Vehicular image sensing system

• US 8,324,552 B2
• Filed: 07/16/2012
• Issued: 12/04/2012
• Est. Priority Date: 03/25/1996
• Status: Expired due to Fees

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Donnelly Corporation (Magna International Incorporated)
• Inventors: Schofield, Kenneth, Larson, Mark L., Vadas, Keith J.
• Primary Examiner(s): Sohn, Seung C
• Application Number:
  US13/550,064
• Publication Number:
  US 20120283908A1
• Time in Patent Office: 141 Days
• Field of Search: 250/208.1, 382/104, 701 23- 28, 701/200, 701/224, 702/92, 340/901, 348/118
• US Class Current: 250/208.1
• CPC Class Codes: B60Q 1/14 having dimming means
• 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 2300/312 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 2400/30 Daytime running lights [DRL], e.g. circuits or arrangements therefor
• CPC Class Codes: G05D 1/0244 using reflecting strips
• CPC Class Codes: G06V 10/143 Sensing or illuminating at different wavelengths
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle
• CPC Class Codes: G06V 20/582 of traffic signs
• CPC Class Codes: G06V 20/584 of vehicle lights or traffic lights
• CPC Class Codes: H04N 7/18 Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

Abstract

An image sensing system for a vehicle includes an imaging sensor having an array of light sensing photosensor elements. The imaging sensor views through the windshield of the equipped vehicle at a region of the windshield that is swept by a windshield wiper of the equipped vehicle. The imaging sensor is operable to capture image data and is operable to capture frames of image data at a plurality of exposure periods. The image sensing system identifies objects in the forward field of view of the imaging sensor via processing of the captured image data by an image processor. The objects identified by the image sensing system may include at least one of (i) headlights of approaching vehicles, (ii) taillights of leading vehicles, (iii) lane markers on a road being traveled by the equipped vehicle, (iv) traffic signs, (v) traffic lights, (vi) stop signs and/or (vii) caution signs.

Claims

1. An image sensing system for a vehicle, said image sensing system comprising:

an imaging sensor comprising a two-dimensional CMOS array of light sensing photosensor elements;

wherein said imaging sensor has a forward field of view to the exterior of a windshield of a vehicle equipped with said image sensing system;

wherein said imaging sensor views through the windshield of the equipped vehicle at a region of the windshield that is swept by a windshield wiper of the equipped vehicle;

wherein said imaging sensor is operable to capture image data;

wherein said imaging sensor is operable to capture frames of image data at a plurality of exposure periods;

a control comprising an image processor;

wherein said image sensing system identifies objects in said forward field of view of said imaging sensor via processing of said captured image data by said image processor;

wherein identification of objects is based at least in part on at least one of (i) shape, (ii) luminance, (iii) geometry, (iv) spatial location, (v) motion and (vi) spectral characteristic; and

wherein objects identified by said image sensing system comprise at least one of (i) headlights of approaching vehicles, (ii) taillights of leading vehicles, (iii) lane markers on a road being traveled by the equipped vehicle, (iv) traffic signs, (v) traffic lights, (vi) stop signs and (vii) caution signs.

2. The image sensing system of claim 1, wherein said image sensing system identifies at least one of (i) headlights of approaching vehicles, (ii) taillights of leading vehicles and (iii) lane markers on a road being traveled by the equipped vehicle.

3. The image sensing system of claim 1, wherein said image sensing system identifies at least one of (i) headlights of approaching vehicles, (ii) taillights of leading vehicles, (iii) lane markers on a road being traveled by the equipped vehicle and (iv) traffic signs.

4. The image sensing system of claim 1, wherein said imaging sensor is at or proximate to an in-cabin surface of the windshield of the equipped vehicle.

5. The image sensing system of claim 4, wherein said imaging sensor is accommodated by a structure that attaches at the in-cabin surface of the windshield.

6. The image sensing system of claim 4, wherein said imaging sensor is accommodated by a module that is disposed at the in-cabin surface of the windshield.

7. The image sensing system of claim 1, wherein said imaging sensor is at or proximate to an interior rearview mirror assembly of the equipped vehicle.

8. The image sensing system of claim 7, wherein said imaging sensor is incorporated within an interior rearview mirror assembly of the equipped vehicle.

9. The image sensing system of claim 1, wherein objects are at least one of (a) qualified and (b) disqualified based, at least in part, on object motion in said forward field of view of said imaging sensor.

10. The image sensing system of claim 1, wherein said image sensing system processes said image data to identify objects based, at least in part, on at least one of (i) spatial differentiation and (ii) spectral characteristic.

11. The image sensing system of claim 1, wherein identification of objects is enhanced by comparing image data of objects over successive frames of said captured image data.

