COLLISION AVOIDANCE SYSTEM FOR VEHICLE

• US 20190176819A1
• Filed: 02/18/2019
• Published: 06/13/2019
• Est. Priority Date: 04/10/2013
• Status: Active Grant

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Inventors: Wolf, Johannes
• Granted Patent: US 10,875,527 B2
• Time in Patent Office: Days
• CPC Class Codes: B60R 1/00 Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
• CPC Class Codes: B60R 1/26 to the rear of the vehicle
• CPC Class Codes: B60R 2300/70 characterised by an event-triggered choice to display a specific image among a selection of captured images
• CPC Class Codes: B60R 2300/8026 in addition to a rear-view mirror system
• CPC Class Codes: B60R 2300/806 for aiding parking
• CPC Class Codes: B60T 2201/024 Collision mitigation systems
• 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: B60T 8/17 Using electrical or electronic regulation means to control braking detecting or indicating faulty operation B60T8/885
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 10/30 including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps
• CPC Class Codes: B60W 2050/143 Alarm means
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 2556/65 : Data transmitted between vehicles
• CPC Class Codes: B60W 2710/18 : Braking system
• CPC Class Codes: B60W 2710/20 : Steering systems
• CPC Class Codes: B60W 2710/30 : Auxiliary equipments
• CPC Class Codes: B60W 30/08 : Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
• CPC Class Codes: B60W 30/085 : Taking automatic action to adjust vehicle attitude in preparation for collision, e.g. braking for nose dropping
• CPC Class Codes: B60W 30/09 : Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/0953 : the prediction being responsive to vehicle dynamic parameters
• CPC Class Codes: B60W 50/14 : Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: B62D 15/0265 : Automatic obstacle avoidance by steering
• CPC Class Codes: B62D 6/002 : computing target steering angles for front or rear wheels B62D7/159 takes precedence
• CPC Class Codes: G05D 1/0214 : in accordance with safety or protection criteria, e.g. avoiding hazardous areas monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13
• CPC Class Codes: G06V 20/58 : Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G08G 1/16 : Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08
• CPC Class Codes: G08G 1/166 : for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A vehicular collision avoidance system includes a forward-viewing camera, a rearward-viewing camera, a rearward-sensing radar sensor and an electronic control unit. The vehicular collision avoidance system detects vehicles present forward and/or rearward of the equipped vehicle. Responsive to at least one selected from the group consisting of (i) data processing of image data captured by the rearward-viewing camera and (ii) data processing of sensor data captured by the rearward-sensing radar sensor, the vehicular collision avoidance system determines potential of collision with the equipped vehicle by a detected other vehicle and/or determines that impact with the equipped vehicle by a detected other vehicle is imminent.

Claims

1. A vehicular collision avoidance system, said vehicular collision avoidance system comprising:

a forward-viewing camera disposed at a windshield of a vehicle equipped with said vehicular collision avoidance system, wherein said forward-viewing camera views through the windshield to exterior of the equipped vehicle and has a field of view at least forward of the equipped vehicle;

a rearward-viewing camera disposed at a rear portion of the equipped vehicle, wherein said rearward-viewing camera has a field of view at least rearward of the equipped vehicle;

an electronic control unit;

wherein said electronic control unit receives image data captured by said forward-viewing camera and receives image data captured by said rearward-viewing camera;

wherein said electronic control unit comprises an image processor operable to process image data captured by said forward-viewing camera and to process image data captured by said rearward-viewing camera;

wherein, responsive at least in part to image processing by said image processor of image data captured by said forward-viewing camera, said vehicular collision avoidance system detects vehicles present forward of the equipped vehicle;

wherein, responsive at least in part to image processing by said image processor of image data captured by said rearward-viewing camera, said vehicular collision avoidance system detects vehicles present rearward of the equipped vehicle;

wherein the field of view of said rearward-viewing camera at least encompasses (i) a traffic lane that the equipped vehicle is in on a road the equipped vehicle is traveling along and (ii) at least one traffic lane that is adjacent to the traffic lane that the equipped vehicle is in on the road the equipped vehicle is traveling along;

wherein said vehicular collision avoidance system is operable to determine that a vehicle detected rearward of the equipped vehicle is traveling in the same traffic lane that the equipped vehicle is in on the road the equipped vehicle is traveling along;

wherein said vehicular collision avoidance system is operable to determine that a vehicle detected rearward of the equipped vehicle is traveling in a traffic lane that is adjacent to the traffic lane that the equipped vehicle is traveling in on the road the equipped vehicle is traveling along;

a rearward-sensing radar sensor disposed at the equipped vehicle;

wherein said rearward-sensing radar sensor senses at least rearward of the equipped vehicle;

wherein said rearward-sensing radar sensor captures sensor data;

wherein said electronic control unit receives sensor data captured by said rearward-sensing radar sensor; and

wherein, responsive to at least one selected from the group consisting of (i) data processing at said electronics control unit of image data captured by said rearward-viewing camera and (ii) data processing at said electronics control unit of sensor data captured by said rearward-sensing radar sensor, said vehicular collision avoidance system (a) determines speed difference between the equipped vehicle and another vehicle present rearward of the equipped vehicle that is approaching the equipped vehicle and (b) determines distance from the equipped vehicle to the other vehicle present rearward of the equipped vehicle that is approaching the equipped vehicle and based on such determinations, determines that impact with the equipped vehicle by the other vehicle is imminent.

