Vehicular control system using cameras and radar sensor

• US 10,118,618 B2
• Filed: 12/04/2017
• Issued: 11/06/2018
• Est. Priority Date: 05/03/2002
• Status: Expired due to Term

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Inventors: Pawlicki, John A., McMahon, Martha A., Chinn, Steven G., Gibson, Joel S.
• Primary Examiner(s): Pham, Toan N
• Application Number:
  US15/830,114
• Publication Number:
  US 20180105176A1
• Time in Patent Office: 337 Days
• Field of Search: 340435, 3404255, 340901, 340461, 340438, 340937, 340935, 340938, 340436, 359601, 359604, 359603, 359265, 348148, 348151
• CPC Class Codes: B60K 31/00 Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator fittings acting on two or more sub-units B60W30/14; speedometers G01P; systems or devices for controlling speed in general G05D13/00 ; in traffic anti-collision system for road vehicles G08G1/16
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60Q 1/525 automatically indicating risk of collision between vehicles in traffic or with pedestrians, e.g. after risk assessment using the vehicle sensor data
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: B60R 11/04 Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
• CPC Class Codes: B60R 2011/004 outside the vehicle
• CPC Class Codes: B60T 2201/08 Lane monitoring; Lane Keeping Systems
• CPC Class Codes: B60T 2201/082 using alarm actuation
• CPC Class Codes: B60T 2201/089 using optical detection
• CPC Class Codes: B60T 2210/34 Blind spots
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2050/143 Alarm means
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2555/20 : Ambient conditions, e.g. wind or rain
• CPC Class Codes: B60W 2556/50 : of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 2710/20 : Steering systems
• CPC Class Codes: B60W 2720/10 : Longitudinal speed
• CPC Class Codes: B60W 30/09 : Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/12 : Lane keeping
• CPC Class Codes: B60W 30/143 : Speed control B60W30/16 takes precedence
• CPC Class Codes: B60W 30/16 : Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: B60W 30/18 : Propelling the vehicle
• CPC Class Codes: B60W 50/14 : Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: B62D 15/025 : Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation B62D1/28 takes precedence
• CPC Class Codes: G01S 11/12 : using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 13/867 : Combination of radar systems with cameras
• CPC Class Codes: G01S 13/931 : of land vehicles
• CPC Class Codes: G06T 2207/30244 : Camera pose
• CPC Class Codes: G06T 2207/30256 : Lane; Road marking
• CPC Class Codes: G06T 2207/30261 : Obstacle
• CPC Class Codes: G06T 7/13 : Edge detection
• CPC Class Codes: G06T 7/174 : involving the use of two or more images
• CPC Class Codes: G06T 7/60 : Analysis of geometric attributes
• CPC Class Codes: G06T 7/73 : using feature-based methods
• CPC Class Codes: G06V 20/56 : exterior to a vehicle by using sensors mounted on the vehicle
• CPC Class Codes: G06V 20/58 : Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G06V 20/582 : of traffic signs
• CPC Class Codes: G06V 20/584 : of vehicle lights or traffic lights
• CPC Class Codes: G06V 20/588 : Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
• CPC Class Codes: G06V 2201/10 : Recognition assisted with metadata
• CPC Class Codes: G08G 1/16 : Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08
• CPC Class Codes: G08G 1/167 : Driving aids for lane monitoring, lane changing, e.g. blind spot detection
• CPC Class Codes: H04N 23/90 : Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums

Abstract

A control system for a vehicle includes a plurality of cameras, at least one radar sensor, and a control having at least one processor. Captured image data and sensed radar data are provided to the control. The control processes captured image data to detect objects present exteriorly of the vehicle and is operable to determine whether a detected edge constitutes a portion of a vehicle. The control processes sensed radar data to detect objects present exteriorly of the vehicle. The control, based at least in part on processing of (i) captured image data and/or (ii) sensed radar data, detects another vehicle and determines distance from the equipped vehicle to the detected other vehicle. The control, based at least in part on determination of distance from the equipped vehicle to the detected other vehicle, may control a steering system operable to adjust a steering direction of the equipped vehicle.

