Vehicular vision system

• US 9,191,574 B2
• Filed: 03/13/2013
• Issued: 11/17/2015
• Est. Priority Date: 07/31/2001
• Status: Expired due to Fees

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Inventors: McMahon, Martha A., Cooprider, Troy O.
• Primary Examiner(s): SHEPARD, JUSTIN E
• Application Number:
  US13/800,677
• Publication Number:
  US 20130194381A1
• Time in Patent Office: 979 Days
• Field of Search: None
• US Class Current: 1/1
• CPC Class Codes: B60K 35/00 Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
• CPC Class Codes: B60Q 1/08 automatically
• CPC Class Codes: B60Q 9/00 Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00 , e.g. haptic signalling
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: B60R 1/27 providing all-round vision, e.g. using omnidirectional cameras
• CPC Class Codes: B60R 16/023 for transmission of signals between vehicle parts or subsystems
• CPC Class Codes: B60R 2300/105 using multiple cameras
• CPC Class Codes: B60R 2300/303 using joined images, e.g. multiple camera images
• CPC Class Codes: B60R 2300/304 using merged images, e.g. merging camera image with stored images
• CPC Class Codes: B60W 30/143 Speed control B60W30/16 takes precedence
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G05D 1/00 Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots drive control systems specially adapted for autonomous road vehicles B60W60/00
• CPC Class Codes: G05D 1/0033 by having the operator tracking the vehicle either by direct line of sight or via one or more cameras located remotely from the vehicle
• CPC Class Codes: G05D 1/0038 by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation images analyzed by a computer and used for automatic navigation G05D1/0246
• CPC Class Codes: G05D 1/0044 by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps maps used for automatic navigation G05D1/0274; flight directors G01C23/005
• CPC Class Codes: H04N 21/422 Input-only peripherals , i.e. input devices connected to specially adapted client devices, e.g. global positioning system [GPS] input devices also receiving signals from specially adapted client devices H04N21/4104
• CPC Class Codes: H04N 21/42202 environmental sensors, e.g. for detecting temperature, luminosity, pressure, earthquakes
• CPC Class Codes: H04N 21/4223 Cameras H04N23/00 takes precedence
• CPC Class Codes: H04N 23/698 for achieving an enlarged field of view, e.g. panoramic image capture
• CPC Class Codes: H04N 25/76 Addressed sensors, e.g. MOS or CMOS sensors
• CPC Class Codes: H04N 7/181 : for receiving images from a plurality of remote sources

Abstract

A vehicular vision system includes at least three cameras disposed at the vehicle and having respective fields of view exterior of the vehicle and operable to capture image data. Image data received at a video processor module is processed by a video processor of the video processor module. The received image data is processed by the video processor to generate a synthesized image. The synthesized image is output from the video processor module for display by a single display screen of a display device that is viewable by a driver of the equipped vehicle when normally operating the vehicle. The video processor may be operable for least one of (i) object tracking, (ii) object classification, (iii) diagnostics, (iv) camera selection, (v) camera control, (vi) on-screen display generation, (vii) data storage and (viii) data exchange.

Claims

1. A vision system suitable for use in a vehicle, said vision system comprising:

at least three vehicular cameras disposed at a vehicle equipped with said vehicular vision system;

said at least three vehicular cameras comprising a first vehicular camera disposed at a driver-side exterior mirror assembly of the equipped vehicle;

said at least three vehicular cameras comprising a second vehicular camera disposed at a passenger-side exterior mirror assembly of the equipped vehicle;

said at least three vehicular cameras comprising a third vehicular camera disposed at one of (a) a front portion of the equipped vehicle and (b) a rear portion of the equipped vehicle;

wherein said first vehicular camera has a first field of view exterior of the equipped vehicle and is operable to capture first image data;

wherein said second vehicular camera has a second field of view exterior of the equipped vehicle and is operable to capture second image data;

wherein said third vehicular camera has a third field of view exterior of the equipped vehicle and is operable to capture third image data;

wherein at least one of said first vehicular camera, said second vehicular camera and said third vehicular camera comprises a wide-angle lens;

at least one non-imaging sensor disposed at the equipped vehicle, wherein said at least one non-imaging sensor comprises one of (i) an infrared sensor, (ii) a radar sensor, (iii) a sonar sensor and (iv) a thermal sensor;

wherein said at least one non-imaging sensor has a field of sensing exterior of the equipped vehicle and wherein said at least one non-imaging sensor captures sensor data;

a video processor module;

wherein said video processor module receives first image data captured by said first vehicular camera;

wherein said video processor module receives second image data captured by said second vehicular camera;

