FORWARD FACING SENSING SYSTEM FOR VEHICLE

• US 20120268311A1
• Filed: 07/03/2012
• Published: 10/25/2012
• Est. Priority Date: 01/25/2007
• Status: Active Grant

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Inventors: Lynam, Niall R.
• Granted Patent: US 8,294,608 B1
• Time in Patent Office: Days
• US Class Current: 342/70
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: G01S 13/86 Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/93 for anti-collision purposes
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 2013/0245 Radar with phased array antenna
• CPC Class Codes: G01S 2013/9321 Velocity regulation, e.g. cruise control
• CPC Class Codes: G01S 2013/9322 using additional data, e.g. driver condition, road state or weather data
• CPC Class Codes: G01S 2013/93276 in the windshield area
• CPC Class Codes: G01S 7/03 Details of HF subsystems specially adapted therefor, e.g. common to transmitter and receiver
• CPC Class Codes: G01S 7/032 Constructional details for solid-state radar subsystems
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A forward facing sensing system for a vehicle includes a windshield electronics module disposed in the vehicle cabin behind the windshield, a radar sensor device disposed within the windshield electronics module with a sensing direction forward of the vehicle, an image sensor disposed within the windshield electronics module with a viewing direction forward of the vehicle, and a control operable to analyze images captured by the image sensor in order to, at least in part, detect an object present forward of the vehicle in its direction of forward travel. The control, at least in part, determines that a potentially hazardous condition may exist in the path of forward travel of the vehicle. The radar sensor device and the image sensor collaborate in a way that enhances the sensing capability of the sensing system for the potentially hazardous condition in the path of forward travel of the vehicle.

Claims

1. A forward facing sensing system for a vehicle, the vehicle having a windshield, said forward facing sensing system comprising:

a windshield electronics module, said windshield electronics module disposed in the interior cabin of the vehicle behind the vehicle windshield;

a radar sensor device disposed within said windshield electronics module and wherein said radar sensor device has a sensing direction forward of the vehicle;

an image sensor disposed within said windshield electronics module and wherein said image sensor has a viewing direction forward of the vehicle;

a control comprising an image processor, said image processor operable to analyze images captured by said image sensor in order to, at least in part, detect an object present forward of the vehicle in its direction of forward travel;

wherein at least one of (a) said radar sensor device utilizes at least one of beam aiming and beam selection, (b) said radar sensor device utilizes digital beam forming, (c) said radar sensor device utilizes digital beam steering, (d) said radar sensor device comprises an array antenna, (e) said radar sensor device comprises a phased array antenna and (f) said image sensor comprises a pixelated imaging array sensor;

wherein said radar sensor device transmits at a frequency of at least about 20 GHz;

wherein at least a part of said windshield electronics module disposed in the interior cabin of the vehicle behind the vehicle windshield may be removed therefrom for at least one of (i) service and (ii) replacement;

wherein said control, at least in part, determines that a potentially hazardous condition may exist in the path of forward travel of the vehicle, and wherein said potentially hazardous condition comprises at least one of (i) another vehicle, (ii) a person and (iii) an animal; and

wherein said radar sensor device and said image sensor collaborate in a way that enhances the sensing capability of said sensing system for the potentially hazardous condition in the path of forward travel of the vehicle.

2. The sensing system of claim 1, wherein said radar sensor device is disposed at a pocket established at an upper region of the vehicle windshield.

3. The sensing system of claim 2, comprising a cover panel, wherein said cover panel is substantially sealed at the vehicle windshield at or near the pocket at the upper region of the vehicle windshield, said cover panel comprising a non-glass material that is substantially transmissive to radar frequency electromagnetic radiation waves, and wherein said radar sensor device transmits and receives radar frequency electromagnetic radiation waves through said cover panel.

4. The sensing system of claim 3, wherein transmission of and receipt of radar frequency electromagnetic radiation by said radar sensor device is not through a glass portion of the vehicle windshield.

