VEHICULAR VISION SYSTEM

• US 20130076241A1
• Filed: 11/19/2012
• Published: 03/28/2013
• Est. Priority Date: 02/26/1993
• Status: Active Grant

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Donnelly Corporation (Magna International Incorporated)
• Inventors: Schofield, Kenneth, Larson1, Mark L.
• Granted Patent: US 8,599,001 B2
• Time in Patent Office: Days
• US Class Current: 315/82
• CPC Class Codes: B60N 2/002 Seats provided with an occupancy detection means mounted therein or thereon detection means responsive to presence or absence of children B60N2/266
• CPC Class Codes: B60Q 1/04 the devices being headlights
• CPC Class Codes: B60Q 1/1423 Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic
• CPC Class Codes: B60Q 1/143 combined with another condition, e.g. using vehicle recognition from camera images or activation of wipers
• CPC Class Codes: B60Q 2300/052 Switching delay, i.e. the beam is not switched or changed instantaneously upon occurrence of a condition change
• CPC Class Codes: B60Q 2300/21 Manual control
• CPC Class Codes: B60Q 2300/312 Adverse weather
• CPC Class Codes: B60Q 2300/314 Ambient light
• CPC Class Codes: B60Q 2300/3321 Detection of streetlights
• CPC Class Codes: B60Q 2300/41 preceding vehicle
• CPC Class Codes: B60Q 2300/42 oncoming vehicle
• CPC Class Codes: B60Q 2300/43 following vehicle
• CPC Class Codes: B60Q 2400/30 Daytime running lights [DRL], e.g. circuits or arrangements therefor
• CPC Class Codes: B60R 1/00 Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
• CPC Class Codes: B60R 1/04 mounted inside vehicle B60R1/025, B60R1/08 take precedence
• CPC Class Codes: B60R 1/088 using a cell of electrically changeable optical characteristic, e.g. liquid-crystal or electrochromic mirrors
• CPC Class Codes: B60R 1/12 Mirror assemblies combined with other articles, e.g. clocks
• CPC Class Codes: B60R 1/29 for viewing an area inside the vehicle, e.g. for viewing passengers or cargo
• CPC Class Codes: B60R 1/30 providing vision in the non-visible spectrum, e.g. night or infrared vision
• CPC Class Codes: B60R 11/04 Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
• CPC Class Codes: B60R 2001/1223 : with sensors or transducers
• CPC Class Codes: B60R 2001/1253 : with cameras, video cameras or video screens
• CPC Class Codes: B60R 21/01538 : for image processing, e.g. cameras or sensor arrays
• CPC Class Codes: B60R 2300/103 : using camera systems provided with artificial illumination device, e.g. IR light source
• CPC Class Codes: B60R 2300/30 : characterised by the type of image processing
• CPC Class Codes: B60R 2300/8006 : for monitoring and displaying scenes of vehicle interior, e.g. for monitoring passengers or cargo
• CPC Class Codes: B60R 2300/8026 : in addition to a rear-view mirror system
• CPC Class Codes: B60R 2300/8046 : for replacing a rear-view mirror system
• CPC Class Codes: B60R 2300/8066 : for monitoring rearward traffic
• CPC Class Codes: B60R 2300/8073 : for vehicle security, e.g. parked vehicle surveillance, burglar detection
• CPC Class Codes: B60R 2300/8093 : for obstacle warning
• CPC Class Codes: B60S 1/0822 : characterized by the arrangement or type of detection means
• CPC Class Codes: B60S 1/0844 : including a camera
• CPC Class Codes: B60S 1/0885 : the sensor being integrated in a rear-view mirror module
• CPC Class Codes: G01J 1/4204 : with determination of ambient light solar light G01J2001/4266
• CPC Class Codes: G01J 1/4228 : arrangements with two or more detectors, e.g. for sensitivity compensation
• CPC Class Codes: G06T 2207/10016 : Video; Image sequence
• CPC Class Codes: G06T 2207/30252 : Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 2207/30268 : Vehicle interior
• CPC Class Codes: G06T 7/97 : Determining parameters from multiple pictures depth or shape recovery from multiple images G06T7/55; stereo camera calibration G06T7/85
• CPC Class Codes: H04N 13/239 : using two 2D image sensors having a relative position equal to or related to the interocular distance H04N13/243 takes precedence
• CPC Class Codes: H04N 13/243 : using three or more 2D image sensors
• CPC Class Codes: H04N 2013/0081 : Depth or disparity estimation from stereoscopic image signals
• CPC Class Codes: H04N 23/63 : by using electronic viewfinders
• CPC Class Codes: H04N 25/443 : by reading pixels from selected 2D regions of the array, e.g. for windowing or digital zooming
• CPC Class Codes: H04N 25/76 : Addressed sensors, e.g. MOS or CMOS sensors
• CPC Class Codes: H04N 7/18 : Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
• CPC Class Codes: H04N 7/181 : for receiving images from a plurality of remote sources
• CPC Class Codes: H04N 7/183 : for receiving images from a single remote source

