Abstract: A vehicular driving assistance system includes a camera disposed at a vehicle and a control having an image processor that processes image data captured by the camera to determine lane markings demarcating a traffic lane in which the vehicle is traveling. The control, responsive to a map input to the control, estimates a path of travel for the vehicle to maintain the vehicle in the traffic lane in which the vehicle is traveling in situations where the lane markings demarcating the traffic lane in which the vehicle is traveling are not readily determinable. The system updates the estimated path of travel ahead of the vehicle even when no lane markings are determined present on the road ahead of the vehicle. The control adjusts processing of captured image data responsive at least in part to a driving situation that the vehicle is in.

Abstract: A vehicular vision system includes a camera configured to be disposed at an in-cabin side of a windshield of a vehicle equipped with the vehicular vision system. The camera, when disposed at the vehicle windshield, has a field of view at least forward of the vehicle. An image processor is operable to process image data captured by the camera. Responsive at least in part to processing by the image processor of image data captured by the front camera when disposed at the vehicle windshield, lane markers ahead of the vehicle on a road being traveled along by the equipped vehicle are detected. Responsive at least in part to processing by the image processor of image data captured by the front camera when disposed at the vehicle windshield, a pothole in front of the equipped vehicle in the road being traveled along by the equipped vehicle is detected.

Abstract: A driver assistance system of a vehicle includes a vision sensor and a non-imaging sensor sensing forward of the equipped vehicle. The control, responsive to processing of captured image data and to processing of captured sensor data, provides a driver assistance function. The control, via to processing of captured image data and captured sensor data, detects the presence of vehicles. The control may disable at least part of the driving assistance function at least in part responsive to the control detecting a vehicle via one of (i) processing of image data captured by said vision sensor or (ii) processing of sensor data captured by the non-vision sensor, and failing to detect that detected vehicle via the other of (i) processing of image data captured by said vision sensor or (ii) processing of sensor data captured by the non-vision sensor.

Abstract: A method for determining potential collision with another vehicle by a vehicle equipped with a vision system includes providing, at the equipped vehicle, a vision sensor including a camera and at least one non-vision sensor, and determining presence of a leading vehicle ahead of the equipped vehicle. A time to collision to the leading vehicle is determined based at least in part on a determined distance to the leading vehicle and a determined relative velocity between the equipped vehicle and the leading vehicle. A braking level of the equipped vehicle is determined to mitigate collision of the equipped vehicle with the leading vehicle. A weighting factor is employed when determining the braking level, and the weighting factor is adjusted responsive at least in part to determining, via processing of image data captured by the camera, that a brake light of the leading vehicle ceases to be illuminated.

Abstract: A vehicular driver assistance system includes a camera disposed at a vehicle and a control having an image processor that processes image data captured by the camera to determine lane markings demarcating a traffic lane in which the vehicle is traveling and to estimate a path of travel for the vehicle to maintain the vehicle in the traffic lane in which the vehicle is traveling in situations where the lane markings demarcating the traffic lane in which the vehicle is traveling are not readily determinable. The control estimates the path of travel for the vehicle at least responsive to vehicle information. The system updates the estimated path of travel ahead of the vehicle even when no lane markings are determined present on the road ahead of the vehicle. The control adjusts processing of captured image data responsive at least in part to a driving situation that the vehicle is in.

Abstract: A method for controlling a vehicle as it travels along a road includes processing at an ECU provided image data captured by a forward viewing camera and processing at the ECU a provided output indicative of a determined geographical location of the vehicle. Responsive at least in part to processing of the provided output, a geographically-derived path of travel of the vehicle is generated. Responsive to determination of a traffic lane in which the vehicle is traveling along the road, a camera-derived path of travel of the vehicle is generated. The vehicle is controlled based on (i) the geographically-derived path of travel of the vehicle and/or (ii) the camera-derived path of travel of the vehicle. The vehicle is controlled based on diminished weight of the geographically-derived path or diminished weight of the camera-derived path when a respective reliability level is below a threshold level.

Abstract: A vehicular vision system includes a camera configured to be disposed at an in-cabin side of a windshield of a vehicle equipped with the vehicular vision system. The camera, when disposed at the vehicle windshield, has a field of view at least forward of the vehicle. An image processor is operable to process image data captured by the camera. Responsive at least in part to processing by the image processor of image data captured by the front camera when disposed at the vehicle windshield, lane markers ahead of the vehicle on a road being traveled along by the equipped vehicle are detected. Responsive at least in part to processing by the image processor of image data captured by the front camera when disposed at the vehicle windshield, a pothole in front of the equipped vehicle in the road being traveled along by the equipped vehicle is detected.