12. The image sensing system of claim 1, wherein said array of light sensing photosensor elements comprises an array of rows and columns and wherein at least one of (i) the number of columns exceeds 512, (ii) the number of rows exceeds 512 and (iii) said array of light sensing photosensor elements comprises at least 262,144 photosensor elements.

13. The image sensing system of claim 12, wherein said imaging sensor is operable to capture frames of image data at first and second exposure periods and wherein said first exposure period is shorter than said second exposure period.

14. The image sensing system of claim 13, wherein said image sensing system is operable to identify headlights of approaching vehicles responsive to processing of image data captured at said first exposure period and taillights of leading vehicles responsive to processing of image data captured at said second exposure period.

15. The image sensing system of claim 1, wherein identification of objects is based at least in part on a spectral characteristic of objects present in said forward field of view.

16. The image sensing system of claim 15, wherein identification of objects is based at least in part on said control determining that spatially adjacent regions of said forward field of view include objects having a particular spectral characteristic.

17. The image sensing system of claim 1, wherein said control determines if a particular object present forward of the equipped vehicle has a particular spectral characteristic at least in part by comparing levels of light sensed by light sensing photosensor elements which are exposed to light in a particular spectral region with levels of light sensed by other photosensor elements not so exposed.

18. The image sensing system of claim 17, wherein said image sensing system at least identifies (i) headlights of approaching vehicles and (ii) taillights of leading vehicles.

19. The image sensing system of claim 1, wherein a spectral filter is disposed at some of said light sensing photosensor elements and wherein that spectral filter is not disposed at others of said light sensing photosensor elements.

20. The image sensing system of claim 1, wherein said array of light sensing photosensor elements comprises at least 262,144 photosensor elements.

21. The image sensing system of claim 1, wherein a red spectral filter is disposed at some of said light sensing photosensor elements and wherein a red spectral filter is not disposed at others of said light sensing photosensor elements.

22. The image sensing system of claim 21, wherein said others of said light sensing photosensor elements are neighbors of said red filtered light sensing photosensor elements.

23. The image sensing system of claim 21, wherein said others of said light sensing photosensor elements are immediately adjacent to said red filtered light sensing photosensor elements.

24. The image sensing system of claim 1, wherein identification of objects is based at least in part on the spatial location of objects present in said forward field of view.

25. The image sensing system of claim 1, wherein objects present in said forward field of view are qualified based, at least in part, on object motion in said forward field of view of said imaging sensor.

26. The image sensing system of claim 25, wherein objects present in said forward field of view are disqualified based, at least in part, on object motion in said forward field of view of said imaging sensor.

27. The image sensing system of claim 1, wherein said image sensing system determines an activity level around the equipped vehicle.

28. The image sensing system of claim 1, wherein said image sensing system determines an environment in which the equipped vehicle is being driven.

29. The image sensing system of claim 28, wherein said image sensing system controls a headlight of the equipped vehicle at least in part responsive to said determination of the environment in which the equipped vehicle is being driven.

30. The image sensing system of claim 1, wherein said image sensing system is operable to identify lane markers on a road being traveled by the equipped vehicle in order to at least one of (a) assist the driver in steering the equipped vehicle and (b) provide a warning to the driver of the equipped vehicle.

31. The image sensing system of claim 30, wherein identification of lane markers comprises identification of lane markers by a spectral characteristic.

32. The image sensing system of claim 1, wherein a spectral filter is disposed at some of said light sensing photosensor elements and wherein that spectral filter is not disposed at others of said light sensing photosensor elements, and wherein said spectral filter is selected from the group consisting of a red spectral filter, a green spectral filter and a blue spectral filter.

33. The image sensing system of claim 1, wherein said image sensing system is operable to identify traffic signs and wherein said image sensing system is operable to identify traffic signs by at least one of (a) a spectral characteristic of the traffic signs and (b) a geometric organization of the traffic signs.

34. The image sensing system of claim 1, wherein said image sensing system is operable to determine that at least one of rain, fog and mist is present in said forward field of view.

35. The image sensing system of claim 1, wherein said image sensing system is operable to determine atmospheric conditions at the equipped vehicle.

36. The image sensing system of claim 35, wherein, responsive to determination of atmospheric conditions, said control is operable to at least one of (i) activate a fog light of the equipped vehicle, (ii) adjust a light beam emitted by a headlight of the equipped vehicle and (iii) inhibit operation of a headlight of the equipped vehicle in a high beam state.

37. The image sensing system of claim 36, wherein said image sensing system is operable to determine at least one of fog, rain and mist by analyzing effects of a light reflecting off of moisture particles in said forward field of view.

38. The image sensing system of claim 1, wherein said control controls a headlight of the equipped vehicle responsive to identification of at least one of (i) a headlight of an approaching vehicle in said forward field of view and (ii) a taillight of a leading vehicle in said forward field of view.