wherein said video processor module receives third image data captured by said third vehicular camera;

wherein said video processor module receives sensor data captured by said at least one non-imaging sensor;

wherein image data and sensor data received at said video processor module is processed by a video processor of said video processor module;

wherein said video processor processes captured image data and captured sensor data for at least one of (i) object tracking, (ii) object identification and (iii) object classification;

wherein image data received by said video processor is processed by said video processor to generate a synthesized image;

wherein said synthesized image is output from said video processor module for display by a single display screen of a display device that is viewable by a driver of the equipped vehicle when normally operating the equipped vehicle;

wherein said video processor is operable for least one of (i) diagnostics, (ii) camera selection, (iii) camera control, (iv) on-screen display generation, (v) data storage and (vi) data exchange; and

wherein image data captured by said first, second and third vehicular cameras is processed by said video processor (i) for displaying merged images by said single display screen for viewing and use by the driver of the equipped vehicle when the equipped vehicle is driven by the driver of the equipped vehicle and (ii) to reduce distortion created by said wide-angle lens for displaying images with reduced distortion by said single display screen for viewing and use by the driver of the equipped vehicle when the equipped vehicle is driven by the driver of the equipped vehicle; and

wherein a graphical overlay is superimposed on images displayed by said single display screen for viewing and use by the driver of the equipped vehicle when the equipped vehicle is driven by the driver of the equipped vehicle.

2. The vision system of claim 1, wherein said video processor module receives first image data captured by said first vehicular camera at a first interface via a vehicle bus of the equipped vehicle and wherein said video processor module receives second image data captured by said second vehicular camera at a second interface via a vehicle bus of the equipped vehicle and wherein said video processor module receives third image data captured by said third vehicular camera at a third interface via a vehicle bus of the equipped vehicle.

3. The vision system of claim 1, wherein said third vehicular camera is disposed at the rear of the equipped vehicle and is operable as a backup camera.

4. The vision system of claim 3, wherein a fourth vehicular camera is disposed at the front of the equipped vehicle and has a fourth field of view exterior of the equipped vehicle and is operable to capture fourth image data, and wherein said video processor module receives fourth image data captured by said fourth vehicular camera.

5. The vision system of claim 4, wherein said video processor module receives fourth image data captured by said fourth vehicular camera at a fourth interface via a vehicle bus of the equipped vehicle.

6. The vision system of claim 1, wherein said synthesized image displayed by said display screen approximates a view as would be viewed by a single virtual camera located exterior the equipped vehicle.

7. The vision system of claim 6, wherein said synthesized image displayed by said display screen approximates a substantially seamless view as would be viewed from a single virtual camera located exterior the equipped vehicle.

8. The vision system of claim 6, wherein said synthesized image displayed by said display screen approximates a panoramic view as would be viewed from a single virtual camera located exterior the equipped vehicle.

9. The vision system of claim 6, wherein said synthesized image displayed by said display screen approximates a substantially seamless panoramic view as would be viewed from a single virtual camera located exterior the equipped vehicle.

10. The vision system of claim 1, wherein said video processor module comprises at least one non-imaging sensor interface configured for communication with said at least one non-imaging sensor.

11. The vision system of claim 10, wherein said video processor module communicates with said at least one non-imaging sensor via a vehicle bus of the equipped vehicle.

12. The vision system of claim 1, wherein said video processor module communicates with other vehicle systems via a vehicle bus of the equipped vehicle.

13. The vision system of claim 12, wherein said vehicle bus comprises a CAN bus.

14. The vision system of claim 12, wherein said vehicle bus comprises a LIN bus.

15. The vision system of claim 1, wherein said synthesized image displayed by said display screen comprises graphics and wherein said graphics are generated at said video processor module.

16. The vision system of claim 1, wherein said synthesized image displayed by said display screen is algorithmically stabilized at said video processor module.

17. The vision system of claim 1, wherein said first vehicular camera comprises a CMOS imaging sensor and wherein said second vehicular camera comprises a CMOS imaging sensor and wherein said third vehicular camera comprises a CMOS imaging sensor.

18. The vision system of claim 1, wherein said first vehicular camera comprises a first wide-angle lens and wherein said second vehicular camera comprises a second wide-angle lens and wherein said third vehicular camera comprises a third wide-angle lens.

19. The vision system of claim 18, wherein distortion in images captured by said first, second and third vehicular cameras is electronically reduced at said video processor module.

20. The vision system of claim 1, wherein said synthesized image displayed by said display screen approximates a view as would be viewed by a single virtual camera located exterior the equipped vehicle and wherein said single virtual camera has a field of view that exceeds the respective individual field of view of any one of said first, second and third vehicular cameras.