Abstract

A vehicular vision system includes a control and an imager having a lens and a CMOS photosensor array. The imager is disposed at an interior portion of a vehicle and views exterior of the vehicle through a windshield of the vehicle and forward of the vehicle. The control includes an image processor for processing image data captured by the photosensor array. The image processor processes captured image data to detect an object viewed by said imager. The photosensor array may be operable at a plurality of exposure periods that include a first exposure period and a second exposure period, with the time period of exposure of the first exposure period being longer than the time period of exposure of the second exposure period. The imager may be disposed in a module attached at the windshield of the vehicle.

Claims

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

an imager comprising a lens and a CMOS photosensor array;

wherein said photosensor array comprises a plurality of photosensor elements;

wherein said imager is disposed at an interior portion of a vehicle equipped with said vehicular vision system and wherein said imager views exterior of the equipped vehicle through a windshield of the equipped vehicle and forward of the equipped vehicle;

wherein at least said imager is disposed in a module attached at the windshield of the equipped vehicle;

a control comprising an image processor, said image processor processing image data captured by said photosensor array;

wherein said image processor processes captured image data to detect an object viewed by said imager;

wherein said photosensor array is operable at a plurality of exposure periods; and

wherein said plurality of exposure periods comprises a first exposure period and a second exposure period, and wherein the time period of exposure of said first exposure period is longer than the time period of exposure of said second exposure period.

2. The vehicular vision system of claim 1, wherein said imager is disposed proximate the windshield of the equipped vehicle.

3. The vehicular vision system of claim 1, wherein said photosensor array comprises an array of columns and rows of photosensor elements and wherein said array has more columns than rows.

4. The vehicular vision system of claim 3, wherein said array comprises at least 40 rows.

5. The vehicular vision system of claim 1, wherein said image processor processes captured image data to detect at least one of (a) a vehicle, (b) a headlight of a vehicle, (c) a taillight of a vehicle, and (d) a road sign.

6. The vehicular vision system of claim 1, wherein, at least in part responsive to processing of captured image data by said image processor, said vehicular vision system is operable to control an exterior light of the equipped vehicle to limit debilitation of a driver of another vehicle forward of the equipped vehicle.

7. The vehicular vision system of claim 6, wherein at least one of (a) control of the exterior light of the equipped vehicle involves adjustment of a light beam emitted by the exterior light of the equipped vehicle, (b) the exterior light of the equipped vehicle is operable to emit a plurality of light beams, and wherein said control adjusts between one light beam of said plurality of light beams and another light beam of said plurality of light beams, and (c) the exterior light of the equipped vehicle is operable to emit a plurality of light beams, and wherein said control adjusts between one light beam of said plurality of light beams and another light beam of said plurality of light beams, and wherein said plurality of light beams comprises at least one of a low beam, a mid beam and a high beam.

8. The vehicular vision system of claim 6, wherein at least one of (a) said control is operable to control the exterior light of the equipped vehicle to emit a pattern of light appropriate to limit debilitation of the driver of the other vehicle forward of the equipped vehicle, (b) said control is operable to control the exterior light of the equipped vehicle to emit a pattern of light that illuminates a selected zone forward of the equipped vehicle, and (c) the exterior light of the equipped vehicle is operable to emit various patterns of light.

9. The vehicular vision system of claim 1, wherein, at least in part responsive to processing of captured image data by said image processor, said control at least in part controls at least one exterior light of the equipped vehicle, and wherein the at least one exterior light of the equipped vehicle comprises a headlight disposed at a front portion of the equipped vehicle and operable to illuminate with visible light a scene forward of and in the path of travel of the equipped vehicle.

10. The vehicular vision system of claim 9, wherein at least one of (a) said control, at least in part responsive to processing of captured image data by said image processor, controls a vehicular lighting switch, and wherein said vehicular lighting switch controls the at least one exterior light of the equipped vehicle, (b) a manual vehicle light switch is actuatable to override said control, and (c) a manual vehicle light switch is actuatable to override said control and wherein said control, at least in part responsive to processing of captured image data by said image processor, controls a vehicular lighting switch that controls the at least one exterior light of the equipped vehicle.