39. The image sensing system of claim 38, wherein said control is operable to at least one of (a) adjust an aim of the headlight of the equipped vehicle, (b) adjust an intensity of the headlight of the equipped vehicle, (c) adjust a pattern of a headlight of the equipped vehicle and (d) switch between a daytime running light condition and a lower-beam lighting condition.

40. The image sensing system of claim 1, wherein said control is operable to control dimming of an electro-optic mirror of the equipped vehicle.

41. The image sensing system of claim 1, wherein said control, responsive to processing of said captured image data, is operable to determine an ambient light level at the equipped vehicle.

42. The image sensing system of claim 41, wherein at least one of (a) said control determines the ambient light level by processing data captured by a subset of said light sensing photosensor elements and (b) said control determines the ambient light level by processing data captured by a subset of said light sensing photosensor elements over a period of time.

43. The image sensing system of claim 41, wherein said control determines the ambient light level by processing data captured by a subset of said light sensing photosensor elements and wherein said subset of said light sensing photosensor elements captures data representative of a region of said forward field of view that is generally above the horizon forward of the equipped vehicle.

44. The image sensing system of claim 1, wherein said control at least one of (a) controls a headlight of the equipped vehicle as a function of a speed of the equipped vehicle, (b) controls a headlight of the equipped vehicle in response to said image processing, (c) controls a speed of the equipped vehicle in response to said image processing, and (d) generates an alert to the driver of the equipped vehicle in response to said image processing.

45. The image sensing system of claim 1, wherein, responsive at least in part to image processing by said image processor, said control at least one of (i) warns the driver of the equipped vehicle, (ii) decelerates the equipped vehicle and (iii) stops the equipped vehicle.

46. The image sensing system of claim 1, wherein said image sensing system is operable to detect the state of a traffic light.

47. The image sensing system of claim 46, wherein responsive at least in part to image processing by said image processor detecting the color state of said traffic light, said control at least one of (i) warns the driver of the equipped vehicle, (ii) decelerates the equipped vehicle and (iii) stops the equipped vehicle.

48. The image sensing system of claim 47, wherein said image processor detects the color state of said traffic light changing from at least one of (i) green to yellow and (ii) yellow to red.

49. The image sensing system of claim 1, wherein said image sensing system is operable to detect a stop sign.

50. The image sensing system of claim 49, wherein image processing by said image processor of captured image data comprises determination that an object present forward of the equipped vehicle is a stop sign based upon at least one of (i) the object comprising an octagon shape, (ii) the object comprising a red color and (iii) the spatial location of the object in the field of view of said imaging sensor.

51. The image sensing system of claim 1, wherein said image sensing system is operable to detect a caution sign.

52. The image sensing system of claim 51, wherein image processing by said image processor of captured image data comprises determination that an object present forward of the equipped vehicle is a caution sign based upon at least one of (i) the object comprising a triangular shape, (ii) the object comprising a yellow color and (iii) the spatial location of the object in the field of view of said imaging sensor.

53. The image sensing system of claim 1, wherein said image sensing system includes an exposure control which determines an accumulation period of time said imaging sensor senses light when capturing a frame of image data and wherein said exposure control defines a plurality of accumulation periods, and wherein said plurality of accumulation periods comprises a first accumulation period for a first frame of captured image data and a second accumulation period for a second frame of captured image data and wherein said first accumulation period is a longer time period than said second accumulation period.

54. The image sensing system of claim 53, wherein said first frame is used when detecting leading vehicle taillights and wherein said second frame is used when detecting approaching vehicle headlights.

55. The image sensing system of claim 53, wherein said exposure control is adaptive and wherein at least one of (a) an accumulation period for a frame of captured image data is set on a priority basis, and (b) an accumulation period for a frame of captured image data is determined in response to what said image sensing system is sensing to be present in the forward field of view of said imaging sensor.

56. The image sensing system of claim 53, wherein said exposure control maintains an accumulation period until an object of interest is at least tentatively detected and wherein said exposure control changes to a different accumulation period when an object of interest is at least tentatively detected.

57. The image sensing system of claim 56, wherein said object of interest comprises a headlight of an approaching vehicle and wherein said exposure control changes to a shorter accumulation period when the headlight of an approaching vehicle is at least tentatively detected.

58. The image sensing system of claim 53, comprising at least one of (a) a spectral filter that substantially attenuates light having a wavelength greater than about 830 nanometers and wherein light emitted by sources external of the equipped vehicle or reflected by objects external of the equipped vehicle passes through, and is filtered by, said spectral filter to be incident on said array of light sensing photosensor elements, (b) a spectral filter that comprises a red filter that passes visible light of wavelength generally in the red portion of the visible spectrum and that substantially attenuates light having wavelengths generally outside the red portion of the visible spectrum, and (c) a spectral filter that comprises a red complement filter that substantially passes wavelengths generally outside the red portion of the visible spectrum and that substantially attenuates wavelengths generally outside the red portion of the visible spectrum.