21. The vision system of claim 20, wherein said view at least partially wraps around the equipped vehicle.

22. The vision system of claim 1, wherein objects external to the equipped vehicle are detected, at least in part, via processing by said video processor of captured image data.

23. The vision system of claim 22, wherein at least one of (a) position of an object external the equipped vehicle is detected, (b) speed of an object external the equipped vehicle is detected and (c) an object external the equipped vehicle is classified.

24. A vision system suitable for use in a vehicle, said vision system comprising:

at least three vehicular cameras disposed at a vehicle equipped with said vehicular vision system;

said at least three vehicular cameras comprising a first vehicular camera disposed at a driver-side exterior mirror assembly of the equipped vehicle;

said at least three vehicular cameras comprising a second vehicular camera disposed at a passenger-side exterior mirror assembly of the equipped vehicle;

said at least three vehicular cameras comprising a third vehicular camera disposed at a rear portion of the equipped vehicle;

wherein said first vehicular camera has a first field of view exterior of the equipped vehicle and is operable to capture first image data;

wherein said second vehicular camera has a second field of view exterior of the equipped vehicle and is operable to capture second image data;

wherein said third vehicular camera has a third field of view exterior of the equipped vehicle and is operable to capture third image data;

wherein at least one of said first vehicular camera, said second vehicular camera and said third vehicular camera comprises a wide-angle lens;

wherein said first vehicular camera comprises a CMOS imaging sensor and wherein said second vehicular camera comprises a CMOS imaging sensor and wherein said third vehicular camera comprises a CMOS imaging sensor;

at least one non-imaging sensor disposed at the equipped vehicle, wherein said at least one non-imaging sensor comprises one of (i) an infrared sensor, (ii) a radar sensor, (iii) a sonar sensor and (iv) a thermal sensor;

wherein said at least one non-imaging sensor has a field of sensing exterior of the equipped vehicle and wherein said at least one non-imaging sensor captures sensor data;

a video processor module;

wherein said video processor module receives first image data captured by said first vehicular camera at a first interface;

wherein said video processor module receives second image data captured by said second vehicular camera at a second interface;

wherein said video processor module receives third image data captured by said third vehicular camera at a third interface;

wherein said video processor module receives sensor data captured by said at least one non-imaging sensor;

wherein image data and sensor data received at said video processor module is processed by a video processor of said video processor module;

wherein said video processor processes captured image data and captured sensor data for at least one of (i) object tracking, (ii) object identification and (iii) object classification;

wherein image data received by said video processor is processed by said video processor to generate a synthesized image;

wherein said synthesized image is output from said video processor module for display by a single display screen of a display device that is viewable by a driver of the equipped vehicle when normally operating the equipped vehicle;

wherein said video processor module receives first image data captured by said first vehicular camera at said first interface via a vehicle bus of the equipped vehicle and wherein said video processor module receives second image data captured by said second vehicular camera at said second interface via a vehicle bus of the equipped vehicle and wherein said video processor module receives third image data captured by said third vehicular camera at said third interface via a vehicle bus of the equipped vehicle;

wherein image data captured by said first, second and third vehicular cameras is processed by said video processor for displaying merged images by said single display screen for viewing and use by the driver of the equipped vehicle when the equipped vehicle is driven by the driver of the equipped vehicle;

wherein image data captured by said first, second and third vehicular cameras is processed by said video processor to reduce distortion created by said wide-angle lens for displaying images with reduced distortion by said single display screen for viewing and use by the driver of the equipped vehicle when the equipped vehicle is driven by the driver of the equipped vehicle; and

wherein a graphical overlay is superimposed on images displayed by said single display screen for viewing and use by the driver of the equipped vehicle when the equipped vehicle is driven by the driver of the equipped vehicle.

25. The vision system of claim 24, wherein a fourth vehicular camera is disposed at the front of the equipped vehicle and has a fourth field of view exterior of the equipped vehicle and is operable to capture fourth image data, and wherein said video processor module receives fourth image data captured by said fourth vehicular camera at a fourth interface via a vehicle bus of the equipped vehicle.

26. The vision system of claim 24, wherein at least one of (a) said synthesized image displayed by said display screen approximates a view as would be viewed by a single virtual camera located exterior the equipped vehicle, (b) said synthesized image displayed by said display screen approximates a substantially seamless view as would be viewed from a single virtual camera located exterior the equipped vehicle, (c) said synthesized image displayed by said display screen approximates a panoramic view as would be viewed from a single virtual camera located exterior the equipped vehicle and (d) said synthesized image displayed by said display screen approximates a substantially seamless panoramic view as would be viewed from a single virtual camera located exterior the equipped vehicle.

