Abstract: A vehicular trailer sway management system includes at least one rearward-sensing radar sensor disposed at a vehicle and an electronic control unit (ECU). Radar data captured by the at least one rearward-sensing radar sensor is provided to the ECU. With a trailer hitched to the vehicle, the trailer sway management system, via processing at the ECU of the provided captured radar data, determines oblique angles of the trailer relative to the vehicle. As the vehicle tows the trailer, and responsive to monitoring of determined oblique angles of the trailer relative to the longitudinal axis of the vehicle, the trailer sway management system determines sway of the trailer relative to the vehicle. Responsive to the determined sway of the trailer relative to the vehicle, the trailer sway management system at least in part controls operation of the vehicle to manage sway of the trailer relative to the vehicle.

Abstract: A vehicular sensing system includes a sensor module disposed at the vehicle. The sensor module includes first and second radar sensors and a camera. A field of sensing of the first radar sensor is encompassed by a portion of a field of view of the camera and a field of sensing of the second radar sensor is encompassed by another portion of the field of view of the camera. Outputs of the radar sensors and the camera are communicated to a control. The control, responsive to processing of the outputs of the radar sensors, detects the presence of an object exterior the vehicle and within the field of sensing of at least one of the first and second radar sensors. The control, responsive to detection of an object via processing of the outputs of the radar sensors, processes the output of the camera to classify the detected object.

Abstract: A vehicular trailer sway management system includes at least one rearward-sensing radar sensor disposed at a vehicle and an electronic control unit (ECU). Radar data captured by the at least one rearward-sensing radar sensor is provided to the ECU. With a trailer hitched to the vehicle, the trailer sway management system, via processing at the ECU of the provided captured radar data, determines oblique angles of the trailer relative to the vehicle. As the vehicle tows the trailer, and responsive to monitoring of determined oblique angles of the trailer relative to the longitudinal axis of the vehicle, the trailer sway management system determines sway of the trailer relative to the vehicle. Responsive to the determined sway of the trailer relative to the vehicle, the trailer sway management system at least in part controls operation of the vehicle to manage sway of the trailer relative to the vehicle.

Abstract: A vehicular sensing system includes at least one radar sensor disposed at a vehicle and having a field of sensing forward, rearward or sideward of the vehicle. Radar data captured by the radar sensor is received at an electronic control unit (ECU). Received transmitted signals reflected off objects and received at the receiving antennas are evaluated at the ECU to establish surface responses for the objects present in the field of sensing of the radar sensor. A data set of radar data that is representative of an object present in the field of sensing of the radar sensor is compared to stored data sets to determine if the data set corresponds to a particular stored data set of the stored data sets. Responsive to the data set of radar data being determined to correspond to the particular stored data set, the vehicular sensing system classifies the detected object.

Abstract: A method for anticipating a lane change by another vehicle ahead of a vehicle equipped with a sensing system having a camera and a radar sensor includes processing captured image data to determine lane markers of a traffic lane along which the equipped vehicle is traveling, and to determine presence of another vehicle in an adjacent traffic lane. Responsive to processing of captured radar data, an oblique angle of a direction of travel of the other vehicle relative to the traffic lane is determined. Responsive to determination that the oblique angle of the direction of travel of the other vehicle is indicative of a cut-in intent of the other vehicle, and based on the determined range to the determined other vehicle, the system anticipates the cut-in of the other vehicle and applies a braking system of the equipped vehicle to mitigate collision with the determined other vehicle.

Abstract: A method includes disposing a spherical radar reflector at a location exterior a vehicle equipped with the vehicular sensing system. The vehicular sensing system includes at least two radar sensors disposed at the vehicle and a controller that processes received radio frequency (RF) signals received by the plurality of receivers of each radar sensor of the at least two radar sensors. Calibration RF signals are transmitted by at least one transmitting antenna of a plurality of transmitters of a first radar sensor and a second radar sensor the at least two radar sensors, and reflected first calibration RF signals are received by the plurality of receivers of the first radar sensor and the second radar sensor. Based on a distance between the first radar sensor, the second radar sensor, and the spherical reflector, the vehicular sensing system determines an orientation of the first radar sensor and the second radar sensor.