11. The vehicular vision system of claim 1, wherein, at least in part responsive to processing of captured image data by said image processor, said vehicular vision system determines the presence of at least one of fog, snow and rain present exterior and forward of the equipped vehicle.

12. The vehicular vision system of claim 11, wherein said vehicular vision system determines the presence of at least one of fog, snow and rain by recognizing scattering of light output by a headlight of the equipped vehicle by at least one of fog, snow and rain present exterior and forward of the equipped vehicle.

13. The vehicular vision system of claim 11, wherein said vehicular vision system, at least in part responsive to recognition of scattering of light output by a headlight of the equipped vehicle, controls the headlight of the equipped vehicle.

14. The vehicular vision system of claim 1, wherein, at least in part responsive to processing of captured image data by said image processor, said control is operable to recognize veiling glare.

15. The vehicular vision system of claim 1, wherein said image processor compares captured image data with stored data and outputs a vehicle equipment control signal based on the comparison.

16. The vehicular vision system of claim 1, wherein said imager views through the windshield of the equipped vehicle at a windshield area that is swept by a windshield wiper of the equipped vehicle.

17. The vehicular vision system of claim 1, wherein, at least in part responsive to processing of captured image data by said image processor, said control distinguishes between daytime and nighttime conditions.

18. The vehicular vision system of claim 1, wherein, at least in part responsive to processing of captured image data by said image processor, said control determines a nighttime condition exists at an ambient light level that is less than about 500 lux.

19. The vehicular vision system of claim 18, wherein said control is operable to control a headlight of the equipped vehicle when said control determines a nighttime condition.

20. The vehicular vision system of claim 1, wherein, when said control, at least in part responsive to processing of captured image data by said image processor, determines a daytime condition, said control is operable to control a vehicle accessory.

21. The vehicular vision system of claim 1, wherein, at least in part responsive to processing of captured image data by said image processor, said control is operable to deactivate a light beam of a headlight of the equipped vehicle when said control determines a daytime condition.

22. The vehicular vision system of claim 1, wherein said control, at least in part responsive to processing of captured image data by said image processor, determines an ambient light level present at the equipped vehicle.

23. The vehicular vision system of claim 1, wherein at least one of (a) an exposure period of said photosensor array is variable responsive to a light level detected by said vehicular vision system and (b) an exposure period of said photosensor array is variable responsive to an ambient light level detected by said vehicular vision system.

24. The vehicular vision system of claim 1, wherein said module releasably mounts to a mounting element adhesively attached at the windshield of the equipped vehicle.

25. The vehicular vision system of claim 24, wherein said mounting element comprises a rearview mirror mounting button.

26. The vehicular vision system of claim 25, wherein said module comprises a rearview mirror mounting bracket.

27. The vehicular vision system of claim 26, wherein said rearview mirror mounting bracket comprises part of an interior electrochromic rearview mirror assembly.

28. The vehicular vision system of claim 1, wherein image data processing by said image processor comprises pattern recognition.

29. The vehicular vision system of claim 1, wherein said imager monitors a surface condition of the windshield of the equipped vehicle.

30. The vehicular vision system of claim 29, wherein at least one of (a) the equipped vehicle'"'"'s windshield wiper system is operable in response to a signal generated by said control responsive to image processing of image data captured by said photosensor array, (b) said surface condition is caused by rain, (c) said surface condition is caused by condensation, and (d) said surface condition is caused by snow.

31. The vehicular vision system of claim 1, including supplemental source illumination having wavelengths within the responsive range of said photosensor array, and wherein at least one (a) said supplemental source illumination comprises infra-red supplemental source illumination, (b) said supplemental source illumination comprises a near infrared illumination source having a peak spectral output greater than about 750 nm, (c) said supplemental source illumination illuminates an illuminated target area that is at least partially viewed by said imager, (d) said supplemental source illumination has a peak spectral output between about 750 nm and 1200 nm, (e) said supplemental source illumination is chosen from at least one of a light-emitting diode and a laser, (f) said supplemental source illumination comprises a light-emitting diode, (g) said supplemental source illumination comprises a light-emitting diode chosen from the group consisting of a gallium arsenide light-emitting diode and a gallium aluminum arsenide light-emitting diode, (h) said vehicular vision system includes a lens to distribute illumination of said supplemental source illumination, (i) said vehicular vision system includes a lens that provides illumination in a cone of at least about 100 degrees, (j) said vehicular vision system includes a lens that provides illumination in a cone in the range from about 100 degrees to about 160 degrees, (k) said vehicular vision system includes an optical filter for said supplemental source illumination, (l) said vehicular vision system includes an optical filter for said supplemental source illumination and wherein said optical filter is chosen from one of an absorption filter and an interference filter, (m) said vehicular vision system includes an optical filter for said supplemental source illumination and wherein said optical filter comprises a long-wave pass absorption filter, (n) said supplemental source illumination is adjacent said photosensor array, (o) said supplemental source illumination is adjacent said photosensor array and an opaque barrier is between said supplemental source illumination and said photosensor array, and (p) said supplemental source illumination provides illumination only during an exposure period of said photosensor array.

