Vehicular driving assist system using forward-viewing camera

• US 10,683,008 B2
• Filed: 07/15/2019
• Issued: 06/16/2020
• 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:
  US16/511,098
• Publication Number:
  US 20190351907A1
• Time in Patent Office: 337 Days
• 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 vehicular driving assist system includes a forward-viewing camera and a side object detection system disposed at a vehicle equipped with the vehicular driving assist system. The side object detection system includes a driver side-sensing radar sensor and a passenger side-sensing radar sensor. Image data captured by the forward-viewing camera is processed to detect traffic lane markers for a lane departure warning system of the equipped vehicle. Responsive at least in part to one of the radar sensors detecting a vehicle travelling in the same direction as the equipped vehicle and approaching from rearward of the equipped vehicle in a traffic lane that is to the respective side of the traffic lane that the equipped vehicle is travelling in, the vehicular driving assist system alerts a driver of the equipped vehicle of presence of the detected vehicle regardless of turn signal usage by the driver of the equipped vehicle.

Claims

1. A vehicular driving assist system, said vehicular driving assist system comprising:

a forward-viewing camera disposed at a vehicle equipped with said vehicular driving assist system and having a field of view at least forward of the equipped vehicle, said forward-viewing camera operable to capture image data;

wherein said forward-viewing camera is mounted at an in-cabin side of a windshield of the equipped vehicle and views through the windshield forward of the equipped vehicle;

a side object detection system disposed at the equipped vehicle;

wherein said side object detection system 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, said driver side-sensing radar sensor operable to capture radar data;

wherein said side object detection system 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, said passenger side-sensing radar sensor operable to capture radar data;

said vehicular driving assist system comprising an image processor;

wherein image data captured by said forward-viewing camera is provided to said image processor;

wherein image data captured by said forward-viewing camera is processed at said image processor to detect traffic lane markers of a traffic lane the equipped vehicle is travelling in on a road the equipped vehicle is travelling along;

wherein image data captured by said forward-viewing camera is processed at said image processor for a lane departure warning system of the equipped vehicle;

wherein, responsive at least in part to said side object detection system, based on radar data captured by said driver side-sensing radar sensor, detecting a vehicle travelling in the same direction as the equipped vehicle and approaching the equipped vehicle from rearward of the equipped vehicle in a traffic lane that is to the left of the traffic lane that the equipped vehicle is travelling in, said vehicular driving assist system alerts a driver of the equipped vehicle of presence of the detected vehicle approaching the equipped vehicle from rearward of the equipped vehicle in the traffic lane that is to the left of the traffic lane that the equipped vehicle is travelling in regardless of turn signal usage by the driver of the equipped vehicle; and

wherein, responsive at least in part to said side object detection system, based on radar data captured by said passenger side-sensing radar sensor, detecting a vehicle travelling in the same direction as the equipped vehicle and approaching the equipped vehicle from rearward of the equipped vehicle in a traffic lane that is to the right of the traffic lane that the equipped vehicle is travelling in, said vehicular driving assist system alerts the driver of the equipped vehicle of presence of the detected vehicle approaching the equipped vehicle from rearward of the equipped vehicle in the traffic lane that is to the right of the traffic lane that the equipped vehicle is travelling in regardless of turn signal usage by the driver of the equipped vehicle.

2. The vehicular driving assist system of claim 1, wherein said vehicular driving assist system, responsive to processing at said image processor of image data captured by said forward-viewing camera, detects headlights of an oncoming vehicle present within the forward field of view of said forward-viewing camera when the equipped vehicle is operated under nighttime conditions.

3. The vehicular driving assist system of claim 1, wherein said vehicular driving assist system, responsive to processing at said image processor of image data captured by said forward-viewing camera, detects taillights of a leading vehicle present within the forward field of view of said forward-viewing camera when the equipped vehicle is operated under nighttime conditions.

4. The vehicular driving assist system of claim 1, wherein said vehicular driving assist system, responsive to determination based at least in part on processing at said image processor of image data captured by said forward-viewing camera that the equipped vehicle is unintentionally drifting out of the traffic lane that the equipped vehicle is 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 that the equipped vehicle is travelling in.

5. The vehicular driving assist system of claim 4, wherein said vehicular driving assist system, based at least in part on processing at said image processor of image data captured by said forward-viewing camera, determines curvature of the road being traveled by the equipped vehicle.

6. The vehicular driving assist system of claim 5, wherein image data captured by said forward-viewing camera is processed at said image processor for stop light recognition.

