Abstract: A method for testing a vehicular driver assistance system includes recording sensor data from a sensor of a vehicle equipped with the vehicular driver assistance system and annotating the recorded sensor data. The annotations represent a predicted output of a processor when processing the recorded sensor data for the vehicular driver assistance system. The recorded sensor data and the annotated sensor data are stored at data storage. Analysis data is generated based on statistical analysis of the recorded sensor data and the statistical analysis of the annotated sensor data. The analysis data is stored at a results database. A key performance indicator (KPI) report is generated using the analysis data. The KPI report includes a dynamic graphic representation based on the analysis data.

Abstract: A vehicular driving assistance system, via processing of image data captured by a forward-viewing camera of a vehicle, determines traffic lane marking information ahead of the vehicle. The vehicular driving assistance system determines reliability of the determined traffic lane marking information. A predictive sensor uses map data to predict the road ahead of the vehicle. Responsive to the determined reliability of the traffic lane marking information being greater than or equal to a threshold reliability level, an ADAS controller generates ADAS control signals based at least in part on (i) processing of image data captured by the forward-viewing camera and (ii) processing of radar data captured by a plurality of radar sensors. Responsive to the determined reliability of the traffic lane marking information being less than the threshold reliability level, the ADAS controller generates the ADAS control signals based at least in part on an output of the predictive sensor.

Abstract: A vehicular object detection system includes a camera and a lidar. With the camera mounted at a windshield of a vehicle, and with the lidar mounted at an exterior portion of the vehicle, and based at least in part on processing of image data captured by the camera and lidar data captured by the lidar, a plurality of individual objects present exterior of the vehicle are detected. Based at least in part on processing of captured image data and captured lidar data, (i) respective proximity relative to the vehicle of individual objects is determined, (ii) respective speed relative to the vehicle of individual objects is determined and (iii) respective location relative to the vehicle of individual objects is determined. Based at least in part on processing of captured image data and/or processing of captured lidar data, the system determines collision potential between the vehicle and an individual object.

Abstract: A vehicular vision system includes a camera module mounted at mounting structure that mounts at a headliner of a vehicle and that includes a light transmitting portion disposed at a windshield of the vehicle. The camera module includes a camera and circuitry including an image processor that is operable to process image data captured by the camera. The camera views forward of the vehicle through the light transmitting portion of the mounting structure and through the windshield of the vehicle. With the mounting structure mounted at the headliner region of the vehicle, and with the windshield mounted at the vehicle, the windshield is separable from the mounting structure so that the windshield is removable from the vehicle without removing the mounting structure from the vehicle and without affecting mounting of the camera module at the mounting structure.

Abstract: A vehicular vision system includes a camera disposed at a vehicle and capturing image data. The vehicular vision system, via processing at an electronic control unit of a first frame of image data captured by the camera, detects a first object exterior of the vehicle and determines an attribute of the first object. The vehicular vision system, via processing at the electronic control unit of a second frame of image data captured by the camera, detects a second object exterior of the vehicle and determines an attribute of the second object. The system determines whether the second object is part of the first object. The vehicular vision system, responsive to determining that the second object is part of the first object, merges the attribute of the first object with the attribute of the second object and tracks the first object in subsequent frames of captured image data.

Abstract: A vehicular radar sensing system includes a radar sensor disposed at a vehicle. The radar sensor includes a plurality of facets, each having an inboard surface facing toward the vehicle and an outboard surface facing away from the vehicle. A respective transmitter and a respective receiver of each facet operate to have a respective field of sensing with a respective principal sensing axis that is perpendicular to the respective facet. The vehicular sensing system, via processing of captured sensor data, (i) determines presence of a first object within a first respective field of sensing and (ii) determines presence of a second object within a second respective field of sensing. The vehicular sensing system, responsive to determining presence of the first object and the second object, controls a system of the vehicle based on the determined presence of the first object and the second object.

Abstract: A vehicular interior rearview mirror assembly includes a mirror head adjustably attached at a mounting base. The mirror head includes a mirror reflective element having a reflector-coated glass substrate having a front side and a rear side separated by a thickness of the glass substrate. A driver monitoring camera is accommodated by the mirror head and views through a camera region of the glass substrate of the mirror reflective element. A refraction-compensating element is disposed between a lens of the driver monitoring camera and the camera region of the glass substrate of the mirror reflective element. The refraction-compensating element has a first side and a second side that is not parallel to the first side. The refraction-compensating element offsets refraction of light that passes through the camera region of the glass substrate of the mirror reflective element.