Claims

1. A vehicular control system, said vehicular control system comprising:

a plurality of cameras disposed at a vehicle equipped with said vehicular control system;

said plurality of cameras at least comprising (i) a forward-viewing camera mounted at a front portion of the equipped vehicle and having a field of view at least forward of the equipped vehicle, said forward-viewing camera operable to capture image data, (ii) a driver side-viewing camera mounted at a driver-side portion of the equipped vehicle and having a field of view at least sideward and rearward of the equipped vehicle at the driver side of the equipped vehicle, said driver side-viewing camera operable to capture image data and (iii) a passenger side-viewing camera mounted at a passenger-side portion of the equipped vehicle and having a field of view at least sideward and rearward of the equipped vehicle at the passenger side of the equipped vehicle, said passenger side-viewing camera operable to capture image data;

at least one radar sensor having a field of sensing exterior of the equipped vehicle and operable to sense radar data;

a control comprising at least one processor;

wherein image data captured by at least said forward-viewing camera, said driver side-viewing camera and said passenger side-viewing camera is provided to said control;

wherein radar data sensed by said at least one radar sensor is provided to said control;

wherein said control, based at least in part on processing of captured image data, determines curvature of a road being traveled by the equipped vehicle;

wherein said control processes captured image data provided thereto via an edge detection algorithm to detect objects present exteriorly of the equipped vehicle and within the exterior field of view of at least one of said forward-viewing camera, said driver side-viewing camera and said passenger side-viewing camera;

wherein said control is operable to determine whether a detected edge constitutes a portion of a vehicle;

wherein said control processes sensed radar data provided thereto to detect objects present exteriorly of the equipped vehicle and within the exterior field of sensing of said at least one radar sensor;

wherein said control receives data relevant to a geographic location of the equipped vehicle, and wherein the geographic location of the equipped vehicle is determined, at least in part, by a global positioning system (GPS);

wherein said control, based at least in part on processing of at least one of (i) captured image data and (ii) sensed radar data, detects another vehicle that is present exterior of the equipped vehicle and determines distance from the equipped vehicle to the detected other vehicle that is present exterior of the equipped vehicle; and

wherein said control, based at least in part on determination of distance from the equipped vehicle to the detected other vehicle, controls a steering system operable to adjust a steering direction of the equipped vehicle.

2. The vehicular control system of claim 1, wherein said vehicular control system is operable to wirelessly communicate information to a remote receiving device that is remote from the equipped vehicle, and wherein information wirelessly communicated to said remote receiving device relates to data received at said control relevant to the geographic location of the equipped vehicle.

3. The vehicular control system of claim 1, wherein said vehicular control system is operable to wirelessly communicate information to a remote receiving device that is remote from the equipped vehicle, and wherein information wirelessly communicated to said remote receiving device relates to data received at said control relevant to a condition of the equipped vehicle.

4. The vehicular control system of claim 1, wherein said vehicular control system is operable to wirelessly communicate information to a remote receiving device that is remote from the equipped vehicle, and wherein information is wirelessly communicated to said remote receiving device in response to an input from a transmitter associated with said remote receiving device.

5. The vehicular control system of claim 4, wherein information is wirelessly communicated to said remote receiving device via a limited-range wireless communication.

6. The vehicular control system of claim 5, wherein said limited-range wireless communication comprises a Bluetooth limited-range wireless communication.

7. The vehicular control system of claim 1, wherein said vehicular control system is operable to wirelessly communicate information to a remote receiving device that is remote from the equipped vehicle, and wherein information wirelessly communicated to said remote receiving device comprises information derived, at least in part, from image data captured by at least one of said forward-viewing camera, said driver side-viewing camera and said passenger side-viewing camera.