27. The vision system of claim 24, wherein said video processor module comprises at least one non-imaging sensor interface configured for communication with said at least one non-imaging sensor and wherein said video processor module communicates with said at least one non-imaging sensor via a vehicle bus of the equipped vehicle.

28. The vision system of claim 24, wherein said video processor module communicates with other vehicle systems via a vehicle bus of the equipped vehicle.

29. The vision system of claim 28, wherein said vehicle bus comprises a CAN bus.

30. The vision system of claim 29, wherein said vehicle bus comprises a LIN bus.

31. The vision system of claim 24, wherein at least one of (a) said synthesized image displayed by said display screen comprises graphics and wherein said graphics are generated at said video processor module, (b) said synthesized image displayed by said display screen is algorithmically stabilized at said video processor module and (c) said first vehicular camera comprises a first wide-angle lens and wherein said second vehicular camera comprises a second wide-angle lens and wherein said third vehicular camera comprises a third wide-angle lens and wherein distortion in images captured by said first, second and third vehicular cameras is electronically reduced at said video processor module.

32. The vision system of claim 24, wherein said synthesized image displayed by said display screen approximates a view as would be viewed by a single virtual camera located exterior the equipped vehicle and wherein said single virtual camera has a field of view that exceeds the respective individual field of view of any one of said first, second and third vehicular cameras.

33. The vision system of claim 32, wherein said view at least partially wraps around the equipped vehicle.

34. The vision system of claim 24, wherein said video processor is operable for least one of (i) diagnostics, (ii) camera selection, (iii) camera control, (iv) on-screen display generation, (v) data storage and (vi) data exchange.

35. The vision system of claim 24, wherein objects external to the equipped vehicle are detected, at least in part, via processing by said video processor of captured image data.

36. The vision system of claim 35, wherein at least one of (a) position of an object external the equipped vehicle is detected and (b) speed of an object external the equipped vehicle is detected.

37. The vision system of claim 24, wherein said third vehicular camera is operable as a backup camera.

38. A vision system suitable for use in a vehicle, said vision system comprising:

at least three vehicular cameras disposed at a vehicle equipped with said vehicular vision system;

said at least three vehicular cameras comprising a first vehicular camera disposed at a driver-side exterior mirror assembly of the equipped vehicle;

said at least three vehicular cameras comprising a second vehicular camera disposed at a passenger-side exterior mirror assembly of the equipped vehicle;

said at least three vehicular cameras comprising a third vehicular camera disposed at a rear portion of the equipped vehicle;

wherein said first vehicular camera has a first field of view exterior of the equipped vehicle and is operable to capture first image data;

wherein said second vehicular camera has a second field of view exterior of the equipped vehicle and is operable to capture second image data;

wherein said third vehicular camera has a third field of view exterior of the equipped vehicle and is operable to capture third image data;

wherein at least one of said first vehicular camera, said second vehicular camera and said third vehicular camera comprises a wide-angle lens;

wherein said first vehicular camera comprises a CMOS imaging sensor and wherein said second vehicular camera comprises a CMOS imaging sensor and wherein said third vehicular camera comprises a CMOS imaging sensor;

at least one non-imaging sensor disposed at the equipped vehicle, wherein said at least one non-imaging sensor comprises one of (i) an infrared sensor, (ii) a radar sensor, (iii) a sonar sensor and (iv) a thermal sensor;

wherein said at least one non-imaging sensor has a field of sensing exterior of the equipped vehicle and wherein said at least one non-imaging sensor captures sensor data;

a video processor module;

wherein said video processor module receives first image data captured by said first vehicular camera at a first interface;

wherein said video processor module receives second image data captured by said second vehicular camera at a second interface;

wherein said video processor module receives third image data captured by said third vehicular camera at a third interface;

wherein said video processor module receives sensor data captured by said at least one non-imaging sensor;

wherein image data and sensor data received at said video processor module is processed by a video processor of said video processor module;

wherein said video processor processes captured image data and captured sensor data for at least one of (i) object tracking, (ii) object identification and (iii) object classification;

wherein image data received by said video processor is processed by said video processor to generate a synthesized image;

wherein said synthesized image is output from said video processor module for display by a single display screen of a display device that is viewable by a driver of the equipped vehicle when normally operating the equipped vehicle;