59. The image sensing system of claim 1, wherein said image sensing system enhances identification of objects in said forward field of view by comparing identified objects over successive frames of captured image data.

60. The image sensing system of claim 1, wherein a lens images light onto said photosensor array, and wherein said imaged light includes, at least in part, light output by the headlight of the equipped vehicle that is scattered by at least one of fog, snow and rain that is present in the field of view of said imaging sensor exterior and forward of the equipped vehicle, and wherein said image sensing system recognizes scattering of light output by the headlight of the equipped vehicle and wherein, responsive to said recognition of said scattering of light exterior and forward of the equipped vehicle, said control at least one of (a) selects an appropriate lighting configuration for the headlight of the equipped vehicle, (b) activates a fog light of the equipped vehicle, (c) adjusts a light beam emitted by the headlight of the equipped vehicle and (d) inhibits operation of the headlight of the equipped vehicle in a high beam state.

61. An image sensing system for a vehicle, said image sensing system comprising:

an imaging sensor comprising a two-dimensional CMOS array of light sensing photosensor elements;

wherein said imaging sensor is at or proximate to an in-cabin surface of a windshield of a vehicle equipped with said image sensing system, and wherein said imaging sensor has a forward field of view to the exterior of the equipped vehicle through the windshield of the equipped vehicle;

wherein said imaging sensor views through the windshield of the equipped vehicle at a region of the windshield that is swept by a windshield wiper of the equipped vehicle;

wherein said imaging sensor is operable to capture image data;

wherein said imaging sensor is operable to capture frames of image data at a plurality of exposure periods;

wherein a red spectral filter is disposed at some of said light sensing photosensor elements and wherein a red spectral filter is not disposed at others of said light sensing photosensor elements and wherein at least one of (a) said others of said light sensing photosensor elements are neighbors of said red filtered light sensing photosensor elements and (b) said others of said light sensing photosensor elements are immediately adjacent to said red filtered light sensing photosensor elements;

a control comprising an image processor;

wherein said image sensing system identifies objects in said forward field of view of said imaging sensor via processing of said captured image data by said image processor;

wherein said objects comprise at least one of (i) headlights of approaching vehicles, (ii) taillights of leading vehicles, (iii) lane markers on a road being traveled by the equipped vehicle, (iv) signs and (v) streetlights;

wherein identification of objects is based at least in part on at least one of (i) shape, (ii) luminance, (iii) geometry, (iv) spatial location, (v) motion and (vi) spectral characteristic; and

wherein said control, responsive to processing of said captured image data by said image processor, generates at least one control output for controlling a headlight of the equipped vehicle.

62. The image sensing system of claim 61, wherein said control is operable to at least one of (a) adjust an aim of the headlight of the equipped vehicle, (b) adjust an intensity of the headlight of the equipped vehicle, (c) adjust a pattern of a headlight of the equipped vehicle and (d) switch between a daytime running light condition and a lower-beam lighting condition.

63. The image sensing system of claim 61, wherein a lens images light onto said photosensor array, and wherein said imaged light includes, at least in part, light output by the headlight of the equipped vehicle that is scattered by at least one of fog, snow and rain that is present in the field of view of said imaging sensor exterior and forward of the equipped vehicle, and wherein said image sensing system recognizes scattering of light output by the headlight of the equipped vehicle and wherein, responsive to said recognition of said scattering of light exterior and forward of the equipped vehicle, said control at least one of (a) selects an appropriate lighting configuration for the headlight of the equipped vehicle, (b) activates a fog light of the equipped vehicle, (c) adjusts a light beam emitted by the headlight of the equipped vehicle and (d) inhibits operation of the headlight of the equipped vehicle in a high beam state.

64. The image sensing system of claim 61, wherein said imaging sensor is operable to capture frames of image data at first and second exposure periods and wherein said first exposure period is shorter than said second exposure period.

65. The image sensing system of claim 64, wherein said image sensing system is operable to identify headlights of approaching vehicles responsive to processing of image data captured at said first exposure period and taillights of leading vehicles responsive to processing of image data captured at said second exposure period.