7. The vehicular driving assist system of claim 5, wherein image data captured by said forward-viewing camera is processed at said image processor for traffic sign recognition.

8. The vehicular driving assist system of claim 5, wherein, responsive at least in part to processing at said image processor of image data captured by said forward-viewing camera detecting a road curve in the road along which the equipped vehicle is travelling and ahead of the equipped vehicle, speed of the equipped vehicle is reduced to an appropriate speed for travelling around the detected road curve.

9. The vehicular driving assist system of claim 8, wherein speed of the equipped vehicle increases after travelling around the detected road curve to a speed appropriate for travelling along a straight section of road that comes after the road curve.

10. The vehicular driving assist system of claim 1, wherein said vehicular driving assist system, based at least in part on processing at said image processor of image data captured by said forward-viewing camera, detects another vehicle that is present ahead of the equipped vehicle, and wherein said vehicular driving assist system, responsive to detection of the detected other vehicle present ahead of the equipped vehicle, controls speed of the equipped vehicle.

11. The vehicular driving assist system of claim 10, wherein said vehicular driving assist system controls speed of the equipped vehicle for an adaptive cruise control system of the equipped vehicle.

12. The vehicular driving assist system of claim 11, wherein said vehicular driving assist system, based at least in part on processing at said image processor of image data captured by said forward-viewing camera, determines distance from the equipped vehicle to the detected other vehicle that is present ahead of the equipped vehicle.

13. The vehicular driving assist system of claim 12, wherein said vehicular driving assist system, 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.

14. The vehicular driving assist system of claim 1, wherein said vehicular driving assist system, based at least in part on processing at said image processor of image data captured by said forward-viewing camera and on detection by said side object detection system, based on radar data captured by said driver side-sensing radar sensor, of another vehicle travelling in the same direction as the equipped vehicle and approaching the equipped vehicle from rearward of the equipped vehicle in the traffic lane that is to the left of the traffic lane that the equipped vehicle is travelling in, controls steering of the equipped vehicle.

15. The vehicular driving assist system of claim 1, wherein said side object detection system determines whether it is safe for the equipped vehicle to execute a lane change maneuver.

16. The vehicular driving assist system of claim 1, wherein image data captured by said forward-viewing camera is processed at said image processor via edge detection to detect objects present within the field of view of said forward-viewing camera.

17. The vehicular driving assist system of claim 1, wherein image data captured by said forward-viewing camera is processed at said image processor via edge detection, and wherein said vehicular driving assist system determines whether a detected edge constitutes a portion of a vehicle.

18. The vehicular driving assist system of claim 1, wherein, responsive at least in part to processing at said image processor of image data captured by said forward-viewing camera detecting a road condition on the road being traveled along by the equipped vehicle, speed of the equipped vehicle is adjusted in accordance with the detected road condition.

19. The vehicular driving assist system of claim 1, wherein, responsive at least in part to processing at said image processor of image data captured by said forward-viewing camera detecting a traffic condition on the road being traveled along by the equipped vehicle, speed of the equipped vehicle is adjusted in accordance with the detected traffic condition.

20. The vehicular driving assist system of claim 1, wherein said vehicular driving assist system, responsive at least in part to processing at said image processor of image data captured by said forward-viewing camera, controls an adaptive cruise control system of the equipped vehicle.

21. The vehicular driving assist system of claim 1, wherein said vehicular driving assist system, based at least in part on processing at said image processor of image data captured by said forward-viewing camera, detects a road edge of the road the equipped vehicle is travelling along.

22. The vehicular driving assist system of claim 1, wherein said vehicular driving assist system, based at least in part on processing at said image processor of image data captured by said forward-viewing camera, detects a road shoulder of the road the equipped vehicle is travelling along.

23. The vehicular driving assist system of claim 1, wherein said vehicular driving assist system, based at least in part on processing at said image processor of image data captured by said forward-viewing camera, detects and tracks a road edge of the road the equipped vehicle is travelling along.

24. The vehicular driving assist system of claim 1, wherein said vehicular driving assist system, based at least in part on processing at said image processor of image data captured by said forward-viewing camera, detects another vehicle that is present exterior of and ahead of the equipped vehicle.

25. The vehicular driving assist system of claim 24, wherein said vehicular driving assist system, based at least in part on processing at said image processor of image data captured by said forward-viewing camera, determines that the detected other vehicle is an oncoming other vehicle.

26. The vehicular driving assist system of claim 1, wherein said vehicular driving assist system, based at least in part on processing at said image processor of image data captured by said forward-viewing camera, controls speed of the equipped vehicle.