Abstract: A vehicular sensing system includes at least one radar sensor disposed at a vehicle and having a field of sensing forward, rearward or sideward of the vehicle. Radar data captured by the radar sensor is received at an electronic control unit (ECU). Received transmitted signals reflected off objects and received at the receiving antennas are evaluated at the ECU to establish surface responses for the objects present in the field of sensing of the radar sensor. A data set of radar data that is representative of an object present in the field of sensing of the radar sensor is compared to stored data sets to determine if the data set corresponds to a particular stored data set of the stored data sets. Responsive to the data set of radar data being determined to correspond to the particular stored data set, the vehicular sensing system classifies the detected object.

Abstract: A vehicular sensing system includes a sensor module disposed at the vehicle. The sensor module includes first and second radar sensors and a camera. A field of sensing of the first radar sensor is encompassed by a portion of a field of view of the camera and a field of sensing of the second radar sensor is encompassed by another portion of the field of view of the camera. Outputs of the radar sensors and the camera are communicated to a control. The control, responsive to processing of the outputs of the radar sensors, detects the presence of an object exterior the vehicle and within the field of sensing of at least one of the first and second radar sensors. The control, responsive to detection of an object via processing of the outputs of the radar sensors, processes the output of the camera to classify the detected object.

Abstract: A method for anticipating a lane change by another vehicle ahead of a vehicle equipped with a sensing system having a camera and a radar sensor includes processing captured image data to determine lane markers of a traffic lane along which the equipped vehicle is traveling, and to determine presence of another vehicle in an adjacent traffic lane. Responsive to processing of captured radar data, an oblique angle of a direction of travel of the other vehicle relative to the traffic lane is determined. Responsive to determination that the oblique angle of the direction of travel of the other vehicle is indicative of a cut-in intent of the other vehicle, and based on the determined range to the determined other vehicle, the system anticipates the cut-in of the other vehicle and applies a braking system of the equipped vehicle to mitigate collision with the determined other vehicle.

Abstract: A sensing system for a vehicle includes at least one radar sensor disposed at the vehicle and having a field of sensing exterior of the vehicle. The radar sensor includes an antenna array having multiple transmitting antennas and multiple receiving antennas. Sensed radar data provides a data set of received sensed radar data that is representative of an object in the field of sensing of the at least one radar sensor, and the data set of received sensed radar data is compared to stored data sets representative of a plurality of vehicle types. Responsive to the data set of received sensed radar data being determined to correspond to a particular stored data set, the sensing system classifies the detected object as a particular vehicle type.

Abstract: A sensing system of a vehicle includes a sensor module disposed at the vehicle. The sensor module includes first and second radar sensors and a camera. A field of sensing of the first radar sensor is encompassed by a portion of a field of view of the camera and a field of sensing of the second radar sensor is encompassed by another portion of the field of view of the camera. Outputs of the radar sensors and the camera are communicated to a control. The control, responsive to processing of the outputs of the radar sensors, detects the presence of an object exterior the vehicle and within the field of sensing of at least one of the radar sensors. The control, responsive to detection of an object via processing of the outputs of the radar sensors, processes the output of the camera to classify the detected object.

Abstract: A sensing system for a vehicle includes at least one radar sensor disposed at the vehicle and having a field of sensing exterior of the vehicle. The at least one radar sensor includes an array of multiple transmitting antennas and multiple receiving antennas. A control is responsive to the outputs of the at least one radar sensor and determines the presence of one or more other vehicles exterior the vehicle and within the field of sensing of the at least one radar sensor. Lane markers may be determined via a vision system of the equipped vehicle. The control determines range and relative lane position of a detected other vehicle relative to the equipped vehicle and determined lane markers, and the sensing system may anticipate a lane change, cut-in or merge intent of the detected other vehicle.

Abstract: A sensing system for a vehicle includes at least one radar sensor disposed at the vehicle and having a field of sensing exterior of the vehicle. The radar sensor includes an antenna array having multiple transmitting antennas and multiple receiving antennas. Sensed radar data provides a data set of received sensed radar data that is representative of an object in the field of sensing of the at least one radar sensor, and the data set of received sensed radar data is compared to stored data sets representative of a plurality of vehicle types. Responsive to the data set of received sensed radar data being determined to correspond to a particular stored data set, the sensing system classifies the detected object as a particular vehicle type.