32. The vehicular vision system of claim 1, wherein the equipped vehicle has at least one headlight, and wherein the at least one headlight is operable at least in a first beam mode and a second beam mode, and wherein, at least in part responsive to processing of captured image data by said image processor, said control controls operation of the at least one headlight, and wherein said control transitions the at least one headlight from said first beam mode to said second beam mode in response to detection of at least one of a headlight and a taillight viewed by said imager.

33. The vehicular vision system of claim 32, wherein said control transitions the at least one headlight over a first time interval from said first beam mode to said second beam mode in response to detection of at least one of a headlight and a taillight viewed by said imager, and wherein said control transitions the at least one headlight over a second time interval from said second beam mode to said first beam mode upon cessation of said detection of the at least one of a headlight and a taillight viewed by said imager, and wherein said first time interval for said transitioning from said first beam mode to said second beam mode is shorter than said second time interval for said transitioning from said second beam mode to said first beam mode.

34. The vehicular vision system of claim 32, wherein at least one of (a) said first beam mode comprises a high beam mode, (b) the at least one headlight is actuated at an ambient lighting level below a predetermined level, and (c) the at least one headlight is actuated at an ambient lighting level below approximately 500 lux.

35. The vehicular vision system of claim 1, wherein said control determines a peak light level of at least one sub-array of said photosensor array.

36. The vehicular vision system of claim 35, wherein said control determines peak light levels of a plurality of sub-arrays of said photosensor array.

37. The vehicular vision system of claim 1, wherein said photosensor array resolves an area of interest in accordance with a predefined array.

38. The vehicular vision system of claim 37, wherein said image processor processes image data geometrically associated with a geometric arrangement of said predefined array, and wherein said control selects particular image information by analyzing particular groupings of said predefined array while ignoring other image information from other groupings of said predefined array so as to be responsive to image information chosen from at least one of presence, size, shape, contour and motion of an object viewed by said imager.

39. The vehicular vision system of claim 1, wherein said imager comprises a single chip camera.

40. The vehicular vision system of claim 39, wherein said single chip camera is disposed adjacent an interior rearview mirror assembly of the equipped vehicle.

41. The vehicular vision system of claim 1, wherein at least one optic element of said lens comprises a plastic optic element.

42. The vehicular vision system of claim 1, wherein said lens is one of (i) bonded to said photosensor array and (ii) close to said photosensor array.

43. The vehicular vision system of claim 1, wherein said imager has a field of view forward of the equipped vehicle, and wherein said field of view comprises a horizontal span and a vertical span and wherein said horizontal span is greater than said vertical span.

44. The vehicular vision system of claim 43, wherein said horizontal span of said field of view is no greater than approximately 100 degrees.

45. The vehicular vision system of claim 44, wherein said vertical span of said field of view is no greater than approximately 30 degrees.

46. The vehicular vision system of claim 1, wherein said imager has a field of view forward of the equipped vehicle, and wherein said field of view comprises a vertical span and wherein said vertical span is asymmetric relative to the horizon.

47. The vehicular vision system of claim 46, wherein said vertical span comprises a first vertical span above the horizon and a second vertical span below the horizon, and wherein said first vertical span has a different vertical dimension than said second vertical span.

48. The vehicular vision system of claim 1, wherein said control comprises logic and control circuitry.

49. The vehicular vision system of claim 48, wherein said logic and control circuitry comprises said image processor.

50. The vehicular vision system of claim 49, wherein said module includes at least a portion of said logic and control circuitry.

51. The vehicular vision system of claim 50, wherein said module includes a heat sink for at least a portion of said logic and control circuitry.

52. The vehicular vision system of claim 51, wherein said module includes a connector for electrically connecting to a power source of the equipped vehicle.

53. The vehicular vision system of claim 48, wherein said module includes a cover.

54. The vehicular vision system of claim 1, wherein said imager comprises a spectral filter.

55. The vehicular vision system of claim 1, wherein said image processor processes captured image data for at least one of (a) a headlight control system of the equipped vehicle, (b) a collision avoidance system of the equipped vehicle, and (c) an automatic vehicle system of the equipped vehicle.