27. The vehicular driving assist system of claim 26, wherein said vehicular driving assist system determines distance from the equipped vehicle to another vehicle that is present exterior and ahead of the equipped vehicle.

28. The vehicular driving assist system of claim 26, wherein said vehicular driving assist system, based at least in part on determination of distance from the equipped vehicle to another vehicle present exterior and ahead of the equipped vehicle, controls a steering system operable to adjust a steering direction of the equipped vehicle.

29. The vehicular driving assist system of claim 26, wherein said vehicular driving assist system, based at least in part on processing at said image processor of image data captured by said forward-viewing camera, controls an adaptive cruise control system of the equipped vehicle.

30. The vehicular driving assist system of claim 1, wherein, responsive at least in part to detection by said side object detection system, based on radar data captured by said driver side-sensing radar sensor, of the vehicle travelling in the same direction as the equipped vehicle and approaching the equipped vehicle from rearward of the equipped vehicle in the traffic lane that is to the left of the traffic lane that the equipped vehicle is travelling in, said vehicular driving assist system activates a warning indicator to alert the driver of the equipped vehicle that the detected vehicle is travelling in the same direction as the equipped vehicle and approaching the equipped vehicle from rearward of the equipped vehicle in the traffic lane that is to the left of the traffic lane that the equipped vehicle is travelling in.

31. The vehicular driving assist system of claim 30, wherein said warning indicator comprises a visual warning.

32. The vehicular driving assist system of claim 1, wherein, responsive at least in part to detection by said side object detection system, based on radar data captured by said passenger side-sensing radar sensor, of the vehicle travelling in the same direction as the equipped vehicle and approaching the equipped vehicle from rearward of the equipped vehicle in the traffic lane that is to the right of the traffic lane that the equipped vehicle is travelling in, said vehicular driving assist system activates a warning indicator to alert the driver of the equipped vehicle that the detected vehicle is travelling in the same direction as the equipped vehicle and approaching the equipped vehicle from rearward of the equipped vehicle in the traffic lane that is to the right of the traffic lane that the equipped vehicle is travelling in.

33. The vehicular driving assist system of claim 32, wherein said warning indicator comprises a visual warning.

34. The vehicular driving assist system of claim 1, wherein said forward-viewing camera comprises a forward-viewing CMOS camera, and wherein said vehicular driving assist system, responsive to determination based at least in part on processing at said image processor of image data captured by said forward-viewing camera that the equipped vehicle is drifting out of the traffic lane that the equipped vehicle is 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 that the equipped vehicle is travelling in unless the driver of the equipped vehicle has actuated a turn signal of the equipped vehicle to signal driver-intent to change out of the traffic lane that the equipped vehicle is travelling in.

35. The vehicular driving assist system of claim 34, wherein steering of the equipped vehicle is manually controllable by the driver of the equipped vehicle irrespective of said vehicular driving assist system.

36. The vehicular driving assist system of claim 1, wherein, responsive at least in part to radar data captured by said driver side-sensing radar sensor of said side object detection system, said vehicular driving assist system determines whether it is safe for the equipped vehicle to execute a lane change maneuver out of the traffic lane that the equipped vehicle is travelling in into the traffic lane that is to the left of the traffic lane that the equipped vehicle is travelling in.

37. The vehicular driving assist system of claim 36, wherein, responsive at least in part to radar data captured by said passenger side-sensing radar sensor of said side object detection system, said vehicular driving assist system determines whether it is safe for the equipped vehicle to execute a lane change maneuver out of the traffic lane that the equipped vehicle is travelling in into the traffic lane that is to the right of the traffic lane that the equipped vehicle is travelling in.

38. The vehicular driving assist system of claim 36, wherein said vehicular driving assist system, responsive to processing at said image processor of image data captured by at least said forward-viewing camera, detects taillights of a leading vehicle present within the forward field of view of said forward-viewing camera when the equipped vehicle is operated under nighttime conditions.

39. The vehicular driving assist system of claim 1, wherein image data captured by said forward-viewing camera is processed at said image processor for an automatic headlamp control system of the equipped vehicle.

40. The vehicular driving assist system of claim 39, wherein image data captured by said forward-viewing camera is processed at said image processor for a traffic sign recognition system of the equipped vehicle.

41. The vehicular driving assist system of claim 40, wherein image data captured by said forward-viewing camera is processed at said image processor for a stop light recognition system of the equipped vehicle.