66. The image sensing system of claim 61, wherein said image sensing system includes an exposure control which determines an accumulation period of time said imaging sensor senses light when capturing a frame of image data and wherein said exposure control defines a plurality of accumulation periods and wherein at least one of (a) said plurality of accumulation periods comprises a first accumulation period for a first frame of captured image data and a second accumulation period for a second frame of captured image data and wherein said first accumulation period is a longer time period than said second accumulation period, (b) said plurality of accumulation periods comprises a first accumulation period for a first frame of captured image data and a second accumulation period for a second frame of captured image data and wherein said first accumulation period is a longer time period than said second accumulation period said first frame is used when detecting leading vehicle taillights and wherein said second frame is used when detecting approaching vehicle headlights, (c) said exposure control is adaptive and wherein at least one of (i) an accumulation period for a frame of captured image data is set on a priority basis, and (ii) an accumulation period for a frame of captured image data is determined in response to what said image sensing system is sensing to be present in the forward field of view of said imaging sensor, and (d) said exposure control maintains an accumulation period until an object of interest is at least tentatively detected and wherein said exposure control changes to a different accumulation period when an object of interest is at least tentatively detected.

67. The image sensing system of claim 61, wherein said array of light sensing photosensor elements comprises an array of rows and columns and wherein at least one of (i) the number of columns exceeds 512, (ii) the number of rows exceeds 512 and (iii) said array of light sensing photosensor elements comprises at least 262,144 photosensor elements.

68. The image sensing system of claim 61, wherein said imaging sensor comprises a lens and wherein said array of light sensing photosensor elements, said lens and said red spectral filter are housed within an imaging sensor module, and wherein said imaging sensor module is housed in a housing that mounts via a bracket to the vehicle windshield.

69. The image sensing system of claim 61, wherein at least one of (a) objects present in said forward field of view are qualified based, at least in part, on object motion in said forward field of view of said imaging sensor, (b) objects present in said forward field of view are disqualified based, at least in part, on object motion in said forward field of view of said imaging sensor, (c) said image sensing system determines an activity level around the equipped vehicle, and (d) said image sensing system determines an environment in which the equipped vehicle is being driven and controls the headlight of the equipped vehicle at least in part responsive to said determination of the environment in which the equipped vehicle is being driven.

70. The image sensing system of claim 61, wherein said image sensing system is operable to identify lane markers on a road being traveled by the equipped vehicle in order to at least one of (a) assist the driver in steering the equipped vehicle and (b) provide a warning to the driver of the equipped vehicle.

71. The image sensing system of claim 70, wherein identification of lane markers comprises identification of lane markers by a spectral characteristic.

72. The image sensing system of claim 61, wherein at least one of (a) image processing by said image processor of captured image data comprises determination that an object present forward of the equipped vehicle is a stop sign based upon at least one of (i) the object comprising an octagon shape, (ii) the object comprising a red color and (iii) the spatial location of the object in the field of view of said imaging sensor, and (b) image processing by said image processor of captured image data comprises determination that an object present forward of the equipped vehicle is a caution sign based upon at least one of (i) the object comprising a triangular shape, (ii) the object comprising a yellow color and (iii) the spatial location of the object in the field of view of said imaging sensor.

73. The image sensing system of claim 61, wherein at least one of (a) said control is operable to control dimming of an electro-optic mirror of the equipped vehicle, (b) said control, responsive to processing of said captured image data, is operable to determine an ambient light level at the equipped vehicle, (c) said control determines the ambient light level at the equipped vehicle by processing data captured by a subset of said light sensing photosensor elements, (d) said control determines the ambient light level at the equipped vehicle by processing data captured by a subset of said light sensing photosensor elements over a period of time, and (e) said control determines the ambient light level at the equipped vehicle by processing data captured by a subset of said light sensing photosensor elements and wherein said subset of said light sensing photosensor elements captures data representative of a region of said forward field of view that is generally above the horizon forward of the equipped vehicle.

74. The image sensing system of claim 61, wherein said control at least one of (a) controls the headlight of the equipped vehicle as a function of a speed of the equipped vehicle, (b) controls a speed of the equipped vehicle in response to said image processing, and (c) generates an alert to the driver of the equipped vehicle in response to said image processing.

75. The image sensing system of claim 61, wherein, responsive at least in part to image processing by said image processor, said control at least one of (i) warns the driver of the equipped vehicle, (ii) decelerates the equipped vehicle and (iii) stops the equipped vehicle.

76. The image sensing system of claim 61, wherein said image sensing system enhances identification of objects in said forward field of view by comparing identified objects over successive frames of captured image data.

77. The image sensing system of claim 61, wherein said image sensing system includes an exposure control which determines an accumulation period of time said imaging sensor senses light when capturing a frame of image data and wherein said exposure control defines a plurality of accumulation periods, and wherein said plurality of accumulation periods comprises a first accumulation period for a first frame of captured image data and a second accumulation period for a second frame of captured image data and wherein said first accumulation period is a longer time period than said second accumulation period.

