Abstract: A vehicular control system includes a first electronic control unit (ECU) and a second ECU disposed at a vehicle. The first and second ECUs are in digital communication with one another via a communication link. The first ECU transmits a first frame to the second ECU, which, responsive to receiving the first frame from the first ECU, transmits a second frame to the first ECU. The first ECU, responsive to receiving the second frame from the second ECU, determines a propagation delay based on an amount of time between when the first ECU transmitted the first frame to the second ECU and when the first ECU received the second frame from the second ECU. The first ECU, responsive to determining the propagation delay, transmits a time synchronization frame to the second ECU that is based at least in part on the determined propagation delay.

Abstract: A vehicular trailer angle detection system includes a camera disposed at a rear portion of a vehicle. The system determines, via processing of frames of image data captured by the camera, features of a trailer present rearward of the vehicle and hitched to the vehicle by determining features that have similar position changes between a current frame of image data captured by the camera and a previous frame of image data captured by the camera. Responsive to movement of the trailer relative to the vehicle, and via processing of captured frames of image data, the system tracks determined features over multiple captured frames of image data for different positions of the trailer relative to the vehicle. The system determines angle of the trailer relative to the vehicle based at least in part on tracking of determined features of the trailer over multiple captured frames of image data.

Abstract: A vehicular vision system includes a camera module having a housing that houses at least (i) electronic circuitry disposed at a main printed circuit board (PCB) and (ii) an imager assembly. The imager assembly includes an imaging array sensor, an imager PCB and a lens holder that includes an elongated lens barrel that houses at least one lens. Electronic circuitry is disposed at an upper side and at a lower side of the main PCB. Image data captured by the imaging array sensor is conveyed to electronic circuitry disposed at the main PCB. An electronic component of electronic circuitry disposed at the main PCB is in thermal conductivity with a thermal element, which is in thermal conductivity with a lower housing portion of the housing to enhance heat transfer from the electronic component to the lower housing portion of the camera housing.

Abstract: A vehicular vision system includes a camera and a radar sensor disposed at the equipped vehicle. The system includes an electronic control unit (ECU) and, as the equipped vehicle travels along a road, the ECU, via processing of image data and processing of sensor data, determines other vehicles present on the road ahead of the equipped vehicle. The ECU, responsive to determining the presence of a plurality of other vehicles present on the road, fuses the image data captured by the camera and the sensor data captured by the radar sensor. The ECU, based on the fused data, determines a threat level for each vehicle of the plurality of other vehicles and, when the threat level for one or more vehicles of the plurality of other vehicles exceeds a threshold value, generates a braking command. The ECU transmits the braking command to a braking system of the equipped vehicle.

Abstract: A vehicular trailer guidance system includes a human machine interface provided in the vehicle and operable by a driver of the vehicle during a backing up maneuver of the vehicle with a trailer hitched thereto. The human machine interface comprises a rotary knob and operates (i) in a backing up trailer left-backup mode when rotated counter-clockwise, (ii) in a backing up trailer straight-backup mode when the rotary knob is pushed or pulled and (iii) in a backing up trailer right-backup mode when rotated clockwise. Responsive to selection by the driver of the backup mode, the system sets a desired trailer angle relative to the longitudinal axis of the vehicle to an angle that is commensurate with a driver-selected setting of the rotary knob. The system controls steering of the vehicle to back up the trailer to have the determined trailer angle coincide with the set desired trailer angle.

Abstract: A vehicular safety feature control system includes a camera disposed at a vehicle that views exterior of the equipped vehicle. The vehicular safety feature control system includes an electronic control unit (ECU) for processing image data captured by the camera to detect presence of objects. The ECU, responsive to processing of image data captured by the camera, detects an object on a collision course with the equipped vehicle. The ECU, responsive to detecting the object on the collision course with the equipped vehicle, classifies the detected object. The ECU estimates a mass of the detected object based on the classification. The ECU estimates a kinetic energy of a potential collision and, based on the estimated kinetic energy of the potential collision, estimates a severity of the potential collision. The ECU controls a safety feature of the equipped vehicle based on the estimated severity of the potential collision.

Abstract: A vehicular forward viewing image capture system includes an accessory module configured for attachment at an in-cabin side of a windshield of a vehicle. While the vehicle is traveling along a road, multiple frames of captured image data are processed at a data processor to determine movement of an object of interest present in a field of view of the CMOS image sensor. The vehicular forward viewing image capture system is provided with vehicle data via a vehicle communication bus. With the accessory module attached at the in-cabin side of the windshield of the vehicle, image data captured by the CMOS image sensor and vehicle data provided via the vehicle communication bus are processed. With the accessory module attached at the in-cabin side of the windshield of the vehicle, captured image data is processed to determine a road condition of the road ahead of the equipped vehicle.