Abstract: A vision system of a vehicle includes a camera disposed at a vehicle and having a field of view forward of the vehicle and operable to capture image data. A vehicle-based GPS system is operable to determine a geographical location of the vehicle. A control includes an image processor operable to process image data captured by the camera. Responsive at least in part to processing of captured image data by the image processor to determine lane markings and responsive at least in part to the GPS system and responsive at least in part to map data mapping the road along which the vehicle is traveling, the control is operable to determine an enhanced estimation of the path of travel of the vehicle. The enhanced estimation may be based on reliability levels or weighting factors of the determined lane markings and the map data.

Abstract: A vision system for a vehicle includes a camera disposed at a vehicle equipped with said vision system, the camera having a field of view at least forward of the equipped vehicle. A control includes an image processor for processing image data captured by the camera. The control, via processing by the image processor of image data captured by the camera, determines position of the sun relative to a driver's forward view through the windshield. Responsive to determining, via processing by the image processor of image data captured by the camera, that the position of the sun is likely to hinder the driver's forward view through the windshield, the control controls a sun visor of the equipped vehicle to limit sunlight from reaching the driver's eyes.

Abstract: A driver assistance system of a vehicle includes a vision sensor and a non-imaging sensor sensing forward of the equipped vehicle. The control, responsive to processing of captured image data and to processing of captured sensor data, provides a driver assistance function. The control, via to processing of captured image data and captured sensor data, detects the presence of vehicles. The control may disable at least part of the driving assistance function at least in part responsive to the control detecting a vehicle via one of (i) processing of image data captured by said vision sensor or (ii) processing of sensor data captured by the non-vision sensor, and failing to detect that detected vehicle via the other of (i) processing of image data captured by said vision sensor or (ii) processing of sensor data captured by the non-vision sensor.

Abstract: A vehicular driver assistance system includes a camera disposed at a vehicle and a control having an image processor that processes image data captured by the camera to determine lane markings demarcating a traffic lane in which the vehicle is traveling and to estimate a path of travel for the vehicle to maintain the vehicle in the traffic lane in which the vehicle is traveling in situations where the lane markings demarcating the traffic lane in which the vehicle is traveling are not readily determinable. The control estimates the path of travel for the vehicle at least responsive to vehicle information. The system updates the estimated path of travel ahead of the vehicle even when no lane markings are determined present on the road ahead of the vehicle. The control adjusts processing of captured image data responsive at least in part to a driving situation that the vehicle is in.

Abstract: A driver assistance system of a vehicle includes a camera and a non-imaging sensor sensing forward of the equipped vehicle. The control, responsive to processing of captured image data and to processing of sensed sensor data, is operable to provide a driver assistance function. The control, responsive to processing of captured image data, detects the presence of a vehicle and determines a vision-based angle of the detected vehicle relative to the equipped vehicle. The control, responsive to processing of captured sensor data, detects the presence of the detected vehicle and determines a sensor-based angle of the determined vehicle relative to the equipped vehicle. The control determines an angle difference between the vision-based angle and the sensor-based angle. The control disables the driver assistance function at least in part responsive to the determined angle difference being greater than a disable threshold level.

Abstract: A method for vehicular control includes providing a forward viewing camera, a yaw rate sensor, a longitudinal accelerometer, a speed sensor and a control system at the vehicle. While the vehicle is moving, an angular rotational velocity of the vehicle about a local vertical axis is determined, a yaw rate offset is determined, and a longitudinal acceleration is determined. A corrected yaw rate is determined responsive to the determined yaw rate offset of the yaw rate sensor and the determined longitudinal acceleration of the vehicle. The control system determines a projected driving path of the vehicle based at least in part on the determined corrected yaw rate. A hazard condition ahead of the vehicle in the projected driving path is determined at least in part responsive to detecting an object and to the projected driving path. The system automatically applies the brakes of the vehicle responsive to the determined hazard condition.