78. The image sensing system of claim 77, wherein said two-dimensional CMOS array of light sensing photosensor elements is operated by a digital signal processor to have said accumulation periods.

79. An image sensing system for a vehicle, said image sensing system comprising:

an imaging sensor comprising a two-dimensional CMOS array of light sensing photosensor elements;

wherein said imaging sensor is at or proximate to an in-cabin surface of a windshield of a vehicle equipped with said image sensing system, and wherein said imaging sensor has a forward field of view to the exterior of the equipped vehicle through the windshield of the equipped vehicle;

wherein said imaging sensor views through the windshield of the equipped vehicle at a region of the windshield that is swept by a windshield wiper of the equipped vehicle;

a control comprising an image processor;

wherein said image sensing system identifies objects in said forward field of view of said imaging sensor via processing of said captured image data by said image processor;

wherein identification of objects is based at least in part on at least one of (i) shape, (ii) luminance, (iii) geometry, (iv) spatial location, (v) motion and (vi) spectral characteristic; and

wherein objects identified by said image sensing system comprise at least one of (i) traffic signs, (ii) traffic lights, (iii) stop signs and (iv) caution signs.

80. The image sensing system of claim 79, wherein said image sensing system identifies at least one of (i) headlights of approaching vehicles, (ii) taillights of leading vehicles and (iii) lane markers on a road being traveled by the equipped vehicle.

81. The image sensing system of claim 79, wherein at least one of (a) a spectral filter is disposed at some of said light sensing photosensor elements and wherein that spectral filter is not disposed at others of said light sensing photosensor elements, (b) said array of light sensing photosensor elements comprises at least 262,144 photosensor elements, (c) a red spectral filter is disposed at some of said light sensing photosensor elements and wherein a red spectral filter is not disposed at others of said light sensing photosensor elements, (d) a red spectral filter is disposed at some of said light sensing photosensor elements and wherein a red spectral filter is not disposed at others of said light sensing photosensor elements and wherein said others of said light sensing photosensor elements are neighbors of said red filtered light sensing photosensor elements, and (e) a red spectral filter is disposed at some of said light sensing photosensor elements and wherein a red spectral filter is not disposed at others of said light sensing photosensor elements and wherein said others of said light sensing photosensor elements are neighbors of said red filtered light sensing photosensor elements and wherein said others of said light sensing photosensor elements are immediately adjacent to said red filtered light sensing photosensor elements.

82. The image sensing system of claim 79, wherein at least one of (i) said image sensing system is operable to identify lane markers on a road being traveled by the equipped vehicle in order to at least one of (a) assist the driver in steering the equipped vehicle and (b) provide a warning to the driver of the equipped vehicle, and (ii) said image sensing system is operable to identify lane markers on a road being traveled by the equipped vehicle and wherein identification of lane markers comprises identification of lane markers by a spectral characteristic.

83. The image sensing system of claim 79, wherein said image sensing system includes an exposure control which determines an accumulation period of time said imaging sensor senses light when capturing a frame of image data and wherein said exposure control defines a plurality of accumulation periods and wherein at least one of (a) said plurality of accumulation periods comprises a first accumulation period for a first frame of captured image data and a second accumulation period for a second frame of captured image data and wherein said first accumulation period is a longer time period than said second accumulation period, (b) said plurality of accumulation periods comprises a first accumulation period for a first frame of captured image data and a second accumulation period for a second frame of captured image data and wherein said first accumulation period is a longer time period than said second accumulation period said first frame is used when detecting leading vehicle taillights and wherein said second frame is used when detecting approaching vehicle headlights, (c) said exposure control is adaptive and wherein at least one of (i) an accumulation period for a frame of captured image data is set on a priority basis, and (ii) an accumulation period for a frame of captured image data is determined in response to what said image sensing system is sensing to be present in the forward field of view of said imaging sensor, and (d) said exposure control maintains an accumulation period until an object of interest is at least tentatively detected and wherein said exposure control changes to a different accumulation period when an object of interest is at least tentatively detected.

84. The image sensing system of claim 79, wherein said array of light sensing photosensor elements comprises an array of rows and columns and wherein at least one of (i) the number of columns exceeds 512, (ii) the number of rows exceeds 512 and (iii) said array of light sensing photosensor elements comprises at least 262,144 photosensor elements.

85. The image sensing system of claim 79, wherein a red spectral filter is disposed at some of said light sensing photosensor elements and wherein a red spectral filter is not disposed at others of said light sensing photosensor elements and wherein at least one of (a) said others of said light sensing photosensor elements are neighbors of said red filtered light sensing photosensor elements and (b) said others of said light sensing photosensor elements are immediately adjacent to said red filtered light sensing photosensor elements.