Abstract: A vehicular driver monitoring system includes a camera and an electronic control unit. The camera is disposed at an interior rearview mirror assembly of the vehicle. The system detects changes at the driver's eyes via processing of image data captured by the camera and determines driver attentiveness based at least in part on detected changes at the driver's eyes. The system functions as a remote Photoplethysmography (rPPG) system. Based at least in part on the determined driver attentiveness, and responsive to monitoring the heart rate of the driver, the system determines impairment of the driver's capability to operate the vehicle. The system generates an alert responsive to (i) determination, via the rPPG system, that the driver's heart rate changes greater than a threshold change over a predetermined period of time and/or (ii) determination, via processing of image data captured by the camera, that driver attentiveness is below a threshold level.

Abstract: A vehicular vision system includes a forward viewing camera disposed at and viewing through a windshield of a vehicle. A driver viewing camera is disposed in the vehicle and views the driver's eyes. A control, responsive to processing of image data captured by the forward viewing camera to determine a light source ahead of the vehicle, and responsive to processing of image data captured by the driver viewing camera to determine a gaze direction of the eyes of the driver, determines a forward view path between the driver's eyes and the determined light source and determines a location where the determined forward view path intersects the windshield. The control, responsive to the determined light source having an intensity greater than a threshold level, controls the windshield to locally darken a region of the windshield that includes the location where the determined forward view path intersects the windshield.

Abstract: A vehicular camera assembly includes a camera housing having a front housing portion and a rear housing portion that joins the front housing portion. A first printed circuit board (PCB) is disposed at the front housing portion, with an imager disposed at a front side of the first PCB and a first electrical connector disposed at a rear side of the first PCB. A second PCB has a second electrical connector disposed at a front side of the second PCB. Board-to-board electrical connection of circuitry of the second printed circuit board to circuitry of the first printed circuit board is made via electrical connection of the first and second electrical connectors. The connector portion of the rear housing portion includes a multi-pin connector comprising a plurality of solid terminal pins. A connector portion of the rear housing portion is configured for connecting to a vehicle wiring connector.

Abstract: A vehicular driver monitoring system includes a camera disposed at an interior rearview mirror assembly of a vehicle equipped with the vehicular driver monitoring system, an electronic control unit (ECU) with an image processor for processing image data captured by the camera. The camera includes an imaging array sensor and a lens and the camera is adjustable by at least one of (i) adjusting a position of the imaging array sensor relative to the lens and (ii) adjusting a position of the lens relative to the imaging array sensor. The system, responsive to processing at the ECU of image data captured by the camera, monitors a body portion of a driver of the vehicle and adjusts the camera to adjust the position of where the monitored body portion of the driver is imaged at the imaging array sensor.

Abstract: An imager assembly for a vehicular camera module includes an imager circuit board and a lens holder. An imager is disposed at the imager circuit board. The lens holder includes a lens holding portion that accommodates a lens. The lens holder includes a plurality of pins extending from an attaching portion and extending in a direction away from the lens holding portion of the lens holder. With the attaching portion of the lens holder at the imager circuit board, individual pins of the plurality of pins are received at least partially through respective apertures of the imager circuit board to locate the lens holder at the imager circuit board. With the pins received at least partially through the apertures of the imager circuit board, and with the lens aligned with the imager at the imager circuit board, the pins are fixedly attached at the imager circuit board.

Abstract: A vehicular control system includes a forward-viewing camera, a forward-sensing sensor and an in-cabin-sensing sensor. With the system controlling driving of the vehicle, the system determines a triggering event that triggers handing over driving of the vehicle to a driver of the vehicle before the vehicle encounters an event point associated with the triggering event. The vehicular control system (i) determines a total action time available before the vehicle encounters the event point, (ii) estimates a driver takeover time for the driver to take over control of the vehicle and (iii) estimates a handling time for the driver to control the vehicle to avoid encountering the event point. Responsive to the vehicular control system determining that the estimated driver takeover time is less than the difference between the determined total action time and the estimated handling time, control of the vehicle is handed over to the driver of the vehicle.