Abstract: A vehicular control system includes a forward-viewing camera and a forward-sensing radar sensor disposed at a vehicle. Image data captured by the forward-viewing camera is processed at an advanced driver-assistance system (ADAS) and radar data captured by the forward-sensing radar sensor is processed at the ADAS ECU. As the vehicle travels along a road, and at least in part via processing at the ADAS ECU of (i) image data captured by the forward-viewing camera and (ii) radar data captured by the forward-sensing radar sensor, the ADAS ECU determines presence of a pothole or road debris or a speed bump ahead of the vehicle. In response, at least one selected from the group consisting of (i) the vehicle decelerates to mitigate impact and (ii) the vehicle is steered to avoid impact.

Abstract: A vehicular sensing system includes a camera and a radar sensor disposed at a vehicle. The system determines a plurality of data points that each represents a respective position on a respective lane marker of the road relative to the equipped vehicle. The system, for each data point of the plurality of data points, tracks the respective positions on respective lane markers relative to the equipped vehicle. The system detects presence of another vehicle rearward of the equipped vehicle, and determines location of the detected other vehicle relative to the tracked respective positions on respective lane markers that are located rearward of the equipped vehicle. The vehicular sensing system determines a collision threat for a lane change maneuver by the equipped vehicle based on the tracked respective positions. Responsive to determining that the detected object is not a collision threat, the system maneuvers the vehicle to an adjacent traffic lane.

Abstract: A vehicular sensing system, responsive to processing image data captured by a forward-viewing camera at a first time, generates a first set of lane geometries representing curvature and location of a portion of at least one traffic lane of a road respective to a first position of the equipped vehicle at the first time. The vehicular sensing system, via processing motion data representative of motion of the equipped vehicle, tracks the first set of lane geometries. Based on processing of the motion data and the tracked first set of lane geometries, the vehicular sensing system generates a second set of lane geometries representing the curvature and location of the portion of the at least one traffic lane respective to a second position of the vehicle at a second time. The vehicular sensing system determines a blind zone based on the generated second set of lane geometries.

Abstract: A vehicular trailering assist system includes a camera disposed at a rear portion of a vehicle. With a trailer hitched to the vehicle at a hitch ball of the vehicle, the camera views at least a portion of the trailer. An electronic control unit includes an image processor operable to process frames of image data captured by the camera. With the trailer hitched to the vehicle at the hitch ball of the vehicle, the vehicular trailering assist system determines trailer feature points via image processing of image data captured by the camera, and determines respective perpendicular bisectors of respective line segments extending between the determined trailer feature points in respective frames of captured image data while the vehicle tows the trailer and turns. The vehicular trailering assist system determines a location of the hitch ball based at least in part on an intersection point of the determined perpendicular bisectors.

Abstract: A vehicular multi-sensor system includes a plurality of vehicular cameras disposed at a vehicle and viewing exterior the vehicle. Image data captured by the vehicular cameras is provided to a central control module via respective wired connections. At least one radar sensor is disposed at the vehicle and senses exterior the vehicle. Vehicle data relating to operation of the vehicle and radar data captured by the radar sensor is provided to the central control module. During a forward driving maneuver of the vehicle, and responsive at least in part to processing of image data captured by a forward-viewing vehicular camera and radar data captured by a front radar sensor, an object present exterior of the vehicle is detected. During a backup reverse maneuver of the vehicle, video images based on image data captured by a rearward-viewing vehicular backup camera are displayed at a video display screen of the vehicle.

Abstract: A vehicular vision system includes an electronic control unit (ECU) disposed at a vehicle and a camera having a CMOS imaging sensor operable to capture image data. The ECU includes (i) a data processor and (ii) a DC power supply. A coaxial cable carries DC power from the DC power supply of the ECU to the camera. Image data captured by the camera is conveyed from the camera to the ECU via the coaxial cable. Calibration data may be conveyed from the camera to the ECU via the coaxial cable. The camera is in bidirectional communication with the ECU over the coaxial cable. The camera includes a data serializer and the ECU includes a data deserializer. The camera may include a front camera, a rear-viewing camera or an internal cabin surveillance camera.

