Vehicular control system
A vehicular control system includes a camera, a radar sensor and a processor operable to process image data captured by the camera and radar data captured by the radar sensor. The system determines that it is not safe to proceed with an intended turn at an intersection responsive to determination that the intended turn at the intersection will not be completed before an estimated time to arrival of an approaching vehicle at the intersection elapses and/or determination that a pedestrian is present at the intersection where the equipped vehicle will turn. The system determines that it is safe to proceed with the intended turn at the intersection responsive at least in part to determination that the intended turn at the intersection will be completed before the estimated time to arrival elapses and determination that no pedestrian is present at the intersection where the equipped vehicle will turn.
1. A vehicular control system, the vehicular control system comprising:
a camera module disposed behind a windshield of a vehicle equipped with the vehicular control system;
wherein the camera module accommodates a camera, the camera viewing through the windshield forward of the equipped vehicle and operable to capture image data;
wherein the camera comprises an imaging sensor comprising at least one million photosensor elements arranged in a two dimensional array of columns and rows;
a radar sensor disposed at the equipped vehicle, the radar sensor sensing forward of the vehicle and operable to capture radar data;
at least one processor operable (i) to process image data captured by the camera and (ii) to process radar data captured by the radar sensor;
wherein the vehicular control system, at least in part via at least one selected from the group consisting of (i) processing at the at least one processor of captured image data and (ii) processing at the at least one processor of captured radar data, detects an approaching vehicle present forward of the equipped vehicle that (i) is travelling on a road that the equipped vehicle is travelling along and (ii) is approaching an intersection where another road intersects the road along which the equipped vehicle is travelling;
wherein the vehicular control system, at least in part via at least one selected from the group consisting of (i) processing at the at least one processor of captured image data and (ii) processing at the at least one processor of captured radar data, determines an intended turn by the equipped vehicle at the intersection across a traffic lane of the road along which both the approaching vehicle and the equipped vehicle are traveling along;
wherein the vehicular control system estimates time to arrival of the approaching vehicle at the intersection;
wherein the vehicular control system determines that it is not safe for the equipped vehicle to proceed with the intended turn at the intersection responsive at least in part to at least one selected from the group consisting of (i) determination that the equipped vehicle will not complete the intended turn at the intersection before the estimated time to arrival of the approaching vehicle at the intersection elapses and (ii) determination, via at least one selected from the group consisting of (a) processing at the at least one processor of captured image data and (b) processing at the at least one processor of captured radar data, that a pedestrian is present at the intersection where the equipped vehicle will turn; and
wherein the vehicular control system determines that it is safe for the equipped vehicle to proceed with the intended turn at the intersection responsive at least in part to (i) determination that the equipped vehicle will complete the intended turn at the intersection before the estimated time to arrival of the approaching vehicle at the intersection elapses and (ii) determination, via at least one selected from the group consisting of (a) processing at the at least one processor of captured image data and (b) processing at the at least one processor of captured radar data, that no pedestrian is present at the intersection where the equipped vehicle will turn.
2. The vehicular control system of claim 1 , wherein the at least one processor comprises an image processing chip, and wherein the intended turn of the equipped vehicle at the intersection is determined at least in part by processing of captured image data by the image processing chip of the at least one processor.
3. The vehicular control system of claim 2 , wherein the camera module comprises at least one electrical connector.
4. The vehicular control system of claim 3 , wherein the camera module houses the image processing chip.
5. The vehicular control system of claim 1 , wherein estimation of the time to arrival of the approaching vehicle at the intersection is based at least in part on processing at the at least one processor of captured image data.
6. The vehicular control system of claim 1 , wherein the vehicular control system controls braking of the equipped vehicle responsive to determination that a collision may occur at the intersection.
7. The vehicular control system of claim 6 , wherein the determination that a collision may occur at the intersection comprises determination of a collision with the approaching vehicle.
8. The vehicular control system of claim 1 , wherein the vehicular control system determines a state of a traffic signal light at the intersection.
9. The vehicular control system of claim 8 , wherein the vehicular control system determines the state of the traffic signal light at the intersection via a wireless communication.
10. The vehicular control system of claim 1 , wherein the vehicular control system determines the intended turn of the equipped vehicle at the intersection in part responsive to activation of a turn signal of the equipped vehicle.
