that is ahead of the equipped vehicle. ### Claim 40 (depends on 36) The vehicular control system of claim 36, wherein the vehicular control system adjusts the determined targeted separation gap responsive at least in part to the determined change in traction condition being indicative of a change in type of the upcoming road surface that is ahead of the equipped vehicle. ### Claim 41 (depends on 34) The vehicular control system of claim 34, wherein the vehicular control system adjusts the speed setting of the adaptive cruise control system of the equipped vehicle based in part on the determined driving capability of the driver of the equipped vehicle. ### Claim 42 (depends on 34) The vehicular control system of claim 34, wherein the vehicular control system processes image data captured by the camera for at least one selected from the group consisting of (i) a lane departure warning of the equipped vehicle, (ii) a forward collision warning of the equipped vehicle, (iii) a headlamp control system of the equipped vehicle and (iv) a traffic sign recognition system of the equipped vehicle.