Abstract: A vehicular trailering assist system includes a rear backup camera disposed at a vehicle and viewing at least rearward of the vehicle and at least a portion of a trailer hitched to the vehicle. The camera captures frames of image data that include image data representative of at least a portion of the trailer hitched to the vehicle. Frames of image data captured by the camera are processed at an electronic control unit during a calibration maneuver by the vehicle to determine a trailer collision angle. The vehicular trailering assist system, after completion of the calibration maneuver, determines a current trailer angle of the trailer relative to a longitudinal axis of the vehicle as the vehicle is driven along the road. The vehicular trailering assist system determines whether the current trailer angle is within a threshold amount of the determined trailer collision angle.

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 the attribute of the second object. The system determines whether the first object and the second object are the same object based on a similarity measurement. The vehicular vision system, responsive to determining that the first object and the second object are the same object, merges the attribute of the first object with the attribute of the second object.

Abstract: A radar sensor includes a housing, cover, and a plurality of transmit and receive antennas. The housing includes a cavity retaining a processing board. The cover defines a radome having a recess into the cavity with two separate and connected areas. The transmit and receive antennas are positioned on the processing board, adjacent to, and separated by a gap from, the recess. The transmit antennas are configured to transmit RF signals through the first area of the recess. The receive antennas are configured to receive RF signals returning through the second area of the recess.

Abstract: A vehicular driver monitoring system includes an interior-viewing camera viewing at least a head region of a driver of a vehicle, and a plurality of exterior-viewing cameras disposed at and viewing exterior of the vehicle. Based at least in part on processing at an electronic control unit (ECU) of image data captured by the interior-viewing camera, the vehicular driver monitoring system monitors the driver of the vehicle. Based at least in part on processing at the ECU of image data captured by at least one exterior-viewing camera of the plurality of exterior-viewing cameras, the vehicular driver monitoring system estimates a current driving workload of the driver of the vehicle. Based at least in part on monitoring of the driver and the estimated current driving workload, the system classifies the driver as being at least one selected from the group consisting of (i) overloaded, (ii) attentive, (iii) distracted and (iv) drowsy.

Abstract: A vehicular vision system includes a camera module mounted at a mounting structure that is disposed at a windshield of a vehicle equipped with the vehicular vision system. The camera module views through a light transmitting portion of the mounting structure and forward of the vehicle. The camera module includes a camera and circuitry including an image processor, with the image processor processing image data captured by the camera. With the windshield mounted at the vehicle and the camera module mounted at the mounting structure, 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 method includes providing a simulation environment that simulates a vehicle. The method includes providing the vehicular lane centering algorithm to the simulation environment, generating a base scenario for the vehicular lane centering algorithm for use by the simulated vehicle, and extracting, from the simulation environment, traffic lane information. The method also includes measuring performance of the vehicular lane centering algorithm during the base scenario using the extracted traffic lane information and generating a plurality of modified scenarios derived from the base scenario. Each modified scenario of the plurality of modified scenarios adjusts at least one parameter of the base scenario. The method also includes measuring performance of the vehicular lane centering algorithm during the plurality of modified scenarios using the extracted traffic lane information.

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. Image data captured by the camera is conveyed from the camera to the ECU via a 50 ohm coaxial cable. The camera is in bidirectional communication with the ECU over the 50 ohm coaxial cable. The 50 ohm coaxial cable commonly carries (i) image data captured by the camera for processing at a data processor of the ECU and (ii) power from a DC power supply of the ECU to the camera. Image data captured by the camera is serialized at a data serializer of the camera and is conveyed to the ECU via the 50 ohm coaxial cable and is deserialized at the ECU by a data deserializer of the ECU.

Abstract: A vehicular trailer assist system includes a rearward viewing camera disposed at a vehicle that views a trailer hitched at a fifth wheel hitch at a bed of the vehicle. With the trailer hitched to the fifth wheel hitch at the bed of the vehicle, the vehicular trailer assist system, via processing fisheye-view frames of image data captured by the camera, transforms fisheye-view frames of image data captured by the rearward viewing camera into bird's-eye view frames of image data. The vehicular trailer assist system determines a region of interest (ROI) in a transformed bird's-eye view frames of image data that includes a region where the fifth wheel hitch is present. The vehicular trailer assist system, via a Hough transform that transforms the determined ROI from a Cartesian coordinate system to a polar coordinate system, determines a trailer angle of the trailer relative to the vehicle.

Abstract: Waveguide and/or antenna structures for use in RADAR sensor assemblies and the like. In some embodiments, an antenna module for a vehicle sensor may comprise a receive (RX) array of elongated RX antenna slots and a transmit (TX) array of TX antenna slots. The TX array may comprise both one or more vertically-shifted TX antenna slots and one or more high-gain and/or squinted TX antenna arrays, each comprising a plurality of high-gain antenna slots.

Abstract: A vehicular driver monitoring system includes a camera disposed at a mirror head of an interior rearview mirror of a vehicle and viewing at least the head of a driver of the vehicle. The camera moves together and in tandem with the mirror head when the mirror head is adjusted by the driver of the vehicle to adjust a rearward view of the driver. Responsive to the driver of the vehicle adjusting the orientation of the mirror head, and responsive to processing at the ECU of image data captured by the camera, the vehicular driver monitoring system maintains the camera's view of at least the head of the driver as it was before the driver adjusted the orientation of the mirror head. The vehicular driver monitoring system, at least in part via processing at the ECU of image data captured by the camera, monitors the driver of the vehicle.