11. The vehicular control system of claim 1 , wherein the vehicular control system generates an alert to a driver of the equipped vehicle responsive to determination that it is not safe for the equipped vehicle to proceed with the intended turn at the intersection.
12. The vehicular control system of claim 1 , wherein determination of location of equipped vehicle relative to the approaching vehicle utilizes GPS data.
13. The vehicular control system of claim 1 , wherein determination of distance of equipped vehicle to the approaching vehicle utilizes GPS data.
14. The vehicular control system of claim 1 , wherein determination of a heading angle of the approaching vehicle utilizes GPS data.
15. A vehicular control system, the vehicular control system comprising:
a camera module disposed behind a windshield of a vehicle equipped with the vehicular control system;
wherein the camera module accommodates a camera, the camera viewing through the windshield forward of the equipped vehicle and operable to capture image data;
wherein the camera comprises an imaging sensor comprising at least one million photosensor elements arranged in a two dimensional array of columns and rows;
a radar sensor disposed at the equipped vehicle, the radar sensor sensing forward of the vehicle and operable to capture radar data;
at least one processor operable (i) to process image data captured by the camera and (ii) to process radar data captured by the radar sensor;
wherein the vehicular control system, at least in part via at least one selected from the group consisting of (i) processing at the at least one processor of captured image data and (ii) processing at the at least one processor of captured radar data, detects an approaching vehicle present forward of the equipped vehicle that (i) is travelling on a road that the equipped vehicle is travelling along and (ii) is approaching an intersection where another road intersects the road along which the equipped vehicle is travelling;
wherein the vehicular control system, at least in part via at least one selected from the group consisting of (i) processing at the at least one processor of captured image data and (ii) processing at the at least one processor of captured radar data, determines an intended turn by the equipped vehicle at the intersection across a traffic lane of the road along which both the approaching vehicle and the equipped vehicle are traveling along;
wherein the vehicular control system estimates, at least in part via at least one selected from the group consisting of (a) processing at the at least one processor of captured image data and (b) processing at the at least one processor of captured radar data, time to arrival of the approaching vehicle at the intersection;
wherein the vehicular control system determines that it is not safe for the equipped vehicle to proceed with the intended turn at the intersection responsive at least in part to at least one selected from the group consisting of (i) determination, via at least one selected from the group consisting of (a) processing at the at least one processor of captured image data and (b) processing at the at least one processor of captured radar data, that the equipped vehicle will not complete the intended turn at the intersection before the estimated time to arrival of the approaching vehicle at the intersection elapses and (ii) determination, via at least one selected from the group consisting of (a) processing at the at least one processor of captured image data and (b) processing at the at least one processor of captured radar data, that a pedestrian is present at the intersection where the equipped vehicle will turn;
wherein the vehicular control system determines that it is safe for the equipped vehicle to proceed with the intended turn at the intersection responsive at least in part to (i) determination, via at least one selected from the group consisting of (a) processing at the at least one processor of captured image data and (b) processing at the at least one processor of captured radar data, that the equipped vehicle will complete the intended turn at the intersection before the estimated time to arrival of the approaching vehicle at the intersection elapses and (ii) determination, via at least one selected from the group consisting of (a) processing at the at least one processor of captured image data and (b) processing at the at least one processor of captured radar data, that no pedestrian is present at the intersection where the equipped vehicle will turn; and
wherein at least one selected from the group consisting of (i) the vehicular control system controls braking of the equipped vehicle responsive to determination that it is not safe for the equipped vehicle to proceed with the intended turn at the intersection and (ii) the vehicular control system generates an alert to a driver of the equipped vehicle responsive to determination that it is not safe for the equipped vehicle to proceed with the intended turn at the intersection.
16. The vehicular control system of claim 15 , wherein the at least one processor comprises an image processing chip, and wherein the intended turn of the equipped vehicle at the intersection is determined at least in part by processing of captured image data by the image processing chip of the at least one processor.
17. The vehicular control system of claim 16 , wherein the camera module comprises at least one electrical connector.
18. The vehicular control system of claim 17 , wherein the camera module houses the image processing chip.
19. The vehicular control system of claim 15 , wherein the vehicular control system determines a state of a traffic signal light at the intersection.
