Abstract: A vehicular driver monitoring system includes a camera disposed within and viewing within an interior cabin of a vehicle. The camera includes a lens and an image sensor. The camera is operable to capture image data. Electronic circuitry of an electronic control unit (ECU) includes an image processor for processing image data captured by the camera. With a driver of the vehicle sitting in a driver seat of the vehicle, light is reflected off a portion of the driver to impinge at the lens of the camera. The vehicular driver monitoring system, via processing at the ECU of image data captured by the camera, determines a deficiency in captured image data arising from light impinging at the lens. The determined deficiency in captured image data arises from an occlusion at the lens of the camera.

Abstract: A vehicular radar sensing system includes a radar sensor disposed at a vehicle so as to sense exterior of the vehicle and having at least one transmitter that transmits radio signals and at least one receiver that receives radio signals. The radar sensor includes a transmitting wave guide antenna and a receiving wave guide antenna, a PCB, and a processor operable to process radio signals transmitted by the at least one transmitter and received by the at least one receiver. Each of the wave guide elements includes a respective wave guide slot disposed at the inboard side of the PCB, and another respective wave guide slot that guides the radio signals to or from the environment, and a respective air wave guide that guides the radio signals between the respective wave guide slots.

Abstract: A vehicular control system includes a forward viewing camera disposed at an in-cabin side of a windshield of a vehicle and viewing forward of the vehicle. Road curvature of a road along which the vehicle is traveling is determined responsive at least in part to processing of image data captured by the camera. Responsive at least in part to processing of captured image data, speed of the vehicle is controlled by an adaptive cruise control system of the vehicle. Upon approach of the vehicle to a curve in the road along which the vehicle is traveling, speed of the vehicle is reduced by the adaptive cruise control system to a reduced speed for traveling around the curve in the road. Speed of the vehicle is increased by the adaptive cruise control system when the vehicle is traveling along a straighter section of road after the curve in the road.

Abstract: A vehicular vision system includes a camera, a near-infrared light emitter operable to illuminate at least part of a region viewed by the camera, and an electronic control unit having an image processor. The camera captures frames of image data at a first rate, and the near-infrared light emitter is pulsed on/off at a second rate. The first rate is greater than the second rate. First frames of image data are captured by the camera when the region is illuminated by light emitted by the near-infrared light emitter, and the captured first frames of image data are processed at the ECU for a first vehicle function. Second frames of image data are captured by the camera when the region is not illuminated by light emitted by the near-infrared light emitter, and the captured second frames of image data are processed at the ECU for a second vehicle function.

Abstract: A vehicular camera includes a lens barrel having a lens, a front camera housing having an aperture therethrough, and an imager printed circuit board (imager PCB) having an imager. The imager PCB is attached at the front camera housing with the imager aligned with the aperture. An attaching portion of the lens barrel is positioned at least partially in the aperture of the front camera housing with a gap between the attaching portion and the front camera housing that circumscribes the attaching portion. With the attaching portion positioned at least partially in the aperture, a filler material is disposed at least partially within the gap. After the lens is aligned relative to the imager, the filler material is heated to melt and flow into the gap, whereby the melted filler material hardens upon cooling to secure the lens barrel relative to the front camera housing and the imager PCB.

Abstract: A vehicular backing up assistance system includes a rearview camera at a rear portion of a vehicle, the vehicle being a vehicle family member of a particular family of pickup trucks. The system receives first input data that corresponds to the vehicle configuration of the vehicle. When the vehicle is backing up, the system receives second input data corresponding to steering angle of the vehicle. The system displays a predicted trajectory of the vehicle at the in-cabin display as an overlay overlaying the images captured by the rearview camera being displayed at the in-cabin display. The overlay comprises a pair of guidelines that are spaced apart and that are appropriate to (i) the wheelbase of the vehicle configuration of a plurality of vehicle configurations of the particular family of pickup trucks the rearview camera is mounted at and (ii) a current steering angle of the vehicle.

Abstract: A vehicular camera includes (i) a lens barrel accommodating a lens, (ii) a lens holder having a passageway and (iii) an imager printed circuit board attached to the lens holder with the imager facing the lens. The lens barrel at least partially passes through the passageway of the lens holder when attaching the lens barrel to the lens holder. The imager printed circuit board is attached to the lens holder with the imager facing the lens and optically aligned with the lens. A biasing element urges the lens barrel in a direction outward away from the imager printed circuit board. With the imager printed circuit board attached to the lens holder, the lens barrel is fine adjustable relative to the lens holder. A rear housing attached at the lens holder to encase the imager printed circuit board.