2. The vehicular collision avoidance system of claim 1, wherein, responsive at least in part to image processing by said image processor of image data captured by said rearward-viewing camera, said vehicular collision avoidance system determines that the other vehicle present rearward of the equipped vehicle that is approaching the equipped vehicle is traveling in the same traffic lane that the equipped vehicle is traveling in on the road the equipped vehicle is traveling along.

3. The vehicular collision avoidance system of claim 2, wherein the other vehicle present rearward of the equipped vehicle that is approaching the equipped vehicle is tailgating the equipped vehicle.

4. The vehicular collision avoidance system of claim 2, wherein, responsive to the determination that impact with the equipped vehicle by the other vehicle is imminent, said vehicular collision avoidance system controls the equipped vehicle to accelerate the equipped vehicle.

5. The vehicular collision avoidance system of claim 4, wherein, responsive to the determination that impact with the equipped vehicle by the other vehicle is imminent, said vehicular collision avoidance system controls the equipped vehicle to accelerate in order to lower speed of impact with the equipped vehicle by the other vehicle.

6. The vehicular collision avoidance system of claim 4, wherein, responsive to the determination that impact with the equipped vehicle by the other vehicle is imminent, said vehicular collision avoidance system controls the equipped vehicle to accelerate in order to give the other vehicle additional space for slowing/stopping.

7. The vehicular collision avoidance system of claim 2, wherein, responsive to the determination that impact with the equipped vehicle by the other vehicle is imminent, a driver of the equipped vehicle is alerted.

8. The vehicular collision avoidance system of claim 2, wherein, responsive to the determination that impact with the equipped vehicle by the other vehicle is imminent, pre-impact measures are undertaken at the equipped vehicle.

9. The vehicular collision avoidance system of claim 8, wherein said pre-impact measures comprise at least one selected from the group consisting of (i) pre-tensioning a seat belt of the equipped vehicle and (ii) adjusting a seat of the equipped vehicle.

10. The vehicular collision avoidance system of claim 2, wherein, responsive (i) to data processing at said electronics control unit of image data captured by said rearward-viewing camera and (ii) to data processing at said electronics control unit of sensor data captured by said rearward-sensing radar sensor, said vehicular collision avoidance system (a) determines speed difference between the equipped vehicle and the other vehicle present rearward of the equipped vehicle that is approaching the equipped vehicle and (b) determines distance from the equipped vehicle to the other vehicle present rearward of the equipped vehicle that is approaching the equipped vehicle.

11. The vehicular collision avoidance system of claim 10, wherein, responsive (i) to difference between speed of the other vehicle and speed of the equipped vehicle and (ii) to distance between the other vehicle and the equipped vehicle both being such that impact with the equipped vehicle by the other vehicle is imminent, said vehicular collision avoidance system prepares the equipped vehicle for impact.

12. The vehicular collision avoidance system of claim 11, wherein said vehicular collision avoidance system prepares the equipped vehicle for impact by pre-tensioning a seat belt of the equipped vehicle.

13. The vehicular collision avoidance system of claim 11, wherein said vehicular collision avoidance system prepares the equipped vehicle for impact by adjusting a seat of the equipped vehicle.

14. The vehicular collision avoidance system of claim 1, wherein said vehicular collision avoidance system, responsive at least in part to the determination that impact with the equipped vehicle by the other vehicle is imminent, controls a steering system of the equipped vehicle to move the equipped vehicle from the traffic lane that the equipped vehicle is traveling in on the road the equipped vehicle is traveling along to another traffic lane on the road the equipped vehicle is traveling along.

15. The vehicular collision avoidance system of claim 1, wherein the equipped vehicle receives, via a car2car (v2v) communication system, information wirelessly transmitted by the other vehicle present rearward of the equipped vehicle that is approaching the equipped vehicle.

16. The vehicular collision avoidance system of claim 15, wherein, responsive at least in part to information transmitted via the car2car (v2v) communication system, a braking system of the equipped vehicle is controlled.

17. The vehicular collision avoidance system of claim 15, wherein, responsive at least in part to information transmitted via the car2car (v2v) communication system, a steering system of the equipped vehicle is controlled.

18. The vehicular collision avoidance system of claim 1, wherein said vehicular collision avoidance system is operable to wirelessly communicate a request via a car2car (v2v) communication system to the other vehicle present rearward of the equipped vehicle that is approaching the equipped vehicle to control a vehicle system of the other vehicle.

19. The vehicular collision avoidance system of claim 18, wherein the vehicle system of the other vehicle comprises a brake system of the other vehicle.

