Vehicular control system with vehicle control based on stored target object position and heading information

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

• a camera disposed at a vehicle equipped with the vehicular driving assist system and having a field of view at least forward 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 to detect presence of at least one other vehicle in the field of view of the camera;
• wherein, with the equipped vehicle traveling in and along a traffic lane of a road, the vehicular driving assist system, responsive to processing by the image processor of image data captured by the camera, determines a leading vehicle traveling in and along the traffic lane ahead of the equipped vehicle;
• wherein the vehicular driving assist system, responsive to processing by the image processor of image data captured by the camera, determines pose information of the leading vehicle relative to the equipped vehicle at locations along the traffic lane of the road while the leading vehicle and the equipped vehicle are traveling in and along the traffic lane of the road, and wherein the pose information comprises (i) position of the leading vehicle relative to the equipped vehicle at a location along the traffic lane of the road and (ii) heading of the leading vehicle relative to the equipped vehicle at that location along the traffic lane of the road;
• wherein, while the equipped vehicle travels in and along the traffic lane and approaches a location that corresponds with one of the locations at which respective pose information is determined, the vehicular driving assist system adapts the respective pose information to the equipped vehicle's current location and current heading to determine a trajectory to follow the leading vehicle in and along the traffic lane of the road;
• and
• wherein the vehicular driving assist system controls lateral movement of the equipped vehicle using the determined trajectory so that the equipped vehicle follows the leading vehicle in and along the traffic lane of the road.

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

• a radar sensor disposed at a vehicle equipped with the vehicular driving assist system and having a field of sensing at least forward of the vehicle, the radar sensor capturing sensor data;
• an electronic control unit (ECU) comprising electronic circuitry and associated software;
• wherein the electronic circuitry of the ECU comprises a data processor for processing sensor data captured by the radar sensor to detect presence of at least one other vehicle in the field of sensing of the radar sensor;
• wherein, with the equipped vehicle traveling in and along a traffic lane of a road, the vehicular driving assist system, responsive to processing by the data processor of sensor data captured by the radar sensor, determines, from a plurality of detected other vehicles, a leading vehicle traveling in and along the traffic lane ahead of the equipped vehicle;
• wherein the vehicular driving assist system, responsive to processing by the data processor of sensor data captured by the radar sensor, determines pose information of the leading vehicle relative to the equipped vehicle at locations along the traffic lane of the road while the leading vehicle and the equipped vehicle are traveling in and along the traffic lane of the road, and wherein the pose information comprises (i) position of the leading vehicle relative to the equipped vehicle at a location along the traffic lane of the road and (ii) heading of the leading vehicle relative to the equipped vehicle at that location along the traffic lane of the road;
• and
• wherein, while the equipped vehicle travels in and along the traffic lane and approaches a location that corresponds with one of the locations at which respective pose information is determined, the vehicular driving assist system adapts the respective pose information to the equipped vehicle's current location and current heading and controls lateral movement of the equipped vehicle so that the equipped vehicle follows the leading vehicle in and along the traffic lane of the road.