5. The sensing system of claim 1, wherein transmission of and receipt of radar frequency electromagnetic radiation by said radar sensor device is not through a glass portion of the vehicle windshield.

6. The sensing system of claim 1, wherein said windshield electronics module is disposed at a location generally adjacent to an interior rearview mirror assembly of the vehicle.

7. The sensing system of claim 1, wherein an interior rearview mirror attaches to said windshield electronics module.

8. The sensing system of claim 1, wherein said radar sensor device utilizes digital beam forming.

9. The sensing system of claim 1, wherein said radar sensor device utilizes digital beam steering.

10. The sensing system of claim 1, wherein said image sensor and said radar sensor device are commonly established, at least in part, on a semiconductor substrate.

11. The sensing system of claim 1, wherein said radar sensor device comprises an array antenna.

12. The sensing system of claim 1, wherein said radar sensor device comprises a phased array antenna.

13. The sensing system of claim 1, wherein said control at least in part controls a system of the vehicle.

14. The sensing system of claim 13, wherein said system of the vehicle comprises an adaptive cruise control system.

15. The sensing system of claim 1, wherein said image sensor comprises part of an automatic headlamp control system of the vehicle.

16. The sensing system of claim 1, wherein said image sensor comprises part of a lane departure warning system of the vehicle.

17. The sensing system of claim 1, wherein said image sensor comprises part of an object detection system of the vehicle.

18. The sensing system of claim 1, wherein said image processor processes image data captured by said image sensor utilizing object detection software.

19. The sensing system of claim 1, wherein said potentially hazardous condition comprises another vehicle and wherein said radar sensor device and said image sensor collaborate in a way that enhances the sensing capability of said sensing system for said another vehicle in the path of forward travel of the vehicle.

20. The sensing system of claim 1, wherein said potentially hazardous condition comprises a person and wherein said radar sensor device and said image sensor collaborate in a way that enhances the sensing capability of said sensing system for said person in the path of forward travel of the vehicle.

21. The sensing system of claim 1, wherein said potentially hazardous condition comprises an animal and wherein said radar sensor device and said image sensor collaborate in a way that enhances the sensing capability of said sensing system for said animal in the path of forward travel of the vehicle.

22. The sensing system of claim 1, wherein said image processor is disposed within said windshield electronics module.

23. The sensing system of claim 1, wherein said windshield electronics module comprises a self-contained unit.

24. The sensing system of claim 23, wherein said image processor is disposed within said windshield electronics module.

25. The sensing system of claim 24, wherein said windshield electronics module is attached at the vehicle windshield.

26. The sensing system of claim 25, wherein the vehicle windshield comprises an opaque layer generally where said windshield electronics module is disposed behind the vehicle windshield, and wherein said opaque layer comprises a first aperture, and wherein, with said windshield electronics module attached at the vehicle windshield, said first aperture generally coincides with a second aperture of said windshield electronics module in order to facilitate viewing through the vehicle windshield by said image sensor.

27. The sensing system of claim 23, wherein said windshield electronics module accommodates at least one other accessory.

28. The sensing system of claim 27, wherein said at least one other accessory is selected from the group comprising (i) a sensor, (ii) a display, (iii) a light, (iv) an element of a wireless communication system and (v) an antenna.

29. The sensing system of claim 1, wherein said radar sensor device transmits at a frequency around 24 GHz.

30. The sensing system of claim 1, wherein said radar sensor device transmits at a frequency of least about 60 GHz.

31. The sensing system of claim 30, wherein said radar sensor device transmits at a frequency around 77 GHz.

32. The sensing system of claim 30, wherein said radar sensor device transmits at a frequency around 79 GHz.

33. The sensing system of claim 1, wherein said control enhances detection of an object ahead of the vehicle by said radar sensor responsive to said image sensor.

34. The sensing system of claim 1, wherein said control enhances detection of an object ahead of the vehicle by said image sensor responsive to said radar sensor.