wherein at least one of (a) said synthesized image displayed by said display screen approximates a view as would be viewed by a single virtual camera located exterior the equipped vehicle, (b) said synthesized image displayed by said display screen approximates a substantially seamless view as would be viewed from a single virtual camera located exterior the equipped vehicle, (c) said synthesized image displayed by said display screen approximates a panoramic view as would be viewed from a single virtual camera located exterior the equipped vehicle and (d) said synthesized image displayed by said display screen approximates a substantially seamless panoramic view as would be viewed from a single virtual camera located exterior the equipped vehicle;

wherein image data captured by said first, second and third vehicular cameras is processed by said video processor for displaying merged images by said single display screen for viewing and use by the driver of the equipped vehicle when the equipped vehicle is driven by the driver of the equipped vehicle;

wherein image data captured by said first, second and third vehicular cameras is processed by said video processor to reduce distortion created by said wide-angle lens for displaying images with reduced distortion by said single display screen for viewing and use by the driver of the equipped vehicle when the equipped vehicle is driven by the driver of the equipped vehicle; and

wherein a graphical overlay is superimposed on images displayed by said single display screen for viewing and use by the driver of the equipped vehicle when the equipped vehicle is driven by the driver of the equipped vehicle.

39. The vision system of claim 38, wherein said video processor module receives first image data captured by said first vehicular camera at a first interface via a vehicle bus of the equipped vehicle and wherein said video processor module receives second image data captured by said second vehicular camera at a second interface via a vehicle bus of the equipped vehicle and wherein said video processor module receives third image data captured by said third vehicular camera at a third interface via a vehicle bus of the equipped vehicle.

40. The vision system of claim 39, wherein a fourth vehicular camera is disposed at the front of the equipped vehicle and has a fourth field of view exterior of the equipped vehicle and is operable to capture fourth image data, and wherein said video processor module receives fourth image data captured by said fourth vehicular camera at a fourth interface via a vehicle bus of the equipped vehicle.

41. The vision system of claim 38, wherein said video processor module comprises at least one non-imaging sensor interface configured for communication with said at least one non-imaging sensor and wherein said video processor module communicates with said at least one non-imaging sensor via a vehicle bus of the equipped vehicle.

42. The vision system of claim 38, wherein said video processor module communicates with other vehicle systems via a vehicle bus of the equipped vehicle.

43. The vision system of claim 38, wherein said vehicle bus comprises a CAN bus.

44. The vision system of claim 38, wherein said vehicle bus comprises a LIN bus.

45. The vision system of claim 38, wherein said video processor module receives first image data captured by said first vehicular camera at a first interface and wherein said video processor module receives second image data captured by said second vehicular camera at a second interface and wherein said video processor module receives third image data captured by said third vehicular camera at a third interface.

46. The vision system of claim 45, wherein said video processor module receives first image data captured by said first vehicular camera at said first interface via a vehicle bus of the equipped vehicle and wherein said video processor module receives second image data captured by said second vehicular camera at said second interface via a vehicle bus of the equipped vehicle and wherein said video processor module receives third image data captured by said third vehicular camera at said third interface via a vehicle bus of the equipped vehicle.

47. The vision system of claim 46, wherein a fourth vehicular camera is disposed at the front of the equipped vehicle and has a fourth field of view exterior of the equipped vehicle and is operable to capture fourth image data, and wherein said video processor module receives fourth image data captured by said fourth vehicular camera at a fourth interface via a vehicle bus of the equipped vehicle.

48. The vision system of claim 38, wherein at least one of (a) said synthesized image displayed by said display screen comprises graphics and wherein said graphics are generated at said video processor module, (b) said synthesized image displayed by said display screen is algorithmically stabilized at said video processor module and (c) said first vehicular camera comprises a first wide-angle lens and wherein said second vehicular camera comprises a second wide-angle lens and wherein said third vehicular camera comprises a third wide-angle lens and wherein distortion in images captured by said first, second and third vehicular cameras is electronically reduced at said video processor module.

49. The vision system of claim 38, wherein said synthesized image displayed by said display screen approximates a view as would be viewed by a single virtual camera located exterior the equipped vehicle and wherein said single virtual camera has a field of view that exceeds the respective individual field of view of any one of said first, second and third vehicular cameras.

50. The vision system of claim 49, wherein said view at least partially wraps around the equipped vehicle.

51. The vision system of claim 38, wherein said video processor is operable for least one of (i) diagnostics, (ii) camera selection, (iii) camera control, (iv) on-screen display generation, (v) data storage and (vi) data exchange.

52. The vision system of claim 38, wherein objects external to the equipped vehicle are detected, at least in part, via processing by said video processor of captured image data.

53. The vision system of claim 52, wherein at least one of (a) position of an object external the equipped vehicle is detected and (b) speed of an object external the equipped vehicle is detected.

