Vehicular driving assistance system with lateral motion control

A vehicular driving assistance system, the vehicular driving assistance system comprising:

• a camera disposed at a vehicle equipped with the vehicular driving assistance system and viewing exterior of the vehicle, the camera capturing image data;
• wherein the camera comprises a CMOS imaging array, and wherein the CMOS imaging array comprises at least one million photosensors arranged in rows and columns;
• an electronic control unit (ECU) comprising electronic circuitry and associated software;
• wherein the electronic circuitry of the ECU comprises an image processor for processing image data captured by the camera;
• wherein the vehicular driving assistance system, via processing at the ECU of image data captured by the camera as the vehicle travels along a first traffic lane of a road, determines a first target lateral position of the vehicle within the first traffic lane;
• wherein the vehicular driving assistance system, responsive to determining the first target lateral position for the vehicle within the first traffic lane, determines a first steering command to position the vehicle at the first target lateral position within the first traffic lane as the vehicle travels along the first traffic lane;
• wherein the vehicular driving assistance system, before completing execution of the first steering command to maneuver the vehicle toward the first target lateral position, determines a steering angle offset that comprises an amount of error of the first steering command;
• wherein the vehicular driving assistance system stores the determined steering angle offset in nonvolatile memory disposed at the vehicle;
• wherein the vehicular driving assistance system, after storing the determined steering angle offset and when the vehicle is traveling along a second traffic lane during a subsequent trip, determines a second target lateral position for the vehicle within the second traffic lane;
• wherein the vehicular driving assistance system, responsive to determining the second target lateral position for the vehicle within the second traffic lane, determines a second steering command to position the vehicle at the second target lateral position within the second traffic lane as the vehicle travels along the second traffic lane;
• and
• wherein the vehicular driving assistance system, responsive to determining the second target lateral position of the vehicle within the second traffic lane, applies the stored determined steering angle offset to the second steering command to position the vehicle at the second target lateral position within the second traffic lane as the vehicle travels along the second traffic lane.

A vehicular driving assistance system, the vehicular driving assistance system comprising:

• a camera disposed at a vehicle equipped with the vehicular driving assistance system and viewing exterior of the vehicle, the camera capturing image data;
• wherein the camera comprises a CMOS imaging array, and wherein the CMOS imaging array comprises at least one million photosensors arranged in rows and columns;
• an electronic control unit (ECU) comprising electronic circuitry and associated software;
• wherein the electronic circuitry of the ECU comprises an image processor for processing image data captured by the camera;
• wherein the vehicular driving assistance system, via processing at the ECU of image data captured by the camera as the vehicle travels along a first traffic lane of a road, determines a first target lateral position of the vehicle within the first traffic lane;
• wherein the vehicular driving assistance system, responsive to determining the first target lateral position for the vehicle within the first traffic lane, determines a first steering command to position the vehicle at the first target lateral position within the first traffic lane as the vehicle travels along the first traffic lane;
• wherein the vehicular driving assistance system, after beginning execution of the first steering command to maneuver the vehicle toward the first target lateral position and when (i) a current speed of the vehicle exceeds a threshold speed and (ii) a current yaw rate of the vehicle is below a threshold yaw rate, determines a steering angle offset that comprises an amount of error of the first steering command;
• wherein the vehicular driving assistance system stores the determined steering angle offset in nonvolatile memory disposed at the vehicle;
• wherein the vehicular driving assistance system, after storing the determined steering angle offset and when the vehicle is traveling along a second traffic lane, determines a second target lateral position for the vehicle within the second traffic lane;
• wherein the vehicular driving assistance system, responsive to determining the second target lateral position for the vehicle within the second traffic lane, determines a second steering command to position the vehicle at the second target lateral position within the second traffic lane as the vehicle travels along the second traffic lane;
• and
• wherein the vehicular driving assistance system, responsive to determining the second target lateral position of the vehicle within the second traffic lane, applies the stored determined steering angle offset to the second steering command to position the vehicle at the second target lateral position within the second traffic lane as the vehicle travels along the second traffic lane.