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US 2026/0103236 A1Published application
Vehicular driving assist system
AssigneeMagna Electronics Inc.
InventorsArpit Awathe, Tejas Murlidhar Varunjikar, Arihant Jain
Life of this patent
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Abstract
A vehicular driving assist system includes a camera disposed at a vehicle. The vehicular driving assist system, at least in part processing of image data captured by the camera, determines a target path of travel ahead of the vehicle. The vehicular driving assist system determines vehicle state information from a respective vehicle state source of a plurality of vehicle state sources of the vehicle based at least in part on a current environmental condition at the vehicle The vehicular driving assist system estimates curvature of a current trajectory of travel of the vehicle based at least in part on the determined vehicle state information.
Claims20
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 viewing at least forward of the equipped vehicle, wherein the camera is operable to capture image data;
- an electronic control unit (ECU) comprising electronic circuitry and associated software;
- wherein image data captured by the camera is transferred to the ECU;
- wherein the electronic circuitry of the ECU comprises an image processor, and wherein the image processor is operable to process image data captured by the camera and transferred to the ECU;
- wherein the vehicular driving assist system, at least in part via processing at the ECU of image data captured by the camera and transferred to the ECU, determines a target path of travel ahead of the equipped vehicle along a road on which the equipped vehicle is traveling;
- wherein the vehicular driving assist system determines vehicle state information from a respective vehicle state source of a plurality of vehicle state sources of the equipped vehicle based at least in part on a current environmental condition at the equipped vehicle;
- and
- wherein the vehicular driving assist system estimates curvature of a current trajectory of travel of the equipped vehicle based at least in part on the determined vehicle state information.
5 more elements
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 viewing at least forward of the equipped vehicle, wherein the camera is operable to capture image data;
- an electronic control unit (ECU) comprising electronic circuitry and associated software;
- wherein image data captured by the camera is transferred to the ECU;
- wherein the electronic circuitry of the ECU comprises an image processor, and wherein the image processor is operable to process image data captured by the camera and transferred to the ECU;
- wherein the vehicular driving assist system, at least in part via processing at the ECU of image data captured by the camera and transferred to the ECU, determines a target path of travel ahead of the equipped vehicle along a road on which the equipped vehicle is traveling;
- wherein the vehicular driving assist system determines vehicle state information from a respective vehicle state source of a plurality of vehicle state sources of the equipped vehicle based at least in part on a current environmental condition at the equipped vehicle;
- wherein the determined vehicle state information comprises at least one selected from the group consisting of (i) yaw rate of the equipped vehicle, (ii) steering angle of the equipped vehicle and (iii) lateral acceleration of the equipped vehicle;
- wherein the current environmental condition comprises at least one selected from the group consisting of (i) grade of the road on which the equipped vehicle is traveling, (ii) camber of the road on which the equipped vehicle is traveling and (iii) wind conditions at the equipped vehicle;
- wherein the vehicular driving assist system estimates curvature of a current trajectory of travel of the equipped vehicle based at least in part on the determined vehicle state information;
- and
- wherein the vehicular driving assist system controls steering of the equipped vehicle based at least in part on (i) the determined target path of travel and (ii) the estimated curvature of the current trajectory of travel of the equipped vehicle to maneuver the equipped vehicle along the determined target path of travel.
8 more elements
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 viewing at least forward of the equipped vehicle, wherein the camera is operable to capture image data;
- an electronic control unit (ECU) comprising electronic circuitry and associated software;
- wherein image data captured by the camera is transferred to the ECU;
- wherein the electronic circuitry of the ECU comprises an image processor, and wherein the image processor is operable to process image data captured by the camera and transferred to the ECU;
- wherein the vehicular driving assist system comprises a lane centering assist system of the equipped vehicle;
- wherein the vehicular driving assist system, at least in part via processing at the ECU of image data captured by the camera and transferred to the ECU, determines a target path of travel ahead of the equipped vehicle along the center of a traffic lane of a road on which the equipped vehicle is traveling;
- wherein the vehicular driving assist system determines vehicle state information from a respective vehicle state source of a plurality of vehicle state sources of the equipped vehicle based at least in part on a current environmental condition at the equipped vehicle;
- wherein the vehicular driving assist system estimates curvature of a current trajectory of travel of the equipped vehicle based at least in part on the determined vehicle state information;
- wherein the vehicular driving assist system controls steering of the equipped vehicle based at least in part on (i) the determined target path of travel and (ii) the estimated curvature of the current trajectory of travel of the equipped vehicle to maneuver the equipped vehicle along the determined target path of travel;
- and
- wherein the vehicular driving assist system comprises a proportional-integral-derivative (PID) controller to correct error in the estimated curvature of the current trajectory of travel of the equipped vehicle.
8 more elements
Dependencies are inferred from the claim text.