54. The vision system of claim 38, wherein said third vehicular camera is operable as a backup camera.

55. The vision system of claim 38, wherein said synthesized image displayed by said display screen approximates a panoramic view as would be viewed from a single virtual camera located exterior the equipped vehicle.

56. The vision system of claim 38, wherein said synthesized image displayed by said display screen approximates a substantially seamless view as would be viewed from a single virtual camera located exterior the equipped vehicle.

57. The vision system of claim 38, wherein said synthesized image displayed by said display screen approximates a substantially seamless panoramic view as would be viewed from a single virtual camera located exterior the equipped vehicle.

58. A vision system suitable for use in a vehicle, said vision system comprising:

at least three vehicular cameras disposed at a vehicle equipped with said vehicular vision system;

said at least three vehicular cameras comprising a first vehicular camera disposed at a driver-side exterior mirror assembly of the equipped vehicle;

said at least three vehicular cameras comprising a second vehicular camera disposed at a passenger-side exterior mirror assembly of the equipped vehicle;

said at least three vehicular cameras comprising a third vehicular camera disposed at a rear portion of the equipped vehicle;

wherein said first vehicular camera has a first field of view exterior of the equipped vehicle and is operable to capture first image data;

wherein said second vehicular camera has a second field of view exterior of the equipped vehicle and is operable to capture second image data;

wherein said third vehicular camera has a third field of view exterior of the equipped vehicle and is operable to capture third image data;

wherein at least one of said first vehicular camera, said second vehicular camera and said third vehicular camera comprises a wide-angle lens;

wherein said first vehicular camera comprises a CMOS imaging sensor and wherein said second vehicular camera comprises a CMOS imaging sensor and wherein said third vehicular camera comprises a CMOS imaging sensor;

at least one non-imaging sensor disposed at the equipped vehicle, wherein said at least one non-imaging sensor comprises one of (i) an infrared sensor, (ii) a radar sensor, (iii) a sonar sensor and (iv) a thermal sensor;

wherein said at least one non-imaging sensor has a field of sensing exterior of the equipped vehicle and wherein said at least one non-imaging sensor captures sensor data;

a video processor module;

wherein said video processor module receives first image data captured by said first vehicular camera;

wherein said video processor module receives second image data captured by said second vehicular camera;

wherein said video processor module receives third image data captured by said third vehicular camera;

wherein said video processor module receives sensor data captured by said at least one non-imaging sensor;

wherein image data and sensor data received at said video processor module is processed by a video processor of said video processor module;

wherein said video processor processes captured image data and captured sensor data for at least one of (i) object tracking, (ii) object identification and (iii) object classification;

wherein at least one of (a) said video processor module communicates with said at least one non-imaging sensor via a vehicle bus of the equipped vehicle and (b) said video processor module communicates with other vehicle systems via a vehicle bus of the equipped vehicle;

wherein image data received by said video processor is processed by said video processor to generate a synthesized image;

wherein said synthesized image is output from said video processor module for display by a single display screen of a display device that is viewable by a driver of the equipped vehicle when normally operating the equipped vehicle;

wherein at least one of (a) said synthesized image displayed by said display screen approximates a substantially seamless view as would be viewed from a single virtual camera located exterior the equipped vehicle, (b) said synthesized image displayed by said display screen approximates a panoramic view as would be viewed from a single virtual camera located exterior the equipped vehicle and (c) said synthesized image displayed by said display screen approximates a substantially seamless panoramic view as would be viewed from a single virtual camera located exterior the equipped vehicle;

wherein image data captured by said first, second and third vehicular cameras is processed by said video processor (i) for displaying merged images by said single display screen for viewing and use by the driver of the equipped vehicle when the equipped vehicle is driven by the driver of the equipped vehicle and (ii) to reduce distortion created by said wide-angle lens for displaying images with reduced distortion by said single display screen for viewing and use by the driver of the equipped vehicle when the equipped vehicle is driven by the driver of the equipped vehicle; and

wherein a graphical overlay is superimposed on images displayed by said single display screen for viewing and use by the driver of the equipped vehicle when the equipped vehicle is driven by the driver of the equipped vehicle.

59. The vision system of claim 58, wherein said video processor module receives first image data captured by said first vehicular camera at a first interface via a vehicle bus of the equipped vehicle and wherein said video processor module receives second image data captured by said second vehicular camera at a second interface via a vehicle bus of the equipped vehicle and wherein said video processor module receives third image data captured by said third vehicular camera at a third interface via a vehicle bus of the equipped vehicle, and wherein a fourth vehicular camera is disposed at the front of the equipped vehicle and has a fourth field of view exterior of the equipped vehicle and is operable to capture fourth image data, and wherein said video processor module receives fourth image data captured by said fourth vehicular camera at a fourth interface via a vehicle bus of the equipped vehicle.