Abstract: A vehicular camera includes a circuit board having an imager disposed at a first side of the circuit board. A lens barrel accommodates a lens assembly having a plurality of lens elements spaced apart along the lens barrel by respective lens spacers. Each lens spacer is formed of a material having a coefficient of thermal expansion (CTE) of 5 ppm/° C. or less. The circuit board is positioned at a lens holder, and the lens barrel is positioned at a lens holder so as to optically align the lens and the imager. The lens barrel is formed of a material having a CTE that matches within ten percent of the CTE of the material that forms the lens holder, with the CTEs of the lens barrel and lens holder materials being greater than the CTE of the material of the lens spacers.

Abstract: A vehicular vision system includes a rearward-viewing camera and a forward-viewing camera disposed at a vehicle. Image data captured by the cameras is provided to the electronic control unit. The electronic control unit sends respective control data to the cameras, and the respective sent control data is stored in respective memory of the cameras. With the respective sent control data stored in the respective memory of the cameras, the electronic control unit sends a trigger signal to the cameras. Responsive to the sent trigger signal, the cameras load operational parameters of the respective stored control data into respective image sensors of the cameras so that the operational parameters of the respective image sensors of the cameras are synchronized. With the operational parameters of the respective image sensors of the cameras synchronized, image data is captured by the respective image sensors and is sent to the electronic control unit.

Abstract: A vehicular vision system includes a camera disposed at an in-cabin side of a windshield of a vehicle. Responsive to image processing at an ECU of captured frames of image data, the vehicular vision system detects an object present in a field of view of the camera. As the vehicle moves relative to the detected object, captured frames of image data are processed to determine a point of interest, present in multiple captured frames of image data, on the detected object. The vehicular vision system, via processing of captured frames of image data as the vehicle moves relative to the detected object, and based on the determined point of interest present in multiple captured frames of image data, estimates a location in three dimensional space of the determined point of interest and determines distance to the determined point of interest on the detected object.

Abstract: A vehicular rear view monitor assembly includes an extender element configured to be disposed at a rear portion of a vehicle. The extender element includes an extender portion and an end portion, with a vehicle element attached at the end portion of the extender element. A rear backup camera assembly is at least partially disposed in a hollow portion of the extender portion. The rear backup camera assembly includes a CMOS color camera. With the extender element disposed at the rear portion of the vehicle, the CMOS color camera of the rear backup camera assembly captures images of at least an area immediately rearward of the vehicle. With the extender element disposed at the rear portion of the vehicle, the extender element is incapable of extending such that the rear backup camera assembly is non-movable relative to the rear portion of the vehicle.

Abstract: A vehicular vision system includes an interior-viewing camera disposed in a vehicle and viewing a driver of the vehicle, and a forward-viewing camera disposed at the vehicle and viewing at least forward of the vehicle. Responsive to image processing of image data captured by the interior-viewing camera, at least one selected from the group consisting of (i) position of the driver's head is determined and (ii) direction that the driver's eyes are viewing is determined. Responsive to image processing of image data captured by the forward-viewing camera and to image processing of image data captured by the interior-viewing camera, an object present exterior of the equipped vehicle and viewable by the driver is detected.

Abstract: A vehicular cabin monitoring system includes a mirror head adjustably attached at a mounting structure configured to attach at an interior portion of a vehicle. The minor head accommodates a camera and a plurality of light emitting diodes (LEDs) connected in series with each other. A switch is operable in an open state, where current provided by a current driver passes through each individual LED of the plurality of LEDs, and a closed state, where current provided by the current driver passes through a first subset of LEDs of the plurality of LEDs and bypasses a second subset of LEDs of the plurality of LEDs. The switch operates in the open state when the camera captures image data for a first vehicular function, such as occupant monitoring, and operates in the closed state when the camera captures image data for a second vehicular function, such as driver monitoring.