8. The vehicular control system of claim 7, wherein information wirelessly communicated to said remote receiving device comprises data relevant to the geographic location of the equipped vehicle.

9. The vehicular control system of claim 1, wherein said control, responsive to determination, based at least in part on processing of captured image data at said control, that the equipped vehicle is unintentionally drifting out of a traffic lane that the equipped vehicle is currently travelling in, controls the steering system of the equipped vehicle to adjust steering of the equipped vehicle to mitigate such drift out of the traffic lane the equipped vehicle is travelling in.

10. The vehicular control system of claim 9, wherein said control processes image data captured by at least said forward-viewing camera to estimate distance from the equipped vehicle to a detected leading vehicle that is present exteriorly of the equipped vehicle and within the exterior field of view of said forward-viewing camera, and wherein, when the detected leading vehicle is determined by said control to be within a threshold distance from the equipped vehicle, speed of the equipped vehicle is reduced.

11. The vehicular control system of claim 10, wherein said forward-viewing camera is primary to said at least one radar sensor.

12. The vehicular control system of claim 10, wherein the steering system is manually controllable irrespective of said control.

13. The vehicular control system of claim 1, wherein, responsive at least in part to processing of captured image data at said control detecting a road condition on the road being traveled by the equipped vehicle, speed of the equipped vehicle is adjusted in accordance with the detected road condition.

14. The vehicular control system of claim 1, wherein, responsive at least in part to processing of captured image data at said control, speed of the equipped vehicle is adjusted in accordance with a traffic condition detected by said vehicular control system.

15. The vehicular control system of claim 1, wherein said forward-viewing camera is attached at a windshield of the equipped vehicle, and wherein said forward-viewing camera, when attached at the windshield, views through the windshield exteriorly of the equipped vehicle.

16. The vehicular control system of claim 15, wherein image data captured by at least said forward-viewing camera is processed at said control one way for a headlamp control system of the equipped vehicle and is processed at said control another way for a lane keeping system of the equipped vehicle.

17. The vehicular control system of claim 15, wherein said control, responsive to processing at said control of image data captured by at least said forward-viewing camera, detects headlights of oncoming vehicles within the exterior field of view of said forward-viewing camera when the equipped vehicle is operated under nighttime conditions.

18. The vehicular control system of claim 15, wherein said control, responsive to processing at said control of image data captured by at least said forward-viewing camera, detects taillights of leading vehicles within the exterior field of view of said forward-viewing camera when the equipped vehicle is operated under nighttime conditions.

19. The vehicular control system of claim 18, wherein said control, responsive to determination, based at least in part on processing of captured image data at said control, that the equipped vehicle is unintentionally drifting out of a traffic lane that the equipped vehicle is currently travelling in, controls the steering system of the equipped vehicle to adjust steering of the equipped vehicle to mitigate such drift out of the traffic lane the equipped vehicle is travelling in.

20. The vehicular control system of claim 19, wherein the steering system is manually controllable by a driver of the equipped vehicle irrespective of control by said control.

21. The vehicular control system of claim 1, wherein said driver side-viewing camera is mounted at a driver-side exterior mirror assembly of the equipped vehicle, and wherein said passenger side-viewing camera is mounted at a passenger-side exterior mirror assembly of the equipped vehicle.

22. The vehicular control system of claim 21, wherein said control receives image data captured by a rear-viewing camera mounted at a rear portion of the equipped vehicle and having a field of view at least rearward of the equipped vehicle.

23. The vehicular control system of claim 22, wherein image data captured by said rear-viewing camera at the rear portion of the equipped vehicle and by one or more of said driver side-viewing camera at the driver-side exterior mirror assembly of the equipped vehicle and said passenger side-viewing camera at the passenger-side exterior mirror assembly of the equipped vehicle is provided to a panoramic vision system of the equipped vehicle.

24. The vehicular control system of claim 1, wherein said control, responsive at least in part to processing of captured image data at said control, controls an adaptive cruise control system of the equipped vehicle.