42. The vehicular driving assist system of claim 1, wherein geographic location of the equipped vehicle is determined, at least in part, by a global positioning system (GPS).

43. The vehicular driving assist system of claim 1, wherein image data captured by said forward-viewing camera is processed at said image processor for an automatic headlamp control system of the equipped vehicle, and wherein image data captured by said forward-viewing camera is processed at said image processor one way for the automatic headlamp control system of the equipped vehicle and is processed at said image processor another way for the lane departure warning system of the equipped vehicle.

44. A vehicular driving assist system, said vehicular driving assist system comprising:

a forward-viewing camera disposed at a vehicle equipped with said vehicular driving assist system and having a field of view at least forward of the equipped vehicle, said forward-viewing camera operable to capture image data;

wherein said forward-viewing camera is mounted at an in-cabin side of a windshield of the equipped vehicle and views through the windshield forward of the equipped vehicle;

a side object detection system disposed at the equipped vehicle;

wherein said side object detection system 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, said driver side-sensing radar sensor operable to capture radar data;

wherein said side object detection system 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, said passenger side-sensing radar sensor operable to capture radar data;

said vehicular driving assist system comprising an image processor;

wherein image data captured by said forward-viewing camera is provided to said image processor;

wherein image data captured by said forward-viewing camera is processed at said image processor to detect traffic lane markers of a traffic lane the equipped vehicle is travelling in on a road the equipped vehicle is travelling along;

wherein image data captured by said forward-viewing camera is processed at said image processor for a lane departure warning system of the equipped vehicle;

wherein, responsive at least in part to detection by said side object detection system, based on radar data captured by said driver side-sensing radar sensor, of another vehicle travelling in the same direction as the equipped vehicle and approaching the equipped vehicle from rearward of the equipped vehicle in a traffic lane that is to the left of the traffic lane that the equipped vehicle is travelling in, said vehicular driving assist system activates a visual warning indicator to alert a driver of the equipped vehicle that another vehicle is travelling in the same direction as the equipped vehicle and approaching the equipped vehicle from rearward of the equipped vehicle in the traffic lane that is to the left of the traffic lane that the equipped vehicle is travelling in; and

wherein, responsive at least in part to detection by said side object detection system, based on radar data captured by said passenger side-sensing radar sensor, of another vehicle travelling in the same direction as the equipped vehicle and approaching the equipped vehicle from rearward of the equipped vehicle in a traffic lane that is to the right of the traffic lane that the equipped vehicle is travelling in, said vehicular driving assist system activates a visual warning indicator to alert the driver of the equipped vehicle that another vehicle is travelling in the same direction as the equipped vehicle and approaching the equipped vehicle from rearward of the equipped vehicle in the traffic lane that is to the right of the traffic lane that the equipped vehicle is travelling in.

45. The vehicular driving assist system of claim 44, wherein (i) said vehicular driving assist system, responsive to processing at said image processor of image data captured by said forward-viewing camera, detects headlights of an oncoming vehicle present within the forward field of view of said forward-viewing camera when the equipped vehicle is operated under nighttime conditions, and (ii) said vehicular driving assist system, responsive to processing at said image processor of image data captured by said forward-viewing camera, detects taillights of a leading vehicle present within the forward field of view of said forward-viewing camera when the equipped vehicle is operated under nighttime conditions.

46. The vehicular driving assist system of claim 45, wherein said forward-viewing camera comprises a forward-viewing CMOS camera, and wherein said vehicular driving assist system, responsive to determination based at least in part on processing at said image processor of image data captured by said forward-viewing camera that the equipped vehicle is drifting out of the traffic lane that the equipped vehicle is 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 that the equipped vehicle is travelling in unless the driver of the equipped vehicle has actuated a turn signal of the equipped vehicle to signal driver-intent to change out of the traffic lane that the equipped vehicle is travelling in, and wherein steering of the equipped vehicle is manually controllable by the driver of the equipped vehicle irrespective of said vehicular driving assist system.

47. The vehicular driving assist system of claim 46, wherein image data captured by said forward-viewing camera is processed at said image processor for an automatic headlamp control system of the equipped vehicle, and wherein image data captured by said forward-viewing camera is processed at said image processor for a traffic sign recognition system of the equipped vehicle.

48. The vehicular driving assist system of claim 45, wherein, responsive at least in part to processing at said image processor of image data captured by said forward-viewing camera detecting a road condition on the road being traveled along by the equipped vehicle, speed of the equipped vehicle is adjusted in accordance with the detected road condition.