Abstract: A vehicular vision system includes a camera fixedly mounted at a vehicle. The camera has a central viewing axis that bisects a total available field of view exterior of the vehicle of the camera into an at least 90 degrees zone to the left and to the right of the central viewing axis. During a driving maneuver of the vehicle, a video display screen displays video images representative of a reduced field of view of the camera that is less than the total available field of view exterior of the vehicle. During the driving maneuver of the vehicle, and as the steering angle of the vehicle is adjusted toward the right side or left side of the vehicle, the reduced field of view of the camera digitally pans toward the respective right side or left side of the total available field of view exterior of the vehicle of the camera.

Abstract: A vehicular trailering assist system includes at least one camera disposed at a trailer hitched to a hitch of a vehicle, and an electronic control unit (ECU). The ECU determines, during a first stage of a calibration maneuver of the vehicle and trailer, image coordinates of at least one ground feature point. The ECU, responsive to determining image coordinates of the at least one ground feature point, estimates orientation parameters of the camera based at least on the determined image coordinates and intrinsic camera parameters. As the vehicle and trailer travel further along the ground surface during a second stage of the calibration maneuver of the vehicle and trailer, and based on the estimated orientation parameters of the at least one camera, the vehicular trailering assist system determines misalignment of the at least one camera at the trailer.

Abstract: A vehicular driving assist system includes a camera disposed at a vehicle equipped with the vehicular driving assist system and viewing forward of the vehicle, the camera capturing image data. An electronic control unit (ECU) includes electronic circuitry and associated software. The electronic circuitry of the ECU includes an image processor for processing image data captured by the camera. The ECU, responsive to processing by the image processor of image data captured by the camera, determines presence of a leading vehicle traveling in front of the equipped vehicle and in the same traffic lane as the equipped vehicle. The ECU, responsive to determining presence of the leading vehicle, determines presence of a pothole in front of the vehicle and in the same traffic lane as the equipped vehicle.

Abstract: A method for backing up a trailer hitched to a vehicle includes mounting a rear backup camera at a vehicle and hitching a trailer at the hitch of the vehicle. Responsive to processing captured image data by a processor of the control, at least a portion of the trailer tongue of the trailer is detected using an edge detection algorithm. Responsive to processing at the control of image data captured by the rear backup camera during a backing up maneuver of the trailer hitched to the vehicle, trailer angle of the trailer relative to a longitudinal axis of the vehicle is determined. The control, based at least in part on trailer angle of the trailer, controls a steering system of the vehicle during the backing up maneuver of the trailer hitched to the vehicle to back up the trailer hitched to the vehicle along a rearward trajectory.

Abstract: A vehicular driver assistance system includes a propulsion selection sensor operable to provide an output representative of a current direction of propulsion of a vehicle. The system, responsive to the output, determines an entry propulsion direction used by the vehicle to enter a parking space. The system stores the determined entry propulsion direction used by the vehicle to enter the parking space. The system, responsive to the vehicle preparing to exit the parking space, determines an exit propulsion direction of the vehicle. The system compares the stored determined entry propulsion direction used by the vehicle to enter the parking space and the exit propulsion direction of the vehicle. The system, responsive to determining that the stored determined entry propulsion direction used by the vehicle to enter the parking space is the same as the exit propulsion direction of the vehicle, provides an alert to a driver of the vehicle.

Abstract: A vehicular forward-sensing system includes a radar sensor and a forward viewing image sensor disposed within a windshield electronics module that is removably installed within an interior cabin at a windshield of a vehicle. A control is responsive to outputs of the radar sensor and of the image sensor. The image sensor captures image data for an automatic headlamp control system of the vehicle and for a lane departure warning system of the vehicle. The image sensor views and the radar sensor senses an object present in the path of forward travel of the vehicle. The control determines that the object is an object of interest based at least in part on the image sensor viewing the object present in the path of forward travel of the vehicle and the radar sensor sensing the object present in the path of forward travel of the vehicle.

Abstract: A vehicular control system determines a planned path of travel for a vehicle along a traffic lane in which the vehicle is traveling on a road. The system determines a respective target speed for waypoints along the planned path that represents a speed the vehicle should travel when passing through the respective waypoint. The system determines a speed profile for the vehicle to travel at as the vehicle travels along the planned path, with at least two different speeds being based on a difference in target speeds of at least two consecutive respective waypoints of the plurality of waypoints. The system determines an acceleration profile for the vehicle to follow as it changes from one speed to another speed of the speed profile. The system controls the vehicle to maneuver the vehicle along the planned path in accordance with the determined speed and acceleration profiles.