60. The vision system of claim 58, wherein said video processor module comprises at least one non-imaging sensor interface configured for communication with said at least one non-imaging sensor and wherein said video processor module communicates with said at least one non-imaging sensor via a vehicle bus of the equipped vehicle.

61. The vision system of claim 58, wherein at least one of (a) said synthesized image displayed by said display screen comprises graphics and wherein said graphics are generated at said video processor module, (b) said synthesized image displayed by said display screen is algorithmically stabilized at said video processor module and (c) said first vehicular camera comprises a first wide-angle lens and wherein said second vehicular camera comprises a second wide-angle lens and wherein said third vehicular camera comprises a third wide-angle lens and wherein distortion in images captured by said first, second and third vehicular cameras is electronically reduced at said video processor module.

62. The vision system of claim 58, wherein said video processor module communicates with other vehicle systems via a vehicle bus of the equipped vehicle.

63. The vision system of claim 58, wherein said video processor is operable for least two of (i) diagnostics, (ii) camera selection, (iii) camera control, (iv) on-screen display generation, (v) data storage and (vi) data exchange.

64. The vision system of claim 58, wherein objects external to the equipped vehicle are detected, at least in part, via processing by said video processor of captured image data.

65. The vision system of claim 64, wherein at least one of (a) position of an object external the equipped vehicle is detected and (b) speed of an object external the equipped vehicle is detected.

66. The vision system of claim 58, wherein said synthesized image displayed by said display screen approximates a panoramic view as would be viewed from a single virtual camera located exterior the equipped vehicle.

67. The vision system of claim 58, wherein said synthesized image displayed by said display screen approximates a substantially seamless view as would be viewed from a single virtual camera located exterior the equipped vehicle.

68. The vision system of claim 58, wherein said synthesized image displayed by said display screen approximates a substantially seamless panoramic view as would be viewed from a single virtual camera located exterior the equipped vehicle.

69. The vision system of claim 58, wherein said video processor module communicates with other vehicle systems via a vehicle bus of the equipped vehicle and wherein said vehicle bus comprises a CAN bus.

70. The vision system of claim 58, wherein said video processor module communicates with other vehicle systems via a vehicle bus of the equipped vehicle and wherein said vehicle bus comprises a LIN bus.

71. A vision system suitable for use in a vehicle, said vision system comprising:

at least four vehicular cameras disposed at a vehicle equipped with said vehicular vision system;

said at least four vehicular cameras comprising a first vehicular camera disposed at a driver-side exterior mirror assembly of the equipped vehicle;

said at least four vehicular cameras comprising a second vehicular camera disposed at a passenger-side exterior mirror assembly of the equipped vehicle;

said at least four vehicular cameras comprising a third vehicular camera disposed at a rear portion of the equipped vehicle;

said at least four vehicular cameras comprising a fourth vehicular camera disposed at a front portion of the equipped vehicle;

wherein said first vehicular camera has a first field of view exterior of the equipped vehicle and is operable to capture first image data;

wherein said second vehicular camera has a second field of view exterior of the equipped vehicle and is operable to capture second image data;

wherein said third vehicular camera has a third field of view exterior of the equipped vehicle and is operable to capture third image data;

wherein said fourth vehicular camera has a fourth field of view exterior of the equipped vehicle and is operable to capture fourth image data;

wherein at least one of said first vehicular camera, said second vehicular camera, said third vehicular camera and said fourth vehicular camera comprises a wide-angle lens;

wherein said first vehicular camera comprises a CMOS imaging sensor and wherein said second vehicular camera comprises a CMOS imaging sensor and wherein said third vehicular camera comprises a CMOS imaging sensor and wherein said fourth vehicular camera comprises a CMOS imaging sensor;

at least one non-imaging sensor disposed at the equipped vehicle, wherein said at least one non-imaging sensor comprises one of (i) an infrared sensor, (ii) a radar sensor, (iii) a sonar sensor and (iv) a thermal sensor;

wherein said at least one non-imaging sensor has a field of sensing exterior of the equipped vehicle and wherein said at least one non-imaging sensor captures sensor data;

a video processor module;

wherein said video processor module receives first image data captured by said first vehicular camera;

wherein said video processor module receives second image data captured by said second vehicular camera;

wherein said video processor module receives third image data captured by said third vehicular camera;

wherein said video processor module receives fourth image data captured by said fourth vehicular camera;

wherein said video processor module receives sensor data captured by said at least one non-imaging sensor;