35. The sensing system of claim 1, wherein said image sensor views through the windshield of the vehicle at a location that is at or near where an interior rearview mirror assembly of the vehicle is located.

36. The sensing system of claim 35, wherein said control enhances detection of the object ahead of the vehicle by said radar sensor via at least one of (a) beam aiming and (b) beam selection.

37. The sensing system of claim 36, wherein said control enhances detection of the object ahead of the vehicle by said image sensor via algorithmic processing of image data captured by said image sensor.

38. The sensing system of claim 37, wherein a portion of an image captured by said image sensor is spatially related to a location of a detected object in the forward field of view of said image sensor.

39. The sensing system of claim 36, wherein said control enhances detection of the object ahead of the vehicle by said image sensor via at least one of (a) directing the viewing direction of said image sensor, (b) a zoom function and (c) image processing of captured image data.

40. A forward facing sensing system for a vehicle, the vehicle having a windshield, said forward facing sensing system comprising:

a windshield electronics module, said windshield electronics module disposed in the interior cabin of the vehicle behind the vehicle windshield;

a radar sensor device disposed within said windshield electronics module and wherein said radar sensor device has a sensing direction forward of the vehicle;

an image sensor disposed within said windshield electronics module and wherein said image sensor has a viewing direction forward of the vehicle;

a control comprising an image processor, said image processor operable to analyze images captured by said image sensor in order to, at least in part, detect an object present forward of the vehicle in its direction of forward travel;

wherein at least one of (a) said radar sensor device utilizes at least one of beam aiming and beam selection, (b) said radar sensor device utilizes digital beam forming, (c) said radar sensor device utilizes digital beam steering, (d) said radar sensor device comprises an array antenna, (e) said radar sensor device comprises a phased array antenna and (f) said image sensor comprises a pixelated imaging array sensor;

wherein at least a part of said windshield electronics module disposed in the interior cabin of the vehicle behind the vehicle windshield may be removed therefrom for at least one of (i) service and (ii) replacement;

wherein said control, at least in part, determines that a potentially hazardous condition may exist in the path of forward travel of the vehicle, and wherein said potentially hazardous condition comprises a person; and

wherein said radar sensor device and said image sensor collaborate in a way that enhances the sensing capability of said sensing system for the person in the path of forward travel of the vehicle.

41. The sensing system of claim 40, wherein said radar sensor device utilizes at least one of (i) digital beam forming (ii) digital beam steering.

42. The sensing system of claim 40, wherein at least one of (i) said image sensor and said radar sensor device are commonly established, at least in part, on a semiconductor substrate, (ii) said radar sensor device comprises an array antenna, and (iii) said radar sensor device comprises a phased array antenna.

43. The sensing system of claim 40, wherein at least one of (i) said control at least in part controls a system of the vehicle, and (ii) said control at least in part controls an adaptive cruise control system of the vehicle.

44. The sensing system of claim 40, wherein at least one of (i) said image sensor comprises part of an automatic headlamp control system of the vehicle, (ii) said image sensor comprises part of a lane departure warning system of the vehicle, and (iii) said image sensor comprises part of an object detection system of the vehicle.

45. The sensing system of claim 40, wherein said image processor is disposed within said windshield electronics module.

46. The sensing system of claim 40, wherein said windshield electronics module comprises a self-contained unit.

47. The sensing system of claim 46, wherein said image processor is disposed within said windshield electronics module.

48. The sensing system of claim 47, wherein said windshield electronics module is attached at the vehicle windshield.

49. The sensing system of claim 48, wherein the vehicle windshield comprises an opaque layer generally where said windshield electronics module is disposed behind the vehicle windshield, and wherein said opaque layer comprises a first aperture, and wherein, with said windshield electronics module attached at the vehicle windshield, said first aperture generally coincides with a second aperture of said windshield electronics module in order to facilitate viewing through the vehicle windshield by said image sensor.