56. A vehicular vision system, said vehicular vision system comprising:

an imager comprising a lens and a CMOS photosensor array;

wherein said photosensor array comprises a plurality of photosensor elements;

wherein said imager is disposed at an interior portion of a vehicle equipped with said vehicular vision system and wherein said imager views exterior of the equipped vehicle through a windshield of the equipped vehicle and forward of the equipped vehicle;

wherein said imager is disposed in a module that releasably mounts to a mounting element adhesively attached at the windshield of the equipped vehicle;

a control;

wherein said control comprises logic and control circuitry;

wherein said logic and control circuitry comprises an image processor, and wherein said image processor processes image data captured by said photosensor array to detect an object viewed by said imager; and

wherein at least two of (a) said module includes a heat sink for at least a portion of said logic and control circuitry, (b) said module includes a connector for electrically connecting to a power source of the equipped vehicle, and (c) said module includes at least a portion of said logic and control circuitry.

57. The vehicular vision system of claim 56, wherein said imager is disposed proximate the windshield of the equipped vehicle.

58. The vehicular vision system of claim 56, wherein said module includes a cover.

59. The vehicular vision system of claim 56, wherein said photosensor array comprises an array of columns and rows of photosensor elements and wherein at least one of (i) said array has more columns than rows and (ii) said array comprises at least 40 rows.

60. The vehicular vision system of claim 56, wherein said image processor processes captured image data to detect at least one of (a) a vehicle, (b) a headlight of a vehicle, (c) a taillight of a vehicle, and (d) a road sign.

61. The vehicular vision system of claim 56, wherein, at least in part responsive to processing of captured image data by said image processor, said vehicular vision system is operable to control an exterior light of the equipped vehicle to limit debilitation of a driver of another vehicle forward of the equipped vehicle, and wherein at least one of (a) control of the exterior light of the equipped vehicle involves adjustment of a light beam emitted by the exterior light of the equipped vehicle, (b) the exterior light of the equipped vehicle is operable to emit a plurality of light beams, and wherein said control adjusts between one light beam of said plurality of light beams and another light beam of said plurality of light beams, and (c) the exterior light of the equipped vehicle is operable to emit a plurality of light beams, and wherein said control adjusts between one light beam of said plurality of light beams and another light beam of said plurality of light beams, and wherein said plurality of light beams comprises at least one of a low beam, a mid beam and a high beam.

62. The vehicular vision system of claim 56, wherein, at least in part responsive to processing of captured image data by said image processor, at least one of (a) said control is operable to control the exterior light of the equipped vehicle to emit a pattern of light appropriate to limit debilitation of the driver of another vehicle forward of the equipped vehicle, (b) said control is operable to control the exterior light of the equipped vehicle to emit a pattern of light that illuminates a selected zone forward of the equipped vehicle, and (c) the exterior light of the equipped vehicle is operable to emit various patterns of light.

63. The vehicular vision system of claim 56, wherein, at least in part responsive to processing of captured image data by said image processor, said control at least in part controls at least one exterior light of the equipped vehicle, and wherein the at least one exterior light of the equipped vehicle comprises a headlight disposed at a front portion of the equipped vehicle and operable to illuminate with visible light a scene forward of and in the path of travel of the equipped vehicle, and wherein at least one of (a) said control, at least in part responsive to processing of captured image data by said image processor, controls a vehicular lighting switch, and wherein said vehicular lighting switch controls the at least one exterior light of the equipped vehicle, (b) a manual vehicle light switch is actuatable to override said control, and (c) a manual vehicle light switch is actuatable to override said control and wherein said control, at least in part responsive to processing of captured image data by said image processor, controls a vehicular lighting switch that controls the at least one exterior light of the equipped vehicle.

64. The vehicular vision system of claim 56, wherein, at least in part responsive to processing of captured image data by said image processor, said vehicular vision system determines the presence of at least one of fog, snow and rain present exterior and forward of the equipped vehicle.

65. The vehicular vision system of claim 64, wherein said vehicular vision system determines the presence of at least one of fog, snow and rain by recognizing scattering of light output by a headlight of the equipped vehicle by at least one of fog, snow and rain present exterior and forward of the equipped vehicle, and wherein said vehicular vision system, at least in part responsive to recognition of scattering of light output by the headlight of the equipped vehicle, controls the headlight of the equipped vehicle.