Abstract: Waveguide and/or antenna structures for use in RADAR sensor assemblies and the like. In some embodiments, the assembly may comprise a waveguide groove extending along an elongated axis on a first side of a block and an antenna structure operably coupled with the waveguide groove. The antenna structure may comprise an antenna slot extending along the elongated axis on a second side of the block opposite from the first side and the antenna slots may be positioned and configured to deliver electromagnetic radiation from the waveguide groove therethrough. Some embodiments may further comprise one or more grooves extending adjacent to the antenna slot, such as opposing grooves extending adjacent to the antenna slot.

Abstract: A vehicular control system includes a plurality of sensors disposed at a vehicle and an electronic control unit (ECU). The vehicular control system, responsive to processing at the ECU of sensor data captured by one of the plurality of sensors, detects an object in the path of the vehicle. The object may be one selected from the group consisting of (i) a pothole, (ii) road debris, and (iii) a speed bump. The ECU, responsive to detecting the object in the path of the vehicle, provides an output to another ECU. The other ECU, responsive to receiving the output, controls two or more of (i) braking of the vehicle, (ii) steering of the vehicle, and (iii) suspension of the vehicle.

Abstract: A vehicular vision system includes a camera module configured to be disposed at a vehicle. An image processor processes multiple frames of image data captured by the imager of the camera module. With the camera module disposed at the vehicle, the heating device is activated to heat a lens of the camera module responsive to determination of lens occlusion at the lens. Responsive at least in part to determination of lens occlusion at the lens, and via processing of frames of captured image data while the heating device is activated, the vehicular vision system determines a change in degree of lens occlusion occurring between capture of a previous frame of captured image data and capture of a current frame of captured image data. The heating device is deactivated responsive to determination that the change in degree of lens occlusion is less than a threshold amount.

Abstract: A windshield electronics module for a vehicular vision system includes a camera module configured to be mounted at an in-cabin side of a windshield of a vehicle, and a cover element that encloses the camera module at the windshield when the camera module and cover element are mounted at the in-cabin side of the windshield. The camera module includes a camera and circuitry including an image processor. A cooling fan assembly is attached at the camera housing and an air intake conduit is disposed between an air inlet of the cover element and an air inlet of the cooling fan assembly. The cooling fan assembly, when electrically powered, draws air from the interior cabin of the vehicle via the air intake conduit and directs the drawn air as airflow along and between heat dissipating fins of the camera housing.

Abstract: A vehicular control system includes an electronic control unit disposed at a vehicle, a camera disposed at a windshield of the vehicle and viewing at least forward of the vehicle through the windshield. Responsive to an emergency driving condition occurring while the vehicle is traveling along a section of a road, the system at least partially controls driving of the vehicle along the road. The system, while controlling driving of the vehicle along the road responsive to the emergency driving condition, and responsive to determination that the road changes, determines a target stopping location ahead of the vehicle. The system determines the target stopping location responsive at least in part to processing of image data captured by the camera. The system, responsive to determination of the target stopping location, at least partially controls driving of the vehicle to the target stopping location.

Abstract: A method for testing a sensor of a vehicular sensing system includes displaying, by a processor, a test generation interface on a display screen, and receiving, by the processor, a user input based on a user interacting with the test generation interface. The method includes determining a plurality of parameters based on the user input. The method includes generating a test script based on the parameters that includes at least one test message for performing at least one system test. The method includes transmitting generated test script to a host adapter in communication with the sensor. Responsive to receiving the generated test script, the method includes transmitting, by the host adapter, the test message to the sensor to test the sensor.

Abstract: Waveguide and/or antenna structures for use in RADAR sensor assemblies and the like. In some embodiments, the assembly may comprise a structure defining a waveguide groove on a first side of the structure and an antenna slot formed on a second side of the structure opposite from the first side. A thru-hole may extend through the structure between the antenna slot and the waveguide groove. The thru-hole may comprise an axis and a width measured between opposing sidewalls extending at least substantially perpendicular to the axis. The width may be less than a corresponding width of the waveguide groove.

Abstract: A vehicular driving assistance system includes a camera viewing exterior of a vehicle and capturing image data. The system, via processing captured image data as the vehicle travels along a current traffic lane, determines a current lateral position of the vehicle within the current traffic lane and determines a target lateral position of the vehicle within the current traffic lane. The system determines a steering command to guide the vehicle from the current lateral position to the target lateral position and determines a steering angle offset required to maintain the target lateral position within the current traffic lane and stores the determined steering angle offset in nonvolatile memory. After storing the determined steering angle offset and when the vehicle is traveling during a subsequent trip, the system determines a second target lateral position of the vehicle within the current traffic lane and applies the stored steering angle offset.

Abstract: Waveguide and/or antenna assemblies comprising metamaterials for RADAR sensor assemblies/modules, particularly those for vehicles. In some embodiments, a waveguide block comprising a metamaterial may comprise a metal portion defining an array of one or more antenna slots and a thermoplastic portion defining one or more waveguide grooves. In some embodiments, the thermoplastic portion may be overmolded to the metallic portion and/or core.

Abstract: A vehicular driving assistance system includes a camera and a LIDAR sensor disposed at a vehicle. An electronic control unit (ECU) includes at least one data processor. The system, responsive to processing of image data captured by the camera, determines a lane marker ahead of the vehicle. The system, responsive to processing of sensor data captured by the LIDAR sensor, determines a first portion of the lane marker forward of the vehicle and determines a second portion of the lane marker rearward of the vehicle. The system interpolates the lane marker between the first portion and the second portion. The system, responsive to the determined lane marker and the interpolated lane marker, estimates location of a front wheel of the vehicle relative to the lane marker.