50. The sensing system of claim 47, wherein said windshield electronics module accommodates at least one other accessory, and wherein said at least one other accessory is selected from the group comprising (i) a sensor, (ii) a display, (iii) a light, (iv) an element of a wireless communication system and (v) an antenna.

51. The sensing system of claim 40, wherein at least one of (i) said radar sensor device transmits at a frequency of at least about 20 GHz, (ii) said radar sensor device transmits at a frequency around 24 GHz, (iii) said radar sensor device transmits at a frequency of least about 60 GHz, (iv) said radar sensor device transmits at a frequency around 77 GHz, and (v) said radar sensor device transmits at a frequency around 79 GHz.

52. The sensing system of claim 40, wherein said image processor processes image data captured by said image sensor utilizing object detection software.

53. The sensing system of claim 40, wherein said control at least one of (a) enhances detection of a person ahead of the vehicle by said radar sensor responsive to said image sensor and (b) enhances detection of a person ahead of the vehicle by said image sensor responsive to said radar sensor.

54. The sensing system of claim 40, wherein said image sensor views through the windshield of the vehicle at a location that is at or near where an interior rearview mirror assembly of the vehicle is located.

55. The sensing system of claim 54, wherein said control enhances detection of a person ahead of the vehicle by said radar sensor responsive to said image sensor, and wherein said control enhances detection of the object ahead of the vehicle by said radar sensor via at least one of (a) beam aiming and (b) beam selection.

56. The sensing system of claim 40, wherein said control enhances detection of the object ahead of the vehicle by said image sensor via algorithmic processing of image data captured by said image sensor.

57. The sensing system of claim 56, wherein a portion of an image captured by said image sensor is spatially related to a location of a detected object in the forward field of view of said image sensor.

58. A forward facing sensing system for a vehicle, the vehicle having a windshield, said forward facing sensing system comprising:

a windshield electronics module, said windshield electronics module disposed in the interior cabin of the vehicle behind the vehicle windshield;

a radar sensor device disposed within said windshield electronics module and wherein said radar sensor device has a sensing direction forward of the vehicle;

an image sensor disposed within said windshield electronics module and wherein said image sensor has a viewing direction forward of the vehicle;

a control comprising an image processor, said image processor operable to analyze images captured by said image sensor in order to, at least in part, detect an object present forward of the vehicle in its direction of forward travel;

wherein said control, at least in part, determines that a potentially hazardous condition may exist in the path of forward travel of the vehicle, and wherein said potentially hazardous condition comprises at least one of (i) another vehicle, (ii) a person and (iii) an animal;

wherein said radar sensor device and said image sensor collaborate in a way that enhances the sensing capability of said sensing system for the potentially hazardous condition in the path of forward travel of the vehicle; and

wherein at least one of (i) said image sensor comprises part of an automatic headlamp control system of the vehicle, (ii) said image sensor comprises part of a lane departure warning system of the vehicle, and (iii) said image sensor comprises part of an object detection system of the vehicle.

59. The sensing system of claim 58, wherein at least one of (a) said radar sensor device utilizes at least one of beam aiming and beam selection, (b) said radar sensor device utilizes digital beam forming, (c) said radar sensor device utilizes digital beam steering, (d) said radar sensor device comprises an array antenna, (e) said radar sensor device comprises a phased array antenna and (f) said image sensor comprises a pixelated imaging array sensor.

60. The sensing system of claim 58, wherein at least two of (i) said image sensor comprises part of an automatic headlamp control system of the vehicle, (ii) said image sensor comprises part of a lane departure warning system of the vehicle, and (iii) said image sensor comprises part of an object detection system of the vehicle.

61. The sensing system of claim 58, wherein (i) said image sensor comprises part of an automatic headlamp control system of the vehicle, (ii) said image sensor comprises part of a lane departure warning system of the vehicle, and (iii) said image sensor comprises part of an object detection system of the vehicle.

62. The sensing system of claim 58, wherein said radar sensor device utilizes at least one of (i) digital beam forming (ii) digital beam steering.

