Abstract: A vehicular driving assistance system includes a camera disposed at a vehicle and an electronic control unit (ECU). The vehicular driving assistance system, responsive to processing at the ECU of image data captured by the camera, determines lane markers for a traffic lane along which the vehicle is traveling. The system, using a first Kalman filter and based on the determined lane markers, a lateral lane offset of the vehicle. The vehicular driving assistance system, responsive to processing by the data processor of GPS data, determines, using a second Kalman filter different from the first Kalman filter, a geographical location of the vehicle. The vehicular driving assistance system, based on the determined lateral lane offset of the vehicle and based on the determined geographical location of the vehicle, controls at least one selected from the group consisting of (i) steering of the vehicle and (ii) velocity of the vehicle.

Abstract: A vehicular camera includes first and second imaging sensors respectively capturing first and second image data. Light incident at the camera passes through an optical element to be incident at a polarizing beam splitter (PBS). With the camera disposed at a vehicle, circularly polarized light reflected from an object and backscattered natural light are incident at the camera. First and second portions of the backscattered light respectively have first and second orthogonal polarization states. The circularly polarized light passes through the optical element and is incident at the PBS as linearly polarized light having the first orthogonal polarization state. The PBS directs the linearly polarized light and the first portion of the backscattered light to the first imaging sensor and directs the second portion of the backscattered light to the second imaging sensor. A vehicular vision system detects an object based on processing of the first and second image data.

Abstract: A vehicular vision system includes an electronic control unit (ECU) configured, when installed in a vehicle, to connect via a plurality of coaxial cables of the vehicle with a plurality of vehicular cameras of the vehicle. Each camera is operable to capture image data. The coaxial cables (i) carry image data captured by the respective camera from the respective camera to the ECU, (ii) carries camera control data from the ECU to the respective camera and (iii) connects a DC power supply of the ECU to the respective camera for powering the respective camera. The camera control data is carried by the respective coaxial cable from the ECU to the respective camera at a control data carrier frequency that is lower than an image data carrier frequency at which image data captured by the respective camera is carried by the respective coaxial cable from the respective camera to the ECU.

Abstract: A vehicular vision system includes a rear backup camera and a controller having an image processor. A video display screen is disposed in the vehicle and viewable by a driver of the vehicle. With the vehicular vision system operating in a standard viewing mode, image data captured by the rear backup camera is processed to provide video images representative of a standard view rearward of the vehicle that is within the field of view of the rear backup camera. With the vehicular vision system operating in a cross-traffic viewing mode, image data captured by the rear backup camera is processed at the image processor to provide video images derived from the processed captured image data that are representative of a wider angle view rearward of the vehicle that has a wider angle view than the standard view rearward of the vehicle.

Abstract: A vehicular camera includes an imager printed circuit board (PCB) having an imager disposed at a first side of the imager PCB. A metal lens barrel accommodates a lens having a plurality of lens optics disposed within the metal lens barrel between an inner end and an outer end. The inner end of the metal lens barrel is adhesively bonded to the first side of the imager PCB via an adhesive ring. The adhesive ring is disposed between the inner end of the metal lens barrel and the first side of the imager PCB and circumscribes the imager at the first side of the imager PCB to enclose a region between the imager PCB and the lens, whereby the imager is disposed within the enclosed region between the imager PCB and the lens accommodated by the metal lens barrel.

Abstract: A vehicular vision system includes a camera disposed at a vehicle and viewing rear of the vehicle, and an electronic control unit (ECU) having an image processor for processing image data captured by the camera. The vehicular vision system, responsive to processing by the image processor of image data captured by the camera, determines an individual has moved within a threshold distance of the rear of the vehicle. The vehicular vision system, responsive to determining that the individual has moved within the threshold distance of the vehicle, determines whether the individual is an authorized user of the vehicle. Responsive to at least to determining that the individual is an authorized user of the vehicle, a powered rear lift gate mechanism of the vehicle opens a rear lift gate of the vehicle to allow the user access to the interior of the vehicle.

Abstract: A method for calibrating a radar system includes disposing the radar sensor at a vehicle and disposing an object at a first location relative to the vehicle. Using sensor data captured by the radar sensor with the object at the first location, a first location of the object relative to the radar sensor is determined. The object is moved along an intended principal axis of sensing for the radar sensor from the first location to a second location. Using sensor data captured by the radar sensor with the object at the second location, a second location of the object relative to the radar sensor is determined. Using the first determined location of the object and the second determined location of the object, a misalignment of the radar sensor is determined. The radar system is calibrated based at least in part on the misalignment.