66. The vehicular vision system of claim 56, wherein said image processor compares captured image data with stored data and outputs a vehicle equipment control signal based on the comparison.

67. The vehicular vision system of claim 56, wherein said imager views through the windshield of the equipped vehicle at a windshield area that is swept by a windshield wiper of the equipped vehicle.

68. The vehicular vision system of claim 56, wherein said control, at least in part responsive to processing of captured image data by said image processor, at least one of (i) distinguishes between daytime and nighttime conditions, (ii) determines a nighttime condition exists at an ambient light level that is less than about 500 lux, (iii) is operable to control a headlight of the equipped vehicle when said control determines a nighttime condition, (iv) is operable to control a vehicle accessory when said control determines a daytime condition, (v) is operable to deactivate a light beam of a headlight of the equipped vehicle when said control determines a daytime condition, and (vi) determines an ambient light level present at the equipped vehicle.

69. The vehicular vision system of claim 56, wherein the equipped vehicle has at least one headlight, and wherein the at least one headlight is operable at least in a first beam mode and a second beam mode, and wherein, at least in part responsive to processing of captured image data by said image processor, said control controls operation of the at least one headlight, and wherein said control transitions the at least one headlight from said first beam mode to said second beam mode in response to detection of at least one of a headlight and a taillight viewed by said imager.

70. The vehicular vision system of claim 69, wherein said control transitions the at least one headlight over a first time interval from said first beam mode to said second beam mode in response to detection of at least one of a headlight and a taillight viewed by said imager, and wherein said control transitions the at least one headlight over a second time interval from said second beam mode to said first beam mode upon cessation of said detection of the at least one of a headlight and a taillight viewed by said imager, and wherein said first time interval for said transitioning from said first beam mode to said second beam mode is shorter than said second time interval for said transitioning from said second beam mode to said first beam mode.

71. The vehicular vision system of claim 69, wherein at least one of (a) said first beam mode comprises a high beam mode, (b) the at least one headlight is actuated at an ambient lighting level below a predetermined level, and (c) the at least one headlight is actuated at an ambient lighting level below approximately 500 lux.

72. The vehicular vision system of claim 56, wherein said lens comprises at least one plastic optic element, and wherein said lens is one of (i) bonded to said photosensor array and (ii) close to said photosensor array.

73. The vehicular vision system of claim 56, wherein said imager has a field of view forward of the equipped vehicle, and wherein said field of view comprises a horizontal span and a vertical span and wherein said horizontal span is greater than said vertical span, and wherein at least one of (i) said horizontal span of said field of view is no greater than approximately 100 degrees and (ii) said vertical span of said field of view is no greater than approximately 30 degrees.

74. The vehicular vision system of claim 56, wherein said imager has a field of view forward of the equipped vehicle, and wherein said field of view comprises a vertical span and wherein said vertical span is asymmetric relative to the horizon, and wherein said vertical span comprises a first vertical span above the horizon and a second vertical span below the horizon, and wherein said first vertical span has a different vertical dimension than said second vertical span.

75. The vehicular vision system of claim 56, wherein said photosensor array is operable at a first exposure period and a second exposure period, and wherein the time period of exposure of said first exposure period is longer than the time period of exposure of said second exposure period.

76. The vehicular vision system of claim 56, wherein image data processing by said image processor comprises pattern recognition.

77. The vehicular vision system of claim 56, wherein said image processor processes captured image data for at least one of (a) a headlight control system of the equipped vehicle, (b) a collision avoidance system of the equipped vehicle, and (c) an automatic vehicle system of the equipped vehicle.

78. The vehicular vision system of claim 56, wherein said imager comprises a spectral filter.

79. A vehicular vision system, said vehicular vision system comprising:

an imager comprising a lens and a CMOS photosensor array;

wherein said photosensor array comprises a plurality of photosensor elements;

wherein said imager is disposed at an interior portion of a vehicle equipped with said vehicular vision system and wherein said imager views exterior of the equipped vehicle through a windshield of the equipped vehicle and forward of the equipped vehicle;

wherein at least said imager is disposed in a module that releasably mounts to a mounting element adhesively attached at the windshield of the equipped vehicle;

a control comprising an image processor, said image processor processing image data captured by said photosensor array;

wherein said image processor processes captured image data to detect an object viewed by said imager; and

wherein, at least in part responsive to processing of captured image data by said image processor, said vehicular vision system determines the presence of at least one of fog, snow and rain present exterior and forward of the equipped vehicle.

80. The vehicular vision system of claim 79, wherein said imager is disposed proximate the windshield of the equipped vehicle, and wherein said imager views through the windshield of the equipped vehicle at a windshield area that is swept by a windshield wiper of the equipped vehicle.