20. The vehicular control system of claim 15 , wherein the vehicular control system determines the intended turn of the equipped vehicle at the intersection in part responsive to activation of a turn signal of the equipped vehicle.
21. The vehicular control system of claim 15 , wherein determination of location of equipped vehicle relative to the approaching vehicle utilizes GPS data.
22. The vehicular control system of claim 15 , wherein determination of distance of equipped vehicle to the approaching vehicle utilizes GPS data.
23. The vehicular control system of claim 15 , wherein determination of a heading angle of the approaching vehicle utilizes GPS data.
24. A vehicular control system, the vehicular control system comprising:
a camera module disposed behind a windshield of a vehicle equipped with the vehicular control system;
wherein the camera module accommodates a camera, the camera viewing through the windshield forward of the equipped vehicle and operable to capture image data;
wherein the camera comprises an imaging sensor comprising at least one million photosensor elements arranged in a two dimensional array of columns and rows;
a radar sensor disposed at the equipped vehicle, the radar sensor sensing forward of the vehicle and operable to capture radar data;
at least one processor operable (i) to process image data captured by the camera and (ii) to process radar data captured by the radar sensor;
wherein the vehicular control system, at least in part via at least one selected from the group consisting of (i) processing at the at least one processor of captured image data and (ii) processing at the at least one processor of captured radar data, detects an approaching vehicle present forward of the equipped vehicle that (i) is travelling on a road that the equipped vehicle is travelling along and (ii) is approaching an intersection where another road intersects the road along which the equipped vehicle is travelling;
wherein the vehicular control system, at least in part via at least one selected from the group consisting of (i) processing at the at least one processor of captured image data and (ii) processing at the at least one processor of captured radar data, determines an intended turn by the equipped vehicle at the intersection across a traffic lane of the road along which both the approaching vehicle and the equipped vehicle are traveling along;
wherein the vehicular control system estimates time to arrival of the approaching vehicle at the intersection;
wherein the vehicular control system determines that it is not safe for the equipped vehicle to proceed with the intended turn at the intersection responsive at least in part to at least one selected from the group consisting of (i) determination that the equipped vehicle will not complete the intended turn at the intersection before the estimated time to arrival of the approaching vehicle at the intersection elapses and (ii) determination that a pedestrian is present at the intersection where the equipped vehicle will turn;
wherein the vehicular control system determines that it is safe for the equipped vehicle to proceed with the intended turn at the intersection responsive at least in part to (i) determination that the equipped vehicle will complete the intended turn at the intersection before the estimated time to arrival of the approaching vehicle at the intersection elapses and (ii) determination that no pedestrian is present at the intersection where the equipped vehicle will turn; and
wherein at least one selected from the group consisting of (i) the vehicular control system controls braking of the equipped vehicle responsive to determination that it is not safe for the equipped vehicle to proceed with the intended turn at the intersection and (ii) the vehicular control system generates an alert to a driver of the equipped vehicle responsive to determination that it is not safe for the equipped vehicle to proceed with the intended turn at the intersection.
25. The vehicular control system of claim 24 , wherein the at least one processor comprises an image processing chip, and wherein the intended turn of the equipped vehicle at the intersection is determined at least in part by processing of captured image data by the image processing chip of the at least one processor.
26. The vehicular control system of claim 25 , wherein the camera module comprises at least one electrical connector.
27. The vehicular control system of claim 25 , wherein the camera module houses the image processing chip.
28. The vehicular control system of claim 24 , wherein the vehicular control system determines a state of a traffic signal light at the intersection.
29. The vehicular control system of claim 24 , wherein the vehicular control system determines the intended turn of the equipped vehicle at the intersection in part responsive to activation of a turn signal of the equipped vehicle.
30. The vehicular control system of claim 24 , wherein determination of location of equipped vehicle relative to the approaching vehicle utilizes GPS data.
31. The vehicular control system of claim 24 , wherein determination of distance of equipped vehicle to the approaching vehicle utilizes GPS data.
32. The vehicular control system of claim 24 , wherein determination of a heading angle of the approaching vehicle utilizes GPS data.