Abstract: A vehicular radar sensing system includes a radar sensor that includes a radiation slot sheet, a wave port sheet, and a waveguide sheet sandwiched between the radiation slot sheet and the wave port sheet. The sheets are joined together. The radiation slot sheet includes at least one transmitter that transmits radio signals and at least one receiver that receives radio signals. The waveguide sheet guides the transmitted radio signals from the radiation slot sheet to the wave port sheet and guides reflected radio signals from the wave port sheet to the radiation slot sheet. The transmitted radio signals are provided to the environment via at least one wave port of the wave point sheet. The reflected radio signals are received from the environment at the at least one wave port.

Abstract: A vehicular camera assembly includes a printed circuit board (PCB) and a camera housing having a first housing portion with a lens barrel that accommodates a lens. An imager at the PCB faces the lens. At least one of (i) the PCB is attached at the first housing portion via a thermally conductive adhesive and (ii) the lens barrel is attached at the first housing portion via the thermally conductive adhesive. The PCB is thermally conductively connected to the first housing portion and, while the vehicular camera assembly is electrically operated to capture image data, heat generated within the camera housing is drawn away from the PCB at least in part through the thermally conductive adhesive and the front housing portion.

Abstract: A vehicular lidar sensor module includes a laser unit, a sensor unit, and a cover unit. The laser unit includes a housing, a laser printed circuit board, laser collimators and a first tension spring that urges the laser collimators against respective reference surfaces of the housing. Laser emitters are located at an end of respective laser collimators, which collimate light emitted by the respective laser emitters. The sensor unit includes a holder, receiver tubes, and a second tension spring that urges the receiver tubes against respective reference surfaces of the holder. The sensor unit includes sensors disposed at an end of the receiver tubes and attached at the holder via respective flexible attaching elements. With the flexible attaching elements attached at the holder, the sensors are aligned relative to the respective laser collimators via the respective flexible attaching elements and are fixed in their aligned positions.

Abstract: A vehicular vision system includes an exterior lighting assembly that illuminates a field of illumination exterior of a vehicle. A light source controller operates the exterior lighting assembly in a repeating cycle that includes (i) a first illumination period wherein light emitted by the exterior lighting assembly has a first brightness level and (ii) a second illumination period wherein the emitted light has a second brightness level lower than the first brightness level. A camera controller operates a camera to capture image data during at least part of the first illumination period and at least part of the second illumination period. A camera signal processor receives captured image data and processes image data captured by the camera during the first illumination period for (i) display of video images derived from the image data captured by the camera during the first illumination period and/or (ii) for object detection.

Abstract: A vehicular multi-sensor sensing system includes a plurality of sensors disposed at an equipped vehicle and sensing forward of the vehicle. Data based at least in part on processing of sensor data captured by at least one of the sensors is wirelessly transmitted from the equipped vehicle to a remote server. The wirelessly transmitted data is conjuncted to a current geographic location of the equipped vehicle along a road being travelled by the equipped vehicle. The remote server merges data wirelessly transmitted from the equipped vehicle to the remote server with data wirelessly transmitted from a plurality of other vehicles traveling along the road along which the equipped vehicle is traveling, and processes the merged data to determine at least one characteristic along the road being travelled by the equipped vehicle.

Abstract: A vehicular control system includes a plurality of exterior-viewing cameras disposed at a vehicle. The plurality of exterior-viewing cameras comprises at least one rearward-viewing camera and a forward-viewing camera. At least in part via processing at an electronic control unit (ECU) of image data captured by the cameras and transferred to the ECU, the vehicular control system (i) determines a traffic lane that the equipped vehicle is traveling in on the road the equipped vehicle is traveling along and (ii) detects a trailing vehicle present rearward of the equipped vehicle and approaching the equipped vehicle in the same traffic lane that the equipped vehicle is traveling in on the road the equipped vehicle is traveling along. The vehicular control system controls the equipped vehicle to mitigate impact by the trailing vehicle. The forward-viewing camera captures image data for at least one driving assist system of the equipped vehicle.