25. The vehicular control system of claim 1, wherein said control processes image data captured by at least said forward-viewing camera for stop light recognition.

26. The vehicular control system of claim 1, wherein said control processes image data captured by at least said forward-viewing camera for traffic sign recognition.

27. The vehicular control system of claim 1, wherein, responsive at least in part to processing at said control of captured image data detecting a curve in the road ahead of the equipped vehicle, speed of the equipped vehicle is reduced to an appropriate speed for traveling around the detected curve, and wherein speed of the equipped vehicle increases after travelling around the detected curve to a speed appropriate for travelling along a generally straight section of road that comes after the curve.

28. The vehicular control system of claim 1, wherein, when the detected other vehicle that is present exterior of the equipped vehicle is determined by said control to be within a threshold distance from the equipped vehicle, speed of the equipped vehicle is reduced.

29. The vehicular control system of claim 1, wherein said control processes captured image data and sensed radar data for an adaptive cruise control system of the equipped vehicle, and wherein, during operation of said adaptive cruise control system, captured image data is primary to sensed radar data.

30. The vehicular control system of claim 1, wherein said control processes captured image data and sensed radar data for an adaptive cruise control system of the equipped vehicle, and wherein, during operation of said adaptive cruise control system, captured image data is secondary to sensed radar data.

31. The vehicular control system of claim 1, wherein said at least one radar sensor having a field of sensing exterior of the equipped vehicle comprises a driver side-sensing radar sensor mounted at a driver-side portion of the equipped vehicle, said driver side-sensing radar sensor having a field of sensing at least sideward and rearward of the equipped vehicle, and wherein said at least one radar sensor having a field of sensing exterior of the equipped vehicle comprises a passenger side-sensing radar sensor mounted at a passenger-side portion of the equipped vehicle, said passenger side-sensing radar sensor having a field of sensing at least sideward and rearward of the equipped vehicle.

32. The vehicular control system of claim 31, wherein said at least one radar sensor having a field of sensing exterior of the equipped vehicle comprises a forward-sensing radar sensor mounted at a front portion of the equipped vehicle, said forward-sensing radar sensor having a field of sensing at least forward of the equipped vehicle.

33. The vehicular control system of claim 32, wherein said control, responsive at least in part to processing at said control of radar sensor data sensed by at least said forward-sensing radar sensor, controls an adaptive cruise control system of the equipped vehicle, and wherein said control, based at least in part on processing at said control of radar sensor data sensed by at least said forward-sensing radar sensor, detects the other vehicle that is present exterior of and ahead of the equipped and determines distance from the equipped vehicle to the detected other vehicle that is present exterior of and ahead of the equipped vehicle.

34. The vehicular control system of claim 33, wherein said control, based at least in part on processing of captured image data, detects the other vehicle that is present exterior of and ahead of the equipped vehicle.

35. The vehicular control system of claim 1, wherein said at least one radar sensor comprises a Doppler radar sensor.

36. A vehicular control system, said vehicular control system comprising:

a plurality of cameras disposed at a vehicle equipped with said vehicular control system;

said plurality of cameras at least comprising (i) a forward-viewing camera mounted at a front portion of the equipped vehicle and having a field of view at least forward of the equipped vehicle, said forward-viewing camera operable to capture image data, (ii) a driver side-viewing camera mounted at a driver-side portion of the equipped vehicle and having a field of view at least sideward and rearward of the equipped vehicle at the driver side of the equipped vehicle, said driver side-viewing camera operable to capture image data and (iii) a passenger side-viewing camera mounted at a passenger-side portion of the equipped vehicle and having a field of view at least sideward and rearward of the equipped vehicle at the passenger side of the equipped vehicle, said passenger side-viewing camera operable to capture image data;

wherein said forward-viewing camera is attached at a windshield of the equipped vehicle, and wherein said forward-viewing camera, when attached at the windshield, views through the windshield exteriorly of the equipped vehicle;