81. The vehicular vision system of claim 79, wherein said photosensor array comprises an array of columns and rows of photosensor elements and wherein at least one of (i) said array has more columns than rows and (ii) said array comprises at least 40 rows.

82. The vehicular vision system of claim 79, wherein said image processor processes captured image data to detect at least one of (a) a vehicle, (b) a headlight of a vehicle, (c) a taillight of a vehicle, and (d) a road sign.

83. The vehicular vision system of claim 79, wherein, at least in part responsive to processing of captured image data by said image processor, at least one of (a) said control is operable to control the exterior light of the equipped vehicle to emit a pattern of light appropriate to limit debilitation of the driver of another vehicle forward of the equipped vehicle, (b) said control is operable to control the exterior light of the equipped vehicle to emit a pattern of light that illuminates a selected zone forward of the equipped vehicle, and (c) the exterior light of the equipped vehicle is operable to emit various patterns of light.

84. The vehicular vision system of claim 79, wherein said vehicular vision system determines the presence of at least one of fog, snow and rain by recognizing scattering of light output by a headlight of the equipped vehicle by at least one of fog, snow and rain present exterior and forward of the equipped vehicle, and wherein said vehicular vision system, at least in part responsive to recognition of scattering of light output by the headlight of the equipped vehicle, controls the headlight of the equipped vehicle.

85. The vehicular vision system of claim 79, wherein at least one of (i) said image processor compares captured image data with stored data and outputs a vehicle equipment control signal based on the comparison, and (ii) said imager views through the windshield of the equipped vehicle at a windshield area that is swept by a windshield wiper of the equipped vehicle.

86. The vehicular vision system of claim 79, wherein said control, at least in part responsive to processing of captured image data by said image processor, at least one of (i) distinguishes between daytime and nighttime conditions, (ii) determines a nighttime condition exists at an ambient light level that is less than about 500 lux, (iii) is operable to control a headlight of the equipped vehicle when said control determines a nighttime condition, (iv) is operable to control a vehicle accessory when said control determines a daytime condition, (v) is operable to deactivate a light beam of a headlight of the equipped vehicle when said control determines a daytime condition, and (vi) determines an ambient light level present at the equipped vehicle.

87. The vehicular vision system of claim 79, wherein the equipped vehicle has at least one headlight, and wherein the at least one headlight is operable at least in a first beam mode and a second beam mode, and wherein, at least in part responsive to processing of captured image data by said image processor, said control controls operation of the at least one headlight, and wherein said control transitions the at least one headlight from said first beam mode to said second beam mode in response to detection of at least one of a headlight and a taillight viewed by said imager.

88. The vehicular vision system of claim 79, wherein said imager has a field of view forward of the equipped vehicle, and wherein said field of view comprises a horizontal span and a vertical span and wherein said horizontal span is greater than said vertical span, and wherein at least one of (i) said horizontal span of said field of view is no greater than approximately 100 degrees and (ii) said vertical span of said field of view is no greater than approximately 30 degrees.

89. The vehicular vision system of claim 79, wherein said imager has a field of view forward of the equipped vehicle, and wherein said field of view comprises a vertical span and wherein said vertical span is asymmetric relative to the horizon, and wherein said vertical span comprises a first vertical span above the horizon and a second vertical span below the horizon, and wherein said first vertical span has a different vertical dimension than said second vertical span.

90. The vehicular vision system of claim 79, wherein said photosensor array is operable at a first exposure period and a second exposure period, and wherein the time period of exposure of said first exposure period is longer than the time period of exposure of said second exposure period.

91. The vehicular vision system of claim 79, wherein said module includes at least one of (i) logic and control circuitry, (ii) logic and control circuitry that comprises at least a portion of said control, (iii) logic and control circuitry that comprises said image processor, (iv) a heat sink for at least a portion of logic and control circuitry, (v) a connector for electrically connecting to a power source of the equipped vehicle, and (vi) a cover.

92. The vehicular vision system of claim 79, wherein image data processing by said image processor comprises pattern recognition.

93. The vehicular vision system of claim 79, wherein said image processor processes captured image data for at least one of (a) a headlight control system of the equipped vehicle, (b) a collision avoidance system of the equipped vehicle, and (c) an automatic vehicle system of the equipped vehicle.

