US 11,702,088 B2
Vehicular driving assist system with sensor offset correction
William J. Chundrlik, Jr., Rochester Hills, MI (US); and Dominik Raudszus, Aachen (DE)
Assigned to Magna Electronics Inc., Auburn Hills, MI (US)
Filed by Magna Electronics Inc., Auburn Hills, MI (US)
Filed on Sep. 14, 2020, as Appl. No. 16/948,319.
Application 16/948,319 is a continuation of application No. 16/199,479, filed on Nov. 26, 2018, granted, now 10,773,729.
Application 16/199,479 is a continuation of application No. 15/291,319, filed on Oct. 12, 2016, granted, now 10,137,904, issued on Nov. 27, 2018.
Claims priority of provisional application 62/241,299, filed on Oct. 14, 2015.
Prior Publication US 2020/0406909 A1, Dec. 31, 2020
This patent is subject to a terminal disclaimer.
Int. Cl. B60W 50/02 (2012.01); B60W 50/029 (2012.01)
CPC B60W 50/0205 (2013.01) [B60W 2050/0215 (2013.01); B60W 2050/0295 (2013.01); B60W 2420/42 (2013.01)] 61 Claims
OG exemplary drawing
 
1. A vehicular driving assist system, said vehicular driving assist system comprising:
a camera disposed at an in-cabin side of a windshield of a vehicle equipped with said vehicular driving assist system, said camera viewing through the windshield at least forward of the equipped vehicle, said camera capturing image data;
a radar sensor disposed at the equipped vehicle and sensing at least forward of the equipped vehicle, said radar sensor capturing sensor data;
wherein captured image data and captured sensor data are provided to an electronic control unit (ECU) disposed at the equipped vehicle;
wherein said ECU comprises at least one data processor;
wherein image data captured by said camera and sensor data captured by said radar sensor are processed at said ECU;
wherein said ECU, responsive to processing at said ECU of image data captured by said camera and responsive to processing at said ECU of sensor data captured by said radar sensor, provides a driving assist function for the equipped vehicle;
wherein said ECU detects presence of objects forward of the equipped vehicle via processing at said ECU of image data captured by said camera;
wherein said ECU detects presence of objects forward of the equipped vehicle via processing at said ECU of sensor data captured by said radar sensor;
wherein said ECU determines an error in object detection of the vehicular driving assist system by determining difference between object detection based on processing at said ECU of image data captured by said camera and object detection based on processing at said ECU of sensor data captured by said radar sensor; and
wherein said ECU disables at least part of the driving assist function at least in part responsive to the determined error in object detection being greater than a threshold error level.