at least one radar sensor having a field of sensing exterior of the equipped vehicle and operable to sense radar data;

wherein said at least one radar sensor having a field of sensing exterior of the equipped vehicle comprises a driver side-sensing radar sensor mounted at a driver-side portion of the equipped vehicle, said driver side-sensing radar sensor having a field of sensing at least sideward and rearward of the equipped vehicle;

wherein said at least one radar sensor having a field of sensing exterior of the equipped vehicle comprises a passenger side-sensing radar sensor mounted at a passenger-side portion of the equipped vehicle, said passenger side-sensing radar sensor having a field of sensing at least sideward and rearward of the equipped vehicle;

wherein said at least one radar sensor having a field of sensing exterior of the equipped vehicle comprises a forward-sensing radar sensor mounted at a front portion of the equipped vehicle, said forward-sensing radar sensor having a field of sensing at least forward of the equipped vehicle;

a control comprising at least one processor;

wherein image data captured by at least said forward-viewing camera, said driver side-viewing camera and said passenger side-viewing camera is provided to said control;

wherein radar data sensed by at least said driver side-sensing radar sensor, said passenger side-sensing radar sensor and said forward-sensing radar sensor is provided to said control;

wherein said control, responsive to processing at said control of image data captured at least by said forward-viewing camera, detects lane markers within the exterior field of view of at least said forward-viewing camera on a road being traveled by the equipped vehicle;

wherein said control processes captured image data provided thereto via an edge detection algorithm to detect objects present exteriorly of the equipped vehicle and within the exterior field of view of at least one of said forward-viewing camera, said driver side-viewing camera and said passenger side-viewing camera;

wherein said control processes sensed radar data provided thereto to detect objects present exteriorly of the equipped vehicle and within the exterior field of sensing of said at least one radar sensor;

wherein said control receives data relevant to a geographic location of the equipped vehicle, and wherein the geographic location of the equipped vehicle is determined, at least in part, by a global positioning system (GPS);

wherein said control, based at least in part on processing of at least one of (i) captured image data and (ii) sensed radar data, detects another vehicle that is present exterior of the equipped vehicle and determines distance from the equipped vehicle to the detected other vehicle that is present exterior of the equipped vehicle;

wherein said control, based at least in part on processing of at least one of (i) captured image data and (ii) sensed radar data, controls a steering system of the equipped vehicle; and

wherein the steering system is manually controllable irrespective of said control.

37. The vehicular control system of claim 36, wherein said control, responsive to determination, based at least in part on processing of captured image data at said control, that the equipped vehicle is unintentionally drifting out of a traffic lane that the equipped vehicle is currently travelling in, controls the steering system of the equipped vehicle to adjust steering of the equipped vehicle to mitigate such drift out of the traffic lane the equipped vehicle is travelling in.

38. The vehicular control system of claim 37, wherein said control, based at least in part on said detection of the other vehicle present exterior of the equipped vehicle and said determination of distance from the equipped vehicle to the detected other vehicle, determines whether it is safe for the equipped vehicle to execute a lane change maneuver.

39. The vehicular control system of claim 38, wherein said control, responsive to processing at said control of image data captured by at least said forward-viewing camera, detects taillights of leading vehicles within the exterior field of view of said forward-viewing camera when the equipped vehicle is operated under nighttime conditions.

40. The vehicular control system of claim 39, wherein said control processes captured image data and sensed radar data for an adaptive cruise control system of the equipped vehicle.

41. The vehicular control system of claim 40, wherein, responsive at least in part to processing at said control of captured image data detecting a curve in the road ahead of the equipped vehicle, speed of the equipped vehicle is reduced to an appropriate speed for traveling around the detected curve, and wherein speed of the equipped vehicle increases after travelling around the detected curve to a speed appropriate for travelling along a generally straight section of road that comes after the curve.