49. The vehicular driving assist system of claim 45, wherein, responsive at least in part to processing at said image processor of image data captured by said forward-viewing camera detecting a traffic condition on the road being traveled along by the equipped vehicle, speed of the equipped vehicle is adjusted in accordance with the detected traffic condition.

50. The vehicular driving assist system of claim 44, wherein said vehicular driving assist system, based at least in part on processing at said image processor of image data captured by said forward-viewing camera, detects another vehicle that is present exterior of and ahead of the equipped vehicle, and wherein said vehicular driving assist system, based at least in part on processing at said image processor of image data captured by said forward-viewing camera, determines that the detected other vehicle is an oncoming other vehicle.

51. The vehicular driving assist system of claim 44, wherein, responsive at least in part to radar data captured by said driver side-sensing radar sensor of said side object detection system, said vehicular driving assist system determines whether it is safe for the equipped vehicle to execute a lane change maneuver out of the traffic lane that the equipped vehicle is travelling in into the traffic lane that is to the left of the traffic lane that the equipped vehicle is travelling in, and wherein, responsive at least in part to radar data captured by said passenger side-sensing radar sensor of said side object detection system, said vehicular driving assist system determines whether it is safe for the equipped vehicle to execute a lane change maneuver out of the traffic lane that the equipped vehicle is travelling in into the traffic lane that is to the right of the traffic lane that the equipped vehicle is travelling in.

52. The vehicular driving assist system of claim 44, wherein said vehicular driving assist system, based at least in part on processing at said image processor of image data captured by said forward-viewing camera, determines curvature of the road being traveled by the equipped vehicle.

53. The vehicular driving assist system of claim 52, wherein said vehicular driving assist system, responsive at least in part to processing at said image processor of image data captured by said forward-viewing camera detecting another vehicle that is present exterior and ahead of the equipped vehicle, controls speed of the equipped vehicle for an adaptive cruise control system of the equipped vehicle.

54. The vehicular driving assist system of claim 52, wherein said vehicular driving assist system, responsive at least in part to processing at said image processor of image data captured by said forward-viewing camera detecting another vehicle that is present exterior and ahead of the equipped vehicle, controls steering of the equipped vehicle.

55. The vehicular driving assist system of claim 44, wherein said vehicular driving assist system, based at least in part on processing at said image processor of image data captured by said forward-viewing camera, detects and tracks a road edge of the road the equipped vehicle is travelling along.

56. The vehicular driving assist system of claim 44, wherein image data captured by said forward-viewing camera is processed at said image processor for a stop light recognition system of the equipped vehicle.

57. A vehicular driving assist system, said vehicular driving assist system comprising:

a forward-viewing camera disposed at a vehicle equipped with said vehicular driving assist system and having a field of view at least forward of the equipped vehicle, said forward-viewing camera operable to capture image data;

wherein said forward-viewing camera is mounted at an in-cabin side of a windshield of the equipped vehicle and views through the windshield forward of the equipped vehicle;

said vehicular driving assist system comprising an image processor;

wherein image data captured by said forward-viewing camera is provided to said image processor;

wherein image data captured by said forward-viewing camera is processed at said image processor to detect traffic lane markers of a traffic lane the equipped vehicle is travelling in on a road the equipped vehicle is travelling along;

wherein image data captured by said forward-viewing camera is processed at said image processor for a lane departure warning system of the equipped vehicle;

wherein image data captured by said forward-viewing camera is processed at said image processor for an automatic headlamp control system of the equipped vehicle;

wherein image data captured by said forward-viewing camera is processed at said image processor for a traffic sign recognition system of the equipped vehicle;

wherein said vehicular driving assist system, responsive to determination based at least in part on processing at said image processor of image data captured by said forward-viewing camera that the equipped vehicle is drifting out of the traffic lane that the equipped vehicle is 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 that the equipped vehicle is travelling in unless a driver of the equipped vehicle has actuated a turn signal of the equipped vehicle to signal driver-intent to change out of the traffic lane that the equipped vehicle is travelling in; and

wherein steering of the equipped vehicle is manually controllable by the driver of the equipped vehicle irrespective of said vehicular driving assist system.

58. The vehicular driving assist system of claim 57, wherein (i) said vehicular driving assist system, responsive to processing at said image processor of image data captured by said forward-viewing camera, detects headlights of an oncoming vehicle present within the forward field of view of said forward-viewing camera when the equipped vehicle is operated under nighttime conditions, and (ii) said vehicular driving assist system, responsive to processing at said image processor of image data captured by said forward-viewing camera, detects taillights of a leading vehicle present within the forward field of view of said forward-viewing camera when the equipped vehicle is operated under nighttime conditions.