Abstract: A sensing system for a vehicle includes at least one radar sensor disposed at the vehicle and having a field of sensing exterior of the vehicle. The at least one radar sensor includes an antenna array having multiple transmitting antennas and multiple receiving antennas. Sensed radar data provides a data set of radar reflection responses for an object in the field of sensing of the at least one radar sensor, and the data set of radar reflection responses is compared to stored data sets representative of particular vehicle types. Responsive to the data set of radar reflection responses being determined to correspond to a stored data set, the sensing system classifies the detected object as that particular vehicle type.

Abstract: A sensing system for a vehicle includes at least one radar sensor disposed at the vehicle and having a field of sensing exterior of the vehicle. The at least one radar sensor includes an antenna array having multiple transmitting antennas and multiple receiving antennas. Sensed radar data provides a data set of radar reflection responses for an object in the field of sensing of the at least one radar sensor, and the data set of radar reflection responses is compared to stored data sets representative of particular vehicle types. Responsive to the data set of radar reflection responses being determined to correspond to a stored data set, the sensing system classifies the detected object as that particular vehicle type.

Abstract: A sensing system for a vehicle includes at least one radar sensor disposed at the vehicle and having a field of sensing exterior of the vehicle. The at least one radar sensor includes an array of multiple transmitting antennas and multiple receiving antennas. A control is responsive to the outputs of the at least one radar sensor and determines the presence of one or more other vehicles exterior the vehicle and within the field of sensing of the at least one radar sensor. Lane markers may be determined via a vision system of the equipped vehicle. The control determines range and relative lane position of a detected other vehicle relative to the equipped vehicle and determined lane markers, and the sensing system may anticipate a lane change, cut-in or merge intent of the detected other vehicle.

Abstract: A sensing system of a vehicle includes a sensor module disposed at the vehicle. The sensor module includes first and second radar sensors and a camera. A field of sensing of the first radar sensor is encompassed by a portion of a field of view of the camera and a field of sensing of the second radar sensor is encompassed by another portion of the field of view of the camera. Outputs of the radar sensors and the camera are communicated to a control. The control, responsive to processing of the outputs of the radar sensors, detects the presence of an object exterior the vehicle and within the field of sensing of at least one of the radar sensors. The control, responsive to detection of an object via processing of the outputs of the radar sensors, processes the output of the camera to classify the detected object.

Abstract: A system and method for generating alert signals in a detection system is described. The system compares data extracted from signals received via receive antenna beams with stored scenarios and determines whether to generate an alert signal based upon the results of the compare operation. The comparison of data extracted from received signals with stored scenarios can be accomplished by using one or more latches to process the extracted data from the received signals. In one embodiment, raw detections are pre-processed to generate so-called field of view (FOV) products. The FOV products are then provided to a tracker. In another embodiment, rather than pre-process the raw detections, the raw detections are instead provided directly to a tracker which processes the raw detections to provide products including, but not limited to, relative velocity and other parameters.

Abstract: A system and method for generating alert signals in a detection system is described. The system compares data extracted from signals received via receive antenna beams with stored scenarios and determines whether to generate an alert signal based upon the results of the compare operation. The comparison of data extracted from received signals with stored scenarios can be accomplished by using one or more latches to process the extracted data from the received signals. In one embodiment, raw detections are pre-processed to generate so-called field of view (FOV) products. The FOV products are then provided to a tracker. In another embodiment, rather than pre-process the raw detections, the raw detections are instead provided directly to a tracker which processes the raw detections to provide products including, but not limited to, relative velocity and other parameters.

Abstract: A back-up aid indication system includes a sensor for providing detection coverage in a predetermined coverage zone behind a vehicle. The sensor includes a transmit antenna adapted for transmitting an RF signal having a quasi-collimated antenna pattern in a near field. The system further includes a waveform generator which selectively provides one of a frequency modulated continuous wave FMCW Chirp signal and a pulse waveform signal as the transmitted RF signal.