42. The vehicular control system of claim 36, wherein said driver side-viewing camera is mounted at a driver-side exterior mirror assembly of the equipped vehicle, and wherein said passenger side-viewing camera is mounted at a passenger-side exterior mirror assembly of the equipped vehicle, and wherein said control receives image data captured by a rear-viewing camera mounted at a rear portion of the equipped vehicle and having a field of view at least rearward of the equipped vehicle, and wherein image data captured by said rear-viewing camera at the rear portion of the equipped vehicle and by one or more of said driver side-viewing camera at the driver-side exterior mirror assembly of the equipped vehicle and said passenger side-viewing camera at the passenger-side exterior mirror assembly of the equipped vehicle is provided to a panoramic vision system of the equipped vehicle.

43. The vehicular control system of claim 36, wherein said vehicular control system is operable to wirelessly communicate information to a remote receiving device that is remote from the equipped vehicle, and wherein information wirelessly communicated to said remote receiving device comprises information derived, at least in part, from image data captured by at least one of said forward-viewing camera, said driver side-viewing camera and said passenger side-viewing camera.

44. The vehicular control system of claim 43, wherein information wirelessly communicated to said remote receiving device comprises data relevant to the geographic location of the equipped vehicle.

45. The vehicular control system of claim 36, wherein objects present exteriorly of the equipped vehicle comprise a vehicle, and wherein said control determines that an edge detected via the edge detection algorithm constitutes a portion of the vehicle present exteriorly of the equipped vehicle and tracks the detected edge over multiple frames of captured image data.

46. A vehicular control system, said vehicular control system comprising:

a plurality of cameras disposed at a vehicle equipped with said vehicular control system;

said plurality of cameras at least comprising (i) a forward-viewing camera mounted at a front portion of the equipped vehicle and having a field of view at least forward of the equipped vehicle, said forward-viewing camera operable to capture image data, (ii) a driver side-viewing camera mounted at a driver-side portion of the equipped vehicle and having a field of view at least sideward and rearward of the equipped vehicle at the driver side of the equipped vehicle, said driver side-viewing camera operable to capture image data and (iii) a passenger side-viewing camera mounted at a passenger-side portion of the equipped vehicle and having a field of view at least sideward and rearward of the equipped vehicle at the passenger side of the equipped vehicle, said passenger side-viewing camera operable to capture image data;

wherein said forward-viewing camera is attached at a windshield of the equipped vehicle, and wherein said forward-viewing camera, when attached at the windshield, views through the windshield exteriorly of the equipped vehicle;

at least one radar sensor having a field of sensing exterior of the equipped vehicle and operable to sense radar data;

a control comprising at least one processor;

wherein image data captured by at least said forward-viewing camera, said driver side-viewing camera and said passenger side-viewing camera is provided to said control;

wherein radar data sensed by said at least one radar sensor is provided to said control;

wherein said control processes captured image data provided thereto via an edge detection algorithm to detect objects present exteriorly of the equipped vehicle and within the exterior field of view of at least one of said forward-viewing camera, said driver side-viewing camera and said passenger side-viewing camera;

wherein said control is operable to determine whether a detected edge constitutes a portion of a vehicle;

wherein said control processes sensed radar data provided thereto to detect objects present exteriorly of the equipped vehicle and within the exterior field of sensing of said at least one radar sensor;

wherein said control receives data relevant to a geographic location of the equipped vehicle, and wherein the geographic location of the equipped vehicle is determined, at least in part, by a global positioning system (GPS);

wherein said control, based at least in part on processing of at least one of (i) captured image data and (ii) sensed radar data, detects another vehicle that is present exterior of the equipped vehicle;

wherein said vehicular control system is operable to wirelessly communicate information to a remote receiving device that is remote from the equipped vehicle; and

wherein information wirelessly communicated to said remote receiving device comprises information derived, at least in part, from image data captured by at least said forward-viewing camera.