Abstract: A vehicular vision system includes a camera module mounted at an in-cabin side of a windshield of a vehicle and an electronic control unit (ECU) comprising electronic circuitry and associated software. The ECU, responsive to processing of location data captured by a global positioning system, determines a current geographical location of the vehicle. The ECU, with the vehicle approaching an intersection of another road, and at least in part via processing at the ECU of image data captured by the camera, determines a right-of-way order of other vehicles at the intersection based on (i) the current geographical location of the vehicle and (ii) an order of arrival of the other vehicles at the intersection relative to arrival of the equipped vehicle at the intersection. Based on the determined right-of-way order of the other vehicles at the intersection, the ECU determines when the vehicle has the right-of-way at the intersection.

Abstract: A vehicular vision system includes a forward viewing camera disposed at and viewing through a windshield of a vehicle, and a driver viewing camera that views the eyes of a driver of the vehicle. Image data captured by the forward viewing camera is processed to determine (i) a light source ahead of the vehicle, (ii) an intensity of the determined light source and (iii) a position of the determined light source relative to the vehicle. Image data captured by the driver viewing camera is processed to determine gaze direction of the driver. The system determines a region of the windshield based at least in part on (i) the determined position of the determined light source and (ii) the determined gaze direction of the driver. The system, responsive to the intensity of the determined light source being greater than a threshold level, locally darkens the determined region of the windshield.

Abstract: A vehicular control system includes an electronic control unit (ECU) and a camera disposed at a vehicle and viewing exterior of the vehicle. The ECU includes an image processor operable to process image data captured by the camera and transferred to the ECU. The vehicular control system, responsive to processing at the ECU of image data captured by the camera, determines a condition exterior of the vehicle. The vehicular control system, based on the determined condition, switches from a power operational mode to an economy operational mode. The power operational mode provides greater performance of the vehicle compared to the economy operational mode, and the economy operational mode provides greater fuel efficiency for the vehicle compared to the power operational mode.

Abstract: A vehicular driving assist system includes a camera disposed in a vehicle and at least viewing driver hand positions of hands of a driver present in the vehicle. The vehicular driving assist system determines driver hand positions via processing of image data captured by the camera. The vehicular driving assist system compares determined driver hand positions to a plurality of discrete driver hand positions, which includes (i) a plurality of discrete driver hand positions at a steering wheel of the vehicle, and (ii) a plurality of discrete driver hand positions at an interior portion of the vehicle and not at the steering wheel of the vehicle. The vehicular driving assist system, responsive to processing of image data captured by the camera and based at least in part on comparison of determined driver hand positions to the plurality of discrete driver hand positions, determines a level of attentiveness of the driver.

Abstract: A vehicular sensing system includes a sensor disposed at a vehicle. The vehicular sensing system generates a three-dimensional point cloud of data representing a three-dimensional scene exterior of the vehicle within a field of sensing of the sensor. The virtual range image includes a set of points representing the three-dimensional point cloud of data. The system, for each respective point, classifies the respective point as occluded or non-occluded. The system determines one or more occlusion regions based on the classification for the respective points. Each occlusion region includes a region that is within the field of sensing of the sensor but that is not sensed by the sensor due to an object obstructing the sensor from the sensing region. The system tracks a moving detected object as it enters an occlusion region and predicts where the moving detected object will exit from the occlusion region.

Abstract: A vehicular control system includes an electronic control unit (ECU) disposed at a vehicle. The ECU includes electronic circuitry and associated software. The electronic circuitry of the ECU is operable to receive transmissions and to transmit signals. The vehicular control system, responsive to receiving at the ECU at least one transmission indicative of one or more mobile devices at an interior cabin of the vehicle, determines location of the one or more mobile devices at the interior cabin of the vehicle. Responsive to determination that a determined mobile device is located at a driver seat region of the interior cabin of the vehicle, and responsive to determination that the vehicle is moving at a speed above a threshold speed, the vehicular control system transmits a blocking signal to at least partially disable operation of the determined mobile device located at the driver seat region of the interior cabin.

Abstract: A vehicular vision system includes a camera disposed at a vehicle and viewing at least forward of the vehicle. The vehicular vision system, as the vehicle travels along a traffic lane of a road and via processing of image data captured by the camera and based on map data, determines presence of a plurality of traffic lights at an intersection and identifies a target traffic light from the plurality of traffic lights that is associated with the traffic lane along which the equipped vehicle is traveling as the vehicle approaches the intersection. The vehicular vision system determines, via processing of image data captured by the camera, status of the identified target traffic light. The vehicular vision system, responsive to determining the status of the identified target traffic light, alerts a driver of the vehicle of the status of the relevant traffic light and/or controls speed of the vehicle.