wherein image data and sensor data received at said video processor module is processed by a video processor of said video processor module;

wherein said video processor processes captured image data and captured sensor data for at least one of (i) object tracking, (ii) object identification and (iii) object classification;

wherein at least one of (a) said video processor module communicates with said at least one non-imaging sensor via a vehicle bus of the equipped vehicle and (b) said video processor module communicates with other vehicle systems via a vehicle bus of the equipped vehicle;

wherein image data received by said video processor is processed by said video processor to generate a synthesized image;

wherein said synthesized image is output from said video processor module for display by a single display screen of a display device that is viewable by a driver of the equipped vehicle when normally operating the equipped vehicle;

wherein at least one of (a) said synthesized image displayed by said display screen approximates a substantially seamless view as would be viewed from a single virtual camera located exterior the equipped vehicle, (b) said synthesized image displayed by said display screen approximates a panoramic view as would be viewed from a single virtual camera located exterior the equipped vehicle and (c) said synthesized image displayed by said display screen approximates a substantially seamless panoramic view as would be viewed from a single virtual camera located exterior the equipped vehicle; and

wherein image data captured by said first, second, third and fourth vehicular cameras is processed by said video processor (i) for displaying merged images by said single display screen for viewing and use by the driver of the equipped vehicle when the equipped vehicle is driven by the driver of the equipped vehicle and (ii) to reduce distortion created by said wide-angle lens for displaying images with reduced distortion by said single display screen for viewing and use by the driver of the equipped vehicle when the equipped vehicle is driven by the driver of the equipped vehicle; and

wherein a graphical overlay is superimposed on images displayed by said single display screen for viewing and use by the driver of the equipped vehicle when the equipped vehicle is driven by the driver of the equipped vehicle.

72. The vision system of claim 71, wherein said video processor module receives first image data captured by said first vehicular camera at a first interface via a vehicle bus of the equipped vehicle and wherein said video processor module receives second image data captured by said second vehicular camera at a second interface via a vehicle bus of the equipped vehicle and wherein said video processor module receives third image data captured by said third vehicular camera at a third interface via a vehicle bus of the equipped vehicle and wherein said video processor module receives fourth image data captured by said fourth vehicular camera at a fourth interface via a vehicle bus of the equipped vehicle.

73. The vision system of claim 71, wherein said video processor module comprises at least one non-imaging sensor interface configured for communication with said at least one non-imaging sensor and wherein said video processor module communicates with said at least one non-imaging sensor via a vehicle bus of the equipped vehicle.

74. The vision system of claim 71, wherein at least one of (a) said synthesized image displayed by said display screen comprises graphics and wherein said graphics are generated at said video processor module, (b) said synthesized image displayed by said display screen is algorithmically stabilized at said video processor module and (c) said first vehicular camera comprises a first wide-angle lens and wherein said second vehicular camera comprises a second wide-angle lens and wherein said third vehicular camera comprises a third wide-angle lens and wherein said fourth vehicular camera comprises a fourth wide-angle lens and wherein distortion in images captured by said first, second, third and fourth vehicular cameras is electronically reduced at said video processor module.

75. The vision system of claim 71, wherein said video processor module communicates with other vehicle systems via a vehicle bus of the equipped vehicle.

76. The vision system of claim 71, wherein said video processor is operable for least two of (i) diagnostics, (ii) camera selection, (iii) camera control, (iv) on-screen display generation, (v) data storage and (vi) data exchange.

77. The vision system of claim 71, wherein objects external to the equipped vehicle are detected, at least in part, via processing by said video processor of captured image data.

78. The vision system of claim 77, wherein at least one of (a) position of an object external the equipped vehicle is detected and (b) speed of an object external the equipped vehicle is detected.

79. The vision system of claim 71, wherein said synthesized image displayed by said display screen approximates a panoramic view as would be viewed from a single virtual camera located exterior the equipped vehicle.

80. The vision system of claim 71, wherein said synthesized image displayed by said display screen approximates a substantially seamless view as would be viewed from a single virtual camera located exterior the equipped vehicle.

81. The vision system of claim 71, wherein said synthesized image displayed by said display screen approximates a substantially seamless panoramic view as would be viewed from a single virtual camera located exterior the equipped vehicle.

82. The vision system of claim 71, wherein said video processor module communicates with other vehicle systems via a vehicle bus of the equipped vehicle and wherein said vehicle bus comprises a CAN bus.

83. The vision system of claim 71, wherein said video processor module communicates with other vehicle systems via a vehicle bus of the equipped vehicle and wherein said vehicle bus comprises a LIN bus.