47. The vehicular control system of claim 46, wherein information wirelessly communicated to said remote receiving device comprises data relevant to the geographic location of the equipped vehicle.

48. The vehicular control system of claim 47, wherein said control tracks edges detected via said edge detection algorithm over multiple frames of captured image data.

49. The vehicular control system of claim 47, wherein said driver side-viewing camera is mounted at a driver-side exterior mirror assembly of the equipped vehicle, and wherein said passenger side-viewing camera is mounted at a passenger-side exterior mirror assembly of the equipped vehicle, and wherein said control receives image data captured by a rear-viewing camera mounted at a rear portion of the equipped vehicle and having a field of view at least rearward of the equipped vehicle, and wherein image data captured by said rear-viewing camera at the rear portion of the equipped vehicle and by one or more of said driver side-viewing camera at the driver-side exterior mirror assembly of the equipped vehicle and said passenger side-viewing camera at the passenger-side exterior mirror assembly of the equipped vehicle is provided to a panoramic vision system of the equipped vehicle.

50. The vehicular control system of claim 49, wherein said control processes captured image data and sensed radar data for an adaptive cruise control system of the equipped vehicle.

51. The vehicular control system of claim 50, wherein, responsive at least in part to processing at said control of captured image data detecting a curve in a road ahead of the equipped vehicle, speed of the equipped vehicle is reduced to an appropriate speed for traveling around the detected curve, and wherein speed of the equipped vehicle increases after travelling around the detected curve to a speed appropriate for travelling along a generally straight section of road that comes after the curve.

52. The vehicular control system of claim 50, wherein said control, responsive to determination, based at least in part on processing of captured image data at said control, that the equipped vehicle is unintentionally drifting out of a traffic lane that the equipped vehicle is currently travelling in, controls a steering system of the equipped vehicle to adjust steering of the equipped vehicle to mitigate such drift out of the traffic lane the equipped vehicle is travelling in.

53. The vehicular control system of claim 50, wherein said control, based at least in part on said detection of the other vehicle present exterior of the equipped vehicle and said determination of distance from the equipped vehicle to the detected other vehicle, determines whether it is safe for the equipped vehicle to execute a lane change maneuver.

54. The vehicular control system of claim 53, wherein the steering system is manually controllable irrespective of said control.

55. The vehicular control system of claim 47, wherein said at least one radar sensor having a field of sensing exterior of the equipped vehicle comprises a passenger side-sensing radar sensor mounted at a passenger-side portion of the equipped vehicle, said passenger side-sensing radar sensor having a field of sensing at least sideward and rearward of the equipped vehicle, and wherein said at least one radar sensor having a field of sensing exterior of the equipped vehicle comprises a forward-sensing radar sensor mounted at a front portion of the equipped vehicle, said forward-sensing radar sensor having a field of sensing at least forward of the equipped vehicle.

56. The vehicular control system of claim 46, wherein, responsive at least in part to processing of captured image data at said control detecting a road condition on a road being traveled by the equipped vehicle, speed of the equipped vehicle is adjusted in accordance with the detected road condition.

57. The vehicular control system of claim 46, wherein, responsive at least in part to processing of captured image data at said control, speed of the equipped vehicle is adjusted in accordance with a traffic condition detected by said vehicular control system.

58. The vehicular control system of claim 46, wherein said control, responsive to processing at said control of image data captured at least by said forward-viewing camera, detects lane markers within the exterior field of view of at least said forward-viewing camera on a road being traveled by the equipped vehicle.

59. The vehicular control system of claim 58, wherein said control, responsive to processing at said control of image data captured at least by said forward-viewing camera, detects road edges within the exterior field of view of at least said forward-viewing camera on the road being traveled by the equipped vehicle.

60. The vehicular control system of claim 58, wherein said control, based at least in part on processing of captured image data and sensed radar data, detects the other vehicle that is present exterior of the equipped vehicle.