59. The vehicular driving assist system of claim 57, wherein, responsive at least in part to processing at said image processor of image data captured by said forward-viewing camera detecting a road condition on the road being traveled along by the equipped vehicle, speed of the equipped vehicle is adjusted in accordance with the detected road condition.

60. The vehicular driving assist system of claim 57, wherein, responsive at least in part to processing at said image processor of image data captured by said forward-viewing camera detecting a traffic condition on the road being traveled along by the equipped vehicle, speed of the equipped vehicle is adjusted in accordance with the detected traffic condition.

61. The vehicular driving assist system of claim 57, wherein said vehicular driving assist system, based at least in part on processing at said image processor of image data captured by said forward-viewing camera, detects another vehicle that is present exterior of and ahead of the equipped vehicle, and wherein said vehicular driving assist system, based at least in part on processing at said image processor of image data captured by said forward-viewing camera, determines that the detected other vehicle is an oncoming other vehicle.

62. The vehicular driving assist system of claim 57, wherein image data captured by said forward-viewing camera is processed at said image processor for a stop light recognition system of the equipped vehicle.

63. The vehicular driving assist system of claim 57, wherein said vehicular driving assist system, based at least in part on processing at said image processor of image data captured by said forward-viewing camera, determines curvature of the road being traveled along by the equipped vehicle.

64. The vehicular driving assist system of claim 63, wherein said vehicular driving assist system, responsive at least in part to processing at said image processor of image data captured by said forward-viewing camera detecting another vehicle that is present exterior and ahead of the equipped vehicle, controls speed of the equipped vehicle for an adaptive cruise control system of the equipped vehicle.

65. The vehicular driving assist system of claim 63, wherein said vehicular driving assist system, responsive at least in part to processing at said image processor of image data captured by said forward-viewing camera detecting another vehicle that is present exterior and ahead of the equipped vehicle, controls steering of the equipped vehicle.

66. The vehicular driving assist system of claim 63, wherein said vehicular driving assist system, based at least in part on processing at said image processor of image data captured by said forward-viewing camera, detects and tracks a road edge of the road the equipped vehicle is travelling along.

67. The vehicular driving assist system of claim 63, comprising a side object detection system disposed at the equipped vehicle, and wherein said side object detection system 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, said driver side-sensing radar sensor operable to capture radar data, and wherein said side object detection system 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, said passenger side-sensing radar sensor operable to capture radar data, and wherein, responsive at least in part to detection by said side object detection system, based on radar data captured by said driver side-sensing radar sensor, of another vehicle travelling in the same direction as the equipped vehicle and approaching the equipped vehicle from rearward of the equipped vehicle in a traffic lane that is to the left of the traffic lane that the equipped vehicle is travelling in, said vehicular driving assist system activates a visual warning indicator to alert the driver of the equipped vehicle that another vehicle is travelling in the same direction as the equipped vehicle and approaching the equipped vehicle from rearward of the equipped vehicle in the traffic lane that is to the left of the traffic lane that the equipped vehicle is travelling in, and wherein, responsive at least in part to detection by said side object detection system, based on radar data captured by said passenger side-sensing radar sensor, of another vehicle travelling in the same direction as the equipped vehicle and approaching the equipped vehicle from rearward of the equipped vehicle in a traffic lane that is to the right of the traffic lane that the equipped vehicle is travelling in, said vehicular driving assist system activates a visual warning indicator to alert the driver of the equipped vehicle that another vehicle is travelling in the same direction as the equipped vehicle and approaching the equipped vehicle from rearward of the equipped vehicle in the traffic lane that is to the right of the traffic lane that the equipped vehicle is travelling in, and wherein, responsive at least in part to radar data captured by said driver side-sensing radar sensor of said side object detection system, said vehicular driving assist system determines whether it is safe for the equipped vehicle to execute a lane change maneuver out of the traffic lane that the equipped vehicle is travelling in into the traffic lane that is to the left of the traffic lane that the equipped vehicle is travelling in, and wherein, responsive at least in part to radar data captured by said passenger side-sensing radar sensor of said side object detection system, said vehicular driving assist system determines whether it is safe for the equipped vehicle to execute a lane change maneuver out of the traffic lane that the equipped vehicle is travelling in into the traffic lane that is to the right of the traffic lane that the equipped vehicle is travelling in.