94. The vehicular vision system of claim 79, wherein said imager comprises a spectral filter.

95. The vehicular vision system of claim 94, wherein said control comprises logic and control circuitry and wherein said logic and control circuitry comprises said image processor, and wherein at least two of (a) said module includes a heat sink for at least a portion of said logic and control circuitry, (b) said module includes a connector for electrically connecting to a power source of the equipped vehicle, (c) said module includes at least a portion of said logic and control circuitry, and (d) said module includes a cover.

96. A vehicular vision system, said vehicular vision system comprising:

an imager comprising a lens and a CMOS photosensor array;

wherein said photosensor array comprises a plurality of photosensor elements;

wherein said imager is disposed at an interior portion of a vehicle equipped with said vehicular vision system and wherein said imager views exterior of the equipped vehicle through a windshield of the equipped vehicle and forward of the equipped vehicle;

wherein at least said imager is disposed in a module that releasably mounts to a mounting element adhesively attached at the windshield of the equipped vehicle;

wherein said photosensor array comprises an array of columns and rows of photosensor elements and wherein said array has more columns than rows, and wherein said array comprises at least 40 rows;

wherein said imager has a field of view forward of the equipped vehicle, and wherein said field of view comprises a horizontal span and a vertical span and wherein said horizontal span is greater than said vertical span;

a control comprising an image processor, said image processor processing image data captured by said photosensor array; and

wherein said image processor processes captured image data to detect an object viewed by said imager.

97. The vehicular vision system of claim 96, wherein said image processor processes captured image data to detect at least one of (a) a vehicle, (b) a headlight of a vehicle, (c) a taillight of a vehicle, and (d) a road sign.

98. The vehicular vision system of claim 96, wherein, at least in part responsive to processing of captured image data by said image processor, said vehicular vision system determines the presence of at least one of fog, snow and rain present exterior and forward of the equipped vehicle.

99. The vehicular vision system of claim 98, wherein said vehicular vision system determines the presence of at least one of fog, snow and rain by recognizing scattering of light output by a headlight of the equipped vehicle by at least one of fog, snow and rain present exterior and forward of the equipped vehicle, and wherein said vehicular vision system, at least in part responsive to recognition of scattering of light output by the headlight of the equipped vehicle, controls the headlight of the equipped vehicle.

100. The vehicular vision system of claim 96, wherein at least one of (i) said image processor compares captured image data with stored data and outputs a vehicle equipment control signal based on the comparison and (ii) said imager views through the windshield of the equipped vehicle at a windshield area that is swept by a windshield wiper of the equipped vehicle.

101. The vehicular vision system of claim 96, wherein said control, at least in part responsive to processing of captured image data by said image processor, at least one of (i) distinguishes between daytime and nighttime conditions, (ii) determines a nighttime condition exists at an ambient light level that is less than about 500 lux, (iii) is operable to control a headlight of the equipped vehicle when said control determines a nighttime condition, (iv) is operable to control a vehicle accessory when said control determines a daytime condition, (v) is operable to deactivate a light beam of a headlight of the equipped vehicle when said control determines a daytime condition, and (vi) determines an ambient light level present at the equipped vehicle.

102. The vehicular vision system of claim 96, wherein said horizontal span of said field of view is no greater than approximately 100 degrees and said vertical span of said field of view is no greater than approximately 30 degrees.

103. The vehicular vision system of claim 96, wherein said vertical span comprises a first vertical span above the horizon and a second vertical span below the horizon, and wherein said first vertical span has a different vertical dimension than said second vertical span.

104. The vehicular vision system of claim 96, wherein said photosensor array is operable at a first exposure period and a second exposure period, and wherein the time period of exposure of said first exposure period is longer than the time period of exposure of said second exposure period.

105. The vehicular vision system of claim 96, wherein image data processing by said image processor comprises pattern recognition.

106. The vehicular vision system of claim 96, wherein said image processor processes captured image data for at least one of (a) a headlight control system of the equipped vehicle, (b) a collision avoidance system of the equipped vehicle, and (c) an automatic vehicle system of the equipped vehicle.

107. The vehicular vision system of claim 96, wherein said imager comprises a spectral filter.

108. The vehicular vision system of claim 107, wherein said control comprises logic and control circuitry and wherein said logic and control circuitry comprises said image processor, and wherein at least two of (a) said module includes a heat sink for at least a portion of said logic and control circuitry, (b) said module includes a connector for electrically connecting to a power source of the equipped vehicle, (c) said module includes at least a portion of said logic and control circuitry, and (d) said module includes a cover.

109. The vehicular vision system of claim 96, wherein said imager is disposed proximate the windshield of the equipped vehicle, and wherein said imager views through the windshield of the equipped vehicle at a windshield area that is swept by a windshield wiper of the equipped vehicle.