Abstract: A vehicular camera includes a housing for mounting the vehicular camera at an in-cabin side of a vehicle windshield. Width of the housing is greater than height of the housing and is greater than depth of the housing. The height of the vehicular camera is less than 35 mm. Circuitry disposed at a first side of a single circuit board accommodated by the housing includes an imager. A lens barrel accommodates a lens and protrudes outward from a front portion of the housing. Circuitry disposed at a second side of the single circuit board includes a coaxial connector that extends from the single circuit board to protrude outward from the rear portion of the housing. Image data captured by the vehicular camera is transferred via the coaxial connector to an electronic control unit that is located in the vehicle remote from where the vehicular camera is mounted.

Abstract: A vehicular driver monitoring system includes an interior-viewing camera disposed at a vehicle and viewing at least a head region of a driver of the vehicle. An electronic control unit (ECU) includes a data processor. Image data captured by the interior-viewing camera is transferred to the ECU and is processed at the ECU. Based at least in part on processing at the ECU of image data captured by the interior-viewing camera, the vehicular driver monitoring system monitors the driver of the vehicle. At least partially responsive to monitoring the driver of the vehicle, the vehicular driver monitoring system, using a chatbot, engages the driver in conversation.

Abstract: A vehicular vision system includes a camera module mounted at an in-cabin side of a windshield of a vehicle. The camera module includes a temperature sensor. An airflow source of a heating, ventilation and air conditioning (HVAC) system of the vehicle is in fluid communication with a vent at an interior portion of the vehicle. When circuitry of the camera module is electrically operated, and when the vehicular vision system controls the HVAC system to direct airflow via the vent along a portion of the camera module, heat generated by the circuitry of the camera module during operation of the circuitry is dissipated. The vehicular vision system controls the HVAC system to direct airflow via the vent along the portion of the camera module responsive to an output of the temperature sensor being indicative of the circuitry of the camera module operating outside of a set operating temperature range.

Abstract: A vehicular vision system includes at least two cameras disposed at a vehicle. The at least two cameras includes a first camera and a second camera. The first camera is disposed at an in-cabin side of a windshield of the vehicle and views through the windshield forward of the vehicle. Each of the first camera and the second camera includes a first CMOS imaging array having at least one million photosensor elements arranged in rows and columns. The second camera includes an encryptor that encrypts image data that is captured by the second camera. The first camera includes a decryptor that decrypts image data encrypted by the second camera. Image data captured by the first camera and image data captured by the second camera may be processed at an electronic control unit (ECU) for a machine vision system of the vehicle.

Abstract: A vehicular navigation system includes an electronic control unit (ECU) having electronic circuitry and associated software. The ECU is operable to determine routes for a vehicle equipped with the vehicular navigation system based at least in part on map data. The ECU, to route the vehicle from a starting location to an ending location, determines one or more candidate routes from the starting location to the ending location. For each determined candidate route, the ECU determines a respective energy efficiency for travel of the vehicle along the respective determined candidate route based at least in part on environmental temperature data for at least one location along the respective determined candidate route. The ECU selects one of the determined candidate routes for the vehicle to travel along based on the determined respective energy efficiency for travel of the vehicle along each determined candidate route.

Abstract: A vehicular cabin monitoring system includes a radar sensor disposed at a vehicle so as to sense interior of the vehicle. The radar sensor includes at least one transmitter that transmits radio signals, and a plurality of receivers that receive radio signals. The vehicular cabin monitoring system, responsive to processing by a processor of radar data captured by the radar sensor and using a neural network, determines occupancy of a seat of the vehicle. The determined occupancy of the seat of the vehicle includes (i) the seat of the vehicle is not occupied, (ii) the seat of the vehicle is occupied by an adult and (iii) the seat of the vehicle is occupied by a child. The vehicular cabin monitoring system generates an alert responsive to determining that the seat of the vehicle is occupied by a child and that no seat of the vehicle is occupied by an adult.

Abstract: A vehicular camera assembly includes a lens barrel that accommodates a lens. An imager printed circuit board (imager PCB) has an imager aligned with the lens. First and second vias are formed through the imager PCB. First and second connecting pins are electrically connected to a heating device and are received at the first and second vias of the imager PCB. The imager PCB is movable along the first and second connecting pins at least in a direction parallel to a longitudinal axis of the lens barrel. The first and second connecting pins are fixed to the imager PCB at the first and second vias. The heating device is electrically connected to circuitry of the vehicular camera assembly via the first and second connecting pins and, when the heating device is operated via the circuitry of the vehicular camera assembly, the heating device heats the lens.