Abstract: A method for vehicular control includes providing a forward viewing camera, a yaw rate sensor, a longitudinal accelerometer, a speed sensor and a control system at the vehicle. While the vehicle is moving, an angular rotational velocity of the vehicle about a local vertical axis is determined, a yaw rate offset is determined, and a longitudinal acceleration is determined. A corrected yaw rate is determined responsive to the determined yaw rate offset of the yaw rate sensor and the determined longitudinal acceleration of the vehicle. The control system determines a projected driving path of the vehicle based at least in part on the determined corrected yaw rate. A hazard condition ahead of the vehicle in the projected driving path is determined at least in part responsive to detecting an object and to the projected driving path. The system automatically applies the brakes of the vehicle responsive to the determined hazard condition.

Abstract: An automatic emergency braking system for a vehicle includes a forward viewing camera and a control. At least in part responsive to processing of captured image data, the presence of another vehicle closing on the subject vehicle is determined, and a relative speed of the subject vehicle relative to the other vehicle is also determined. Responsive at least in part to a speed of the subject vehicle and the determined relative speed, the control controls the subject vehicle's brake system. Responsive to determination that the driver of the subject vehicle is impaired, the automatic emergency braking system does not allow the driver to override the control's control of the subject vehicle's brake system. Responsive to a determination that the driver of the subject vehicle is not impaired, the automatic emergency braking system allows the driver to override the control's control of the subject vehicle' brake system.

Abstract: A vision system for a vehicle includes a camera disposed at a vehicle equipped with said vision system, the camera having a field of view at least forward of the equipped vehicle. A control includes an image processor for processing image data captured by the camera. The control, via processing by the image processor of image data captured by the camera, determines position of the sun relative to a driver's forward view through the windshield. Responsive to determining, via processing by the image processor of image data captured by the camera, that the position of the sun is likely to hinder the driver's forward view through the windshield, the control controls a sun visor of the equipped vehicle to limit sunlight from reaching the driver's eyes.

Abstract: A driving assistance system for a vehicle includes a control operable to control the vehicle in an autonomous or semi-autonomous mode. When operating in the autonomous mode, driving of the vehicle is controlled by the control without human intervention and, when operating in the semi-autonomous mode, an occupant of the vehicle at least partially drives the vehicle. The control learns a driving style of a particular occupant when the vehicle is being driven by that particular occupant and when the control is operating in the semi-autonomous mode. The control, when operating in the autonomous mode, controls the vehicle in accordance with the learned driving style of the particular occupant of the vehicle. Responsive to a determination of a characteristic of an occupant in the vehicle, the control, when operating in the autonomous, may adjust control of the vehicle irrespective of the learned driving style of the particular occupant.

Abstract: A method for determining potential collision with another vehicle by a vehicle equipped with a vision system includes providing, at the equipped vehicle, a vision sensor including a camera and at least one non-vision sensor, and determining presence of a leading vehicle ahead of the equipped vehicle. A time to collision to the leading vehicle is determined based at least in part on a determined distance to the leading vehicle and a determined relative velocity between the equipped vehicle and the leading vehicle. A braking level of the equipped vehicle is determined to mitigate collision of the equipped vehicle with the leading vehicle. A weighting factor is employed when determining the braking level, and the weighting factor is adjusted responsive at least in part to determining, via processing of image data captured by the camera, that a brake light of the leading vehicle ceases to be illuminated.

Abstract: A method for determining a corrected yaw rate for a vehicle includes receiving a first yaw rate input from a yaw rate sensor of the vehicle and determining if the vehicle is moving or stationary. If the vehicle is determined to be moving, the method includes determining a steering angle of the vehicle, and determining an offset correction value based at least in part on a determined speed of the vehicle and the determined steering angle. A yaw rate offset is determined based at least in part on the determined offset correction value and the received first yaw rate input. A second yaw rate input is received from the yaw rate sensor of the vehicle, and a corrected yaw rate value is determined based at least in part on the received second yaw rate input and the determined yaw rate offset.

Abstract: A vision system for a vehicle includes at least one camera disposed at the equipped vehicle and having a field of view exterior of the equipped vehicle. A control includes an image processor for processing image data captured by the at least one camera. The control, responsive at least in part to image processing of captured image data by the image processor, is operable to at least one of (i) control an HVAC system of the equipped vehicle responsive to a type of vehicle detected exterior of the equipped vehicle, (ii) control an HVAC system of the equipped vehicle responsive to a vehicle detected exterior of the equipped vehicle being within a threshold distance of the equipped vehicle and (iii) control an HVAC system of the equipped vehicle responsive to detection of a construction zone.