Vehicular driving assist system

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

• a forward-viewing camera disposed at an in-cabin side of a windshield of a vehicle equipped with the vehicular driving assistance system, wherein the forward-viewing camera is disposed behind the windshield of the vehicle and views forward of the vehicle through the windshield;
• wherein the forward-viewing camera comprises a two-dimensional imaging array having at least one million photosensor elements arranged in rows and columns;
• wherein the forward-viewing camera is operable to capture image data;
• an image processor for processing image data captured by the forward-viewing camera;
• wherein the vehicular driving assistance system, via processing by the image processor of image data captured by the forward-viewing camera, determines traffic lane marking information ahead of the vehicle on a road along which the vehicle is traveling;
• wherein the vehicular driving assistance system determines reliability of the determined traffic lane marking information;
• a predictive sensor that uses map data to predict the road ahead of the vehicle;
• a plurality of radar sensors disposed at the vehicle, wherein the plurality of radar sensors is operable to capture radar data;
• an advanced driving-assistance system (ADAS) controller;
• wherein, responsive to the determined reliability of the determined traffic lane marking information being greater than or equal to a threshold reliability level, the ADAS controller generates ADAS control signals based at least in part on (i) processing of image data captured by the forward-viewing camera and (ii) processing of radar data captured by the plurality of radar sensors;
• wherein, responsive to the determined reliability of the determined traffic lane marking information being less than the threshold reliability level, and based at least in part on a determined target path for the vehicle to follow based on the radar data, the ADAS controller generates the ADAS control signals based at least in part on an output of the predictive sensor;
• and
• wherein the ADAS control signals comprise (i) a steering command to control steering of the vehicle and (ii) an acceleration command to control speed of the vehicle;
• and
• wherein the determined reliability of the determined traffic lane marking information is indicated by a watchdog timer, and wherein the determined reliability of the determined traffic lane marking information is (i) above the threshold reliability level while the watchdog timer is operating and (ii) below the threshold reliability level when the watchdog timer is not operating.

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

• a forward-viewing camera disposed at an in-cabin side of a windshield of a vehicle equipped with the vehicular driving assistance system, wherein the forward-viewing camera is disposed behind the windshield of the vehicle and views forward of the vehicle through the windshield;
• wherein the forward-viewing camera comprises a two-dimensional imaging array having at least one million photosensor elements arranged in rows and columns;
• wherein the forward-viewing camera is operable to capture image data;
• an image processor for processing image data captured by the forward-viewing camera;
• wherein the vehicular driving assistance system, via processing by the image processor of image data captured by the forward-viewing camera, determines traffic lane marking information ahead of the vehicle on a road along which the vehicle is traveling;
• wherein the vehicular driving assistance system determines reliability of the determined traffic lane marking information;
• a predictive sensor that uses map data to predict the road ahead of the vehicle;
• a plurality of radar sensors disposed at the vehicle, wherein the plurality of radar sensors is operable to capture radar data;
• an advanced driving-assistance system (ADAS) controller;
• wherein, responsive to the determined reliability being indicative of the reliability of the determined traffic lane marking information being greater than or equal to a threshold reliability level, the ADAS controller generates ADAS control signals based at least in part on (i) processing of image data captured by the forward-viewing camera and (ii) processing of radar data captured by the plurality of radar sensors;
• wherein, responsive to the determined reliability being indicative of the reliability of the determined traffic lane marking information being less than the threshold reliability level, the ADAS controller generates the ADAS control signals based at least in part on an output of the predictive sensor;
• wherein the ADAS control signals comprise (i) a steering command to control steering of the vehicle and (ii) an acceleration command to control speed of the vehicle;
• wherein the ADAS controller determines reliability of the generated ADAS control signals;
• wherein the vehicular driving assistance system, responsive to the determined reliability of the ADAS control signals being below a threshold ADAS reliability level, requests an occupant to take control of the vehicle;
• and
• wherein the determined reliability of the determined traffic lane marking information is indicated by a watchdog timer, and wherein the determined reliability of the determined traffic lane marking information is (i) above the threshold reliability level while the watchdog timer is operating and (ii) below the threshold reliability level when the watchdog timer is not operating.