63. The sensing system of claim 58, wherein at least one of (i) said image sensor and said radar sensor device are commonly established, at least in part, on a semiconductor substrate, (ii) said radar sensor device comprises an array antenna, and said radar sensor device comprises a phased array antenna.

64. The sensing system of claim 58, wherein at least one of (i) said control at least in part controls a system of the vehicle, and (ii) said control at least in part controls an adaptive cruise control system of the vehicle.

65. The sensing system of claim 58, wherein said image processor is disposed within said windshield electronics module.

66. The sensing system of claim 58, wherein said windshield electronics module comprises a self-contained unit, and wherein said image processor is disposed within said windshield electronics module, and wherein said windshield electronics module is attached at, the vehicle windshield and wherein the vehicle windshield comprise an opaque layer generally where said windshield electronics module is disposed behind the vehicle windshield, and wherein said opaque layer comprises a first aperture, and wherein, with said windshield electronics module attached at the vehicle windshield, said first aperture generally coincides with a second aperture of said windshield electronics module in order to facilitate viewing through the vehicle windshield by said image sensor.

67. The sensing system of claim 58, wherein said image processor processes image data captured by said image sensor utilizing object detection software.

68. The sensing system of claim 58, wherein said control at least one of (a) enhances detection of an object ahead of the vehicle by said radar sensor responsive to said image sensor and (b) enhances detection of an object ahead of the vehicle by said image sensor responsive to said radar sensor.

69. The sensing system of claim 58, wherein said control enhances detection of the object ahead of the vehicle by said image sensor via algorithmic processing of image data captured by said image sensor.

70. The sensing system of claim 69, wherein a portion of an image captured by said image sensor is spatially related to a location of a detected object in the forward field of view of said image sensor.

71. A forward facing sensing system for a vehicle, the vehicle having a windshield, said forward facing sensing system comprising:

a windshield electronics module, said windshield electronics module disposed in the interior cabin of the vehicle behind the vehicle windshield;

a radar sensor device disposed within said windshield electronics module and wherein said radar sensor device has a sensing direction forward of the vehicle;

an image sensor disposed within said windshield electronics module and wherein said image sensor has a viewing direction forward of the vehicle;

a control comprising an image processor, said image processor operable to analyze images captured by said image sensor in order to, at least in part, detect an object present forward of the vehicle in its direction of forward travel;

wherein said control, at least in part, determines that a potentially hazardous condition may exist in the path of forward travel of the vehicle, and wherein said potentially hazardous condition comprises at least one of (i) another vehicle, (ii) a person and (iii) an animal;

wherein said radar sensor device and said image sensor collaborate in a way that enhances the sensing capability of said sensing system for the potentially hazardous condition in the path of forward travel of the vehicle;

wherein said windshield electronics module comprises a self-contained unit; and

wherein said control at least one of (a) at least in part controls a system of the vehicle, (b) enhances detection of an object ahead of the vehicle by said radar sensor responsive to said image sensor and (c) enhances detection of an object ahead of the vehicle by said image sensor responsive to said radar sensor.

72. The sensing system of claim 71, wherein at least one of (a) said radar sensor device utilizes at least one of beam aiming and beam selection, (b) said radar sensor device utilizes digital beam forming, (c) said radar sensor device utilizes digital beam steering, (d) said radar sensor device comprises an array antenna, (e) said radar sensor device comprises a phased array antenna and (f) said image sensor comprises a pixelated imaging array sensor.

73. The sensing system of claim 71, wherein said windshield electronics module accommodates at least one other accessory.

74. The sensing system of claim 71, wherein at least one of (i) said image sensor comprises part of an automatic headlamp control system of the vehicle, (ii) said image sensor comprises part of a lane departure warning system of the vehicle, and (iii) said image sensor comprises part of an object detection system of the vehicle.

75. The sensing system of claim 71, wherein said radar sensor device utilizes at least one of (i) digital beam forming (ii) digital beam steering.