86. The image sensing system of claim 85, wherein said imaging sensor comprises a lens and wherein said array of light sensing photosensor elements, said lens and said red spectral filter are housed within an imaging sensor module, and wherein said imaging sensor module is housed in a housing that mounts via a bracket to the vehicle windshield.

87. The image sensing system of claim 79, wherein at least one of (a) objects present in said forward field of view are qualified based, at least in part, on object motion in said forward field of view of said imaging sensor, (b) objects present in said forward field of view are disqualified based, at least in part, on object motion in said forward field of view of said imaging sensor, (c) said image sensing system determines an activity level around the equipped vehicle, and (d) said image sensing system determines an environment in which the equipped vehicle is being driven and controls the headlight of the equipped vehicle at least in part responsive to said determination of the environment in which the equipped vehicle is being driven.

88. The image sensing system of claim 79, wherein at least one of (a) image processing by said image processor of captured image data comprises determination that an object present forward of the equipped vehicle is a stop sign based upon at least one of (i) the object comprising an octagon shape, (ii) the object comprising a red color and (iii) the spatial location of the object in the field of view of said imaging sensor, and (b) image processing by said image processor of captured image data comprises determination that an object present forward of the equipped vehicle is a caution sign based upon at least one of (i) the object comprising a triangular shape, (ii) the object comprising a yellow color and (iii) the spatial location of the object in the field of view of said imaging sensor.

89. The image sensing system of claim 79, wherein a lens images light onto said photosensor array, and wherein said imaged light includes, at least in part, light output by the headlight of the equipped vehicle that is scattered by at least one of fog, snow and rain that is present in the field of view of said imaging sensor exterior and forward of the equipped vehicle, and wherein said image sensing system recognizes scattering of light output by the headlight of the equipped vehicle and wherein, responsive to said recognition of said scattering of light exterior and forward of the equipped vehicle, said control at least one of (a) selects an appropriate lighting configuration for the headlight of the equipped vehicle, (b) activates a fog light of the equipped vehicle, (c) adjusts a light beam emitted by the headlight of the equipped vehicle and (d) inhibits operation of the headlight of the equipped vehicle in a high beam state.

90. An image sensing system for a vehicle, said image sensing system comprising:

an imaging sensor comprising a two-dimensional CMOS array of light sensing photosensor elements;

wherein said imaging sensor has a forward field of view to the exterior of a windshield of a vehicle equipped with said image sensing system;

wherein said imaging sensor views through the windshield of the equipped vehicle at a region of the windshield that is swept by a windshield wiper of the equipped vehicle;

wherein said imaging sensor is operable to capture image data;

a control comprising an image processor;

wherein said image sensing system identifies objects in said forward field of view of said imaging sensor via processing of said captured image data by said image processor;

wherein said array of light sensing photosensor elements comprises at least 262,144 photosensor elements; and

wherein said image sensing system includes an exposure control which determines an accumulation period of time said imaging sensor senses light when capturing a frame of image data and wherein said exposure control defines a plurality of accumulation periods and wherein at least one of (a) said plurality of accumulation periods comprises a first accumulation period for a first frame of captured image data and a second accumulation period for a second frame of captured image data and wherein said first accumulation period is a longer time period than said second accumulation period, (b) said plurality of accumulation periods comprises a first accumulation period for a first frame of captured image data and a second accumulation period for a second frame of captured image data and wherein said first accumulation period is a longer time period than said second accumulation period said first frame is used when detecting leading vehicle taillights and wherein said second frame is used when detecting approaching vehicle headlights, (c) said exposure control is adaptive and wherein at least one of (i) an accumulation period for a frame of captured image data is set on a priority basis, and (ii) an accumulation period for a frame of captured image data is determined in response to what said image sensing system is sensing to be present in the forward field of view of said imaging sensor, and (d) said exposure control maintains an accumulation period until an object of interest is at least tentatively detected and wherein said exposure control changes to a different accumulation period when an object of interest is at least tentatively detected.

91. The image sensing system of claim 90, wherein said array of light sensing photosensor elements comprises an array of rows and columns and wherein at least one of (i) the number of columns exceeds 512 and (ii) the number of rows exceeds 512.

92. The image sensing system of claim 90, wherein at least one of (a) said imaging sensor is at or proximate to an in-cabin surface of the windshield of the equipped vehicle, (b) said imaging sensor is at or proximate to an in-cabin surface of the windshield of the equipped vehicle and said imaging sensor is accommodated by a structure that attaches at the in-cabin surface of the windshield, and (c) said imaging sensor is at or proximate to an in-cabin surface of the windshield of the equipped vehicle and said imaging sensor is accommodated by a module that is disposed at the in-cabin surface of the windshield.

93. The image sensing system of claim 90, wherein identification of objects is based at least in part on at least one of (i) shape, (ii) luminance, (iii) geometry, (iv) spatial location, (v) motion and (vi) spectral characteristic.