Abstract: A vehicular camera calibration system includes a camera disposed at a vehicle, and an electronic control unit (ECU). The camera calibration system uses structure-from-motion during processing at the ECU of multiple frames of image data captured with the vehicle driven in a normal manner with turns involved. The camera calibration system uses a kinematic model of motion of the vehicle that is derived at least in part from vehicle data provided to the ECU. The camera calibration system, responsive to processing of multiple frames of captured image data, and based at least in part on (i) an intrinsic parameter of the camera and (ii) the kinematic model of motion of the vehicle, determines misalignment of the camera without use of a fiducial marker in a field of view of the camera and without use of reference points on the vehicle.

Abstract: A vehicular trailer hitching assist system includes a camera disposed at a rear portion of a vehicle and viewing at least rearward of the vehicle. During a reversing maneuver of the vehicle toward a trailer that is spaced from the vehicle at a distance from the vehicle, the camera views at least a portion of a front profile of the trailer. An electronic control unit (ECU) includes an image processor operable to process image data captured by the camera. The vehicular trailer hitching assist system, via image processing at the ECU of image data captured by the camera during the reversing maneuver of the vehicle toward the trailer, determines a plurality of landmarks corresponding to the front profile of the trailer. Based at least in part on the determined plurality of landmarks, the vehicular trailer hitching assist system determines location of a trailer coupler of the trailer.

Abstract: A vehicular imaging system includes a camera disposed behind a windshield of a vehicle and viewing through a portion of the windshield. Image data captured by the camera is provided to a control. The control receives, via a communication bus of the vehicle, at least one selected from the group consisting of (i) vehicle pitch information relating to pitch of the vehicle, (ii) vehicle yaw information relating to yaw of the vehicle and (iii) vehicle steering information relating to steering of the vehicle. The system automatically corrects for misalignment of the camera. Image data captured by the camera is processed at the control for a lane departure warning system of the vehicle and for at least one selected from the group consisting of (i) an automatic headlamp control system of the vehicle, (ii) a collision avoidance system of the vehicle and (iii) an adaptive front lighting system of the vehicle.

Abstract: A vehicular vision system includes a first camera and a second camera. The system includes an electronic control unit (ECU) and a video display operable to display video images derived from frames of first image data captured by the first camera and frames of second image data captured by the second camera. Responsive to a view selection input selecting a view for the video display, the system (i) determines a first subset of pixels based on tracing rays from pixels of the video display the pixels of the first camera, and (ii) determines a second subset of pixels based on tracing rays from pixels of the video display to pixels of the second camera. The system buffers the first and second subset of pixels and generates display frames of image data using the buffered pixels. The system displays video images derived from the display frames of image data.

Abstract: A vehicular trailer assist system includes a camera disposed at a rear portion of a vehicle and having a field of view exterior and at least rearward of the vehicle. At least a portion of a trailer hitched to the vehicle is within the field of view of the camera. A control includes electronic circuitry and associated software, with the electronic circuitry including a processor operable to process image data captured by the camera, with the image data captured by the camera being representative of at least the trailer hitched to the vehicle. The control, responsive to processing of image data captured by the camera, determines at least one deficiency in a hitch connection between the vehicle and the trailer. Responsive to determination of the at least one deficiency, the control alerts a driver of the vehicle of the determined deficiency.

Abstract: A vehicular camera includes a lens holder, a first printed circuit board and a second printed circuit board. The first and second printed circuit boards are stacked and overlap one another. Circuitry disposed at the first printed circuit board is electrically connected with circuitry disposed at the second printed circuit board via board-to-board electrical connection. The circuitry disposed at the first printed circuit board includes an imaging sensor at a first side of the first printed circuit board. Thermally conductive material is disposed between the second printed circuit board and a second side of the first printed circuit board. The thermally conductive material is in thermally-conductive contact with the first and second printed circuit boards. The vehicular camera includes a rear housing, which includes an electrical connector portion. The electrical connector portion of the rear housing may include an electrical plug connector.

Abstract: A method for testing a vehicular camera for a vehicular vision system includes providing a vehicular camera suitable for use on a vehicle, with the vehicular camera having a field of view. A collimator assembly is provided that includes an optic and a target fixedly disposed within the collimator assembly. The collimator assembly is positioned in the field of view of the vehicular camera such that the camera images light that reflects off the target and passes through the optic. The target has a stepped surface. Image data is captured with the vehicular camera, with the captured image data being representative of the stepped surface of the target. The captured image data is processed, via an image processor, and a defocus of the vehicular camera is estimated based on processing by the processor of the captured image data of the stepped surface of the target.