76. The sensing system of claim 71, wherein at least one of (i) said image sensor and said radar sensor device are commonly established, at least in part, on a semiconductor substrate, (ii) said radar sensor device comprises an array antenna, and (iii) said radar sensor device comprises a phased array antenna.

77. The sensing system of claim 71, wherein at least one of (i) said control at least in part controls a system of the vehicle, and (ii) said control at least in part controls an adaptive cruise control system of the vehicle.

78. The sensing system of claim 71, wherein said image processor processes image data captured by said image sensor utilizing object detection software.

79. The sensing system of claim 71, wherein said control at least one of (a) enhances detection of an object ahead of the vehicle by said radar sensor responsive to said image sensor and (b) enhances detection of an object ahead of the vehicle by said image sensor responsive to said radar sensor.

80. The sensing system of claim 71, wherein said control enhances detection of the object ahead of the vehicle by said image sensor via algorithmic processing of image data captured by said image sensor.

81. The sensing system of claim 80, wherein a portion of an image captured by said image sensor is spatially related to a location of a detected object in the forward field of view of said image sensor.

82. The sensing system of claim 71, wherein said image processor is disposed within said windshield electronics module.

83. A forward facing sensing system for a vehicle, the vehicle having a windshield, said forward facing sensing system comprising:

a windshield electronics module, said windshield electronics module disposed in the interior cabin of the vehicle behind the vehicle windshield;

a radar sensor device disposed within said windshield electronics module and wherein said radar sensor device has a sensing direction forward of the vehicle;

an image sensor disposed within said windshield electronics module and wherein said image sensor has a viewing direction forward of the vehicle;

a control comprising an image processor, said image processor operable to analyze images captured by said image sensor in order to, at least in part, detect an object present forward of the vehicle in its direction of forward travel;

wherein said control, at least in part, determines that a potentially hazardous condition may exist in the path of forward travel of the vehicle, and wherein said potentially hazardous condition comprises at least one of (i) another vehicle, (ii) a person and (iii) an animal;

wherein said radar sensor device and said image sensor collaborate in a way that enhances the sensing capability of said sensing system for the potentially hazardous condition in the path of forward travel of the vehicle;

wherein said control enhances detection of the object ahead of the vehicle by said image sensor via algorithmic processing of image data captured by said image sensor; and

wherein at least one of (i) said image sensor comprises part of an automatic headlamp control system of the vehicle, (ii) said image sensor comprises part of a lane departure warning system of the vehicle, and (iii) said image sensor comprises part of an object detection system of the vehicle.

84. The sensing system of claim 83, wherein at least one of (a) said radar sensor device utilizes at least one of beam aiming and beam selection, (b) said radar sensor device utilizes digital beam forming, (c) said radar sensor device utilizes digital beam steering, (d) said radar sensor device comprises an array antenna, (e) said radar sensor device comprises a phased array antenna and (f) said image sensor comprises a pixelated imaging array sensor.

85. The sensing system of claim 83, wherein a portion of an image captured by said image sensor is spatially related to a location of a detected object in the forward field of view of said image sensor.

86. The sensing system of claim 83, wherein said windshield electronics module comprises a self-contained unit.

87. The sensing system of claim 86, wherein said image processor is disposed within said windshield electronics module, and wherein said windshield electronics module is attached at the vehicle windshield, and wherein the vehicle windshield comprises an opaque layer generally where said windshield electronics module is disposed behind the vehicle windshield, and wherein said opaque layer comprises a first aperture, and wherein, with said windshield electronics module attached at the vehicle windshield, said first aperture generally coincides with a second aperture of said windshield electronics module in order to facilitate viewing through the vehicle windshield by said image sensor.

88. The sensing system of claim 83, wherein said control at least one of (a) at least in part controls a system of the vehicle, (b) enhances detection of an object ahead of the vehicle by said radar sensor responsive to said image sensor and (c) enhances detection of an object ahead of the vehicle by said image sensor responsive to said radar sensor.