94. The image sensing system of claim 90, wherein objects identified by said image sensing system comprise at least one of (i) headlights of approaching vehicles, (ii) taillights of leading vehicles, (iii) lane markers on a road being traveled by the equipped vehicle, (iv) traffic signs, (v) traffic lights, (vi) stop signs and (vii) caution signs.

95. The image sensing system of claim 90, wherein a red spectral filter is disposed at some of said light sensing photosensor elements and wherein a red spectral filter is not disposed at others of said light sensing photosensor elements and wherein at least one of (a) said others of said light sensing photosensor elements are neighbors of said red filtered light sensing photosensor elements and (b) said others of said light sensing photosensor elements are immediately adjacent to said red filtered light sensing photosensor elements.

96. The image sensing system of claim 95, wherein said imaging sensor comprises a lens and wherein said array of light sensing photosensor elements, said lens and said red spectral filter are housed within an imaging sensor module, and wherein said imaging sensor module is housed in a housing that mounts via a bracket to the vehicle windshield.

97. The image sensing system of claim 90, wherein at least one of (a) objects present in said forward field of view are qualified based, at least in part, on object motion in said forward field of view of said imaging sensor, (b) objects present in said forward field of view are disqualified based, at least in part, on object motion in said forward field of view of said imaging sensor, (c) said image sensing system determines an activity level around the equipped vehicle, and (d) said image sensing system determines an environment in which the equipped vehicle is being driven and controls the headlight of the equipped vehicle at least in part responsive to said determination of the environment in which the equipped vehicle is being driven.

98. The image sensing system of claim 90, wherein said image sensing system is operable to identify lane markers on a road being traveled by the equipped vehicle in order to at least one of (a) assist the driver in steering the equipped vehicle and (b) provide a warning to the driver of the equipped vehicle.

99. The image sensing system of claim 98, wherein identification of lane markers comprises identification of lane markers by a spectral characteristic.

100. The image sensing system of claim 90, wherein at least one of (a) image processing by said image processor of captured image data comprises determination that an object present forward of the equipped vehicle is a stop sign based upon at least one of (i) the object comprising an octagon shape, (ii) the object comprising a red color and (iii) the spatial location of the object in the field of view of said imaging sensor, and (b) image processing by said image processor of captured image data comprises determination that an object present forward of the equipped vehicle is a caution sign based upon at least one of (i) the object comprising a triangular shape, (ii) the object comprising a yellow color and (iii) the spatial location of the object in the field of view of said imaging sensor.

101. The image sensing system of claim 90, wherein at least one of (a) said control is operable to control dimming of an electro-optic mirror of the equipped vehicle, (b) said control, responsive to processing of said captured image data, is operable to determine an ambient light level at the equipped vehicle, (c) said control determines the ambient light level at the equipped vehicle by processing data captured by a subset of said light sensing photosensor elements, (d) said control determines the ambient light level at the equipped vehicle by processing data captured by a subset of said light sensing photosensor elements over a period of time, and (e) said control determines the ambient light level at the equipped vehicle by processing data captured by a subset of said light sensing photosensor elements and wherein said subset of said light sensing photosensor elements captures data representative of a region of said forward field of view that is generally above the horizon forward of the equipped vehicle.

102. The image sensing system of claim 90, wherein said control at least one of (a) controls the headlight of the equipped vehicle as a function of a speed of the equipped vehicle, (b) controls a speed of the equipped vehicle in response to said image processing, and (c) generates an alert to the driver of the equipped vehicle in response to said image processing.

103. The image sensing system of claim 90, wherein, responsive at least in part to image processing by said image processor, said control at least one of (i) warns the driver of the equipped vehicle, (ii) decelerates the equipped vehicle and (iii) stops the equipped vehicle.

104. The image sensing system of claim 90, wherein said two-dimensional CMOS array of light sensing photosensor elements is operated by a digital signal processor to have said accumulation periods.

105. The image sensing system of claim 90, wherein a lens images light onto said photosensor array, and wherein said imaged light includes, at least in part, light output by the headlight of the equipped vehicle that is scattered by at least one of fog, snow and rain that is present in the field of view of said imaging sensor exterior and forward of the equipped vehicle, and wherein said image sensing system recognizes scattering of light output by the headlight of the equipped vehicle and wherein, responsive to said recognition of said scattering of light exterior and forward of the equipped vehicle, said control at least one of (a) selects an appropriate lighting configuration for the headlight of the equipped vehicle, (b) activates a fog light of the equipped vehicle, (c) adjusts a light beam emitted by the headlight of the equipped vehicle and (d) inhibits operation of the headlight of the equipped vehicle in a high beam state.