89. The sensing system of claim 83, wherein said control at least one of (a) enhances detection of an object ahead of the vehicle by said radar sensor responsive to said image sensor and (b) enhances detection of an object ahead of the vehicle by said image sensor responsive to said radar sensor.

90. The sensing system of claim 83, wherein said windshield electronics module accommodates at least one other accessory.

91. The sensing system of claim 83, wherein said radar sensor device utilizes at least one of (i) digital beam forming (ii) digital beam steering.

92. The sensing system of claim 83, wherein at least one of (i) said image sensor and said radar sensor device are commonly established, at least in part, on a semiconductor substrate, (ii) said radar sensor device comprises an array antenna, and (iii) said radar sensor device comprises a phased array antenna.

93. The sensing system of claim 83, wherein at least one of (i) said control at least in part controls a system of the vehicle, and (ii) said control at least in part controls an adaptive cruise control system of the vehicle.

94. The sensing system of claim 83, wherein said image processor processes image data captured by said image sensor utilizing object detection software.

95. A forward facing sensing system for a vehicle, the vehicle having a windshield, said forward facing sensing system comprising:

a windshield electronics module, said windshield electronics module disposed in the interior cabin of the vehicle behind the vehicle windshield;

a radar sensor device disposed within said windshield electronics module and wherein said radar sensor device has a sensing direction forward of the vehicle;

an image sensor disposed within said windshield electronics module and wherein said image sensor has a viewing direction forward of the vehicle;

a control comprising an image processor, said image processor operable to analyze images captured by said image sensor in order to, at least in part, detect an object present forward of the vehicle in its direction of forward travel;

wherein said control, at least in part, determines that a potentially hazardous condition may exist in the path of forward travel of the vehicle, and wherein said potentially hazardous condition comprises at least one of (i) another vehicle, (ii) a person and (iii) an animal;

wherein said radar sensor device and said image sensor collaborate in a way that enhances the sensing capability of said sensing system for the potentially hazardous condition in the path of forward travel of the vehicle;

wherein said control enhances detection of the object ahead of the vehicle by said image sensor via algorithmic processing of image data captured by said image sensor;

wherein at least one of (i) said image sensor comprises part of an automatic headlamp control system of the vehicle, (ii) said image sensor comprises part of a lane departure warning system of the vehicle, and (in) said image sensor comprises part of an object detection system of the vehicle;

wherein at least one of (a) said radar sensor device utilizes at least one of beam aiming and beam selection, (b) said radar sensor device utilizes digital beam forming, (c) said radar sensor device utilizes digital beam steering, (d) said radar sensor device comprises an array antenna, (e) said radar sensor device comprises a phased array antenna and (f) said image sensor comprises a pixelated imaging array sensor;

wherein said windshield electronics module comprises a self-contained unit and wherein said image processor is disposed within said windshield electronics module, and wherein said windshield electronics module is attached at the vehicle windshield, and wherein the vehicle windshield comprises an opaque layer generally where said windshield electronics module is disposed behind the vehicle windshield, and wherein said opaque layer comprises a first aperture, and wherein, with said windshield electronics module attached at the vehicle windshield, said first aperture generally coincides with a second aperture of said windshield electronics module in order to facilitate viewing through the vehicle windshield by said image sensor; and

wherein said control at least one of (a) at least in part controls a system of the vehicle, (b) at least in part controls an adaptive cruise control system of the vehicle (c) enhances detection of an object ahead of the vehicle by said radar sensor responsive to said image sensor and (d) enhances detection of an object ahead of the vehicle by said image sensor responsive to said radar sensor.

96. The sensing system of claim 95, wherein a portion of an image captured by said image sensor is spatially related to a location of a detected object in the forward field of view of said image sensor.

97. The sensing system of claim 95, wherein said image processor processes image data captured by said image sensor utilizing object detection software.