20. The vehicular collision avoidance system of claim 1, wherein said vehicular collision avoidance system is operable to communicate via a car2car (v2v) communication system with the other vehicle present rearward of the equipped vehicle that is approaching the equipped vehicle to determine a collision avoidance path for the equipped vehicle.

21. The vehicular collision avoidance system of claim 1, wherein said vehicular collision avoidance system is operable, responsive at least in part to a communication wirelessly communicated to the equipped vehicle via a car2car (v2v) communication system, to at least two selected from the group consisting of (a) control a braking system of the equipped vehicle, (b) control a steering system of the equipped vehicle and (c) control an acceleration system of the equipped vehicle.

22. The vehicular collision avoidance system of claim 1, wherein said forward-viewing camera is a component of an adaptive cruise control system of the equipped vehicle.

23. The vehicular collision avoidance system of claim 1, wherein, responsive at least in part to determination by said vehicular collision avoidance system that impact with the equipped vehicle by the other vehicle is imminent, said vehicular collision avoidance system determines an evasive path for the equipped vehicle to avoid impact with the equipped vehicle by the other vehicle.

24. The vehicular collision avoidance system of claim 23, wherein said vehicular collision avoidance system controls a steering system of the equipped vehicle to steer the equipped vehicle along the determined evasive path.

25. The vehicular collision avoidance system of claim 23, wherein said vehicular collision avoidance system controls a steering system of the equipped vehicle to move the equipped vehicle into a traffic lane that is adjacent to the traffic lane the equipped vehicle is traveling in.

26. The vehicular collision avoidance system of claim 1, wherein, responsive at least in part to information transmitted to or from the equipped vehicle via a car2car (v2v) communication system, and responsive at least in part to at least one selected from the group consisting of (i) data processing at said electronics control unit of image data captured by said rearward-viewing camera and (ii) data processing at said electronics control unit of sensor data captured by said rearward-sensing radar sensor, said vehicular collision avoidance system is operable to determine potential of collision with the equipped vehicle by the other vehicle present rearward of the equipped vehicle that is approaching the equipped vehicle.

27. The vehicular collision avoidance system of claim 1, wherein, responsive at least in part to radar data sensed by said rearward-sensing radar sensor, said vehicular collision avoidance system is operable to determine potential of collision with the equipped vehicle by the other vehicle present rearward of the equipped vehicle that is approaching the equipped vehicle.

28. The vehicular collision avoidance system of claim 1, wherein, responsive (i) to data processing at said electronics control unit of image data captured by said rearward-viewing camera and (ii) to data processing at said electronics control unit of sensor data captured by said rearward-sensing radar sensor, said vehicular collision avoidance system (a) determines speed difference between the equipped vehicle and the other vehicle present rearward of the equipped vehicle that is approaching the equipped vehicle and (b) determines distance from the equipped vehicle to the other vehicle present rearward of the equipped vehicle that is approaching the equipped vehicle.

29. The vehicular collision avoidance system of claim 28, wherein, based on such determinations, said vehicular collision avoidance system determines that impact with the equipped vehicle by the other vehicle is imminent.

30. The vehicular collision avoidance system of claim 1, wherein the field of view of said forward-viewing camera at least encompasses (i) the traffic lane that the equipped vehicle is traveling in on the road the equipped vehicle is traveling along and (ii) at least one traffic lane that is adjacent to the traffic lane that the equipped vehicle is traveling in on the road the equipped vehicle is traveling along, and wherein, responsive at least in part to image processing by said image processor of image data captured by said forward-viewing camera, said vehicular collision avoidance system is operable to determine that a vehicle present ahead of the equipped vehicle on the road the equipped vehicle is traveling along is traveling in the same traffic lane that the equipped vehicle is traveling in on the road the equipped vehicle is traveling along.

31. The vehicular collision avoidance system of claim 1, wherein the field of view of said forward-viewing camera at least encompasses (i) the traffic lane that the equipped vehicle is traveling in on the road the equipped vehicle is traveling along and (ii) at least one traffic lane that is adjacent to the traffic lane that the equipped vehicle is traveling in on the road the equipped vehicle is traveling along, and wherein, responsive at least in part to image processing by said image processor of image data captured by said forward-viewing camera, said vehicular collision avoidance system is operable to determine that a vehicle present ahead of the equipped vehicle on the road the equipped vehicle is traveling along is traveling in a traffic lane that is adjacent to the traffic lane that the equipped vehicle is traveling in on that road the equipped vehicle is traveling along.

32. The vehicular collision avoidance system of claim 1, wherein said vehicular collision avoidance system comprises a driver side-viewing camera disposed at a driver side portion of the equipped vehicle, said driver side-viewing camera having a field of view at least sideward and rearward of the equipped vehicle, and wherein said vehicular collision avoidance system comprises a passenger side-viewing camera disposed at a passenger side portion of the equipped vehicle, said passenger side-viewing camera having a field of view at least sideward and rearward of the equipped vehicle, and wherein said electronic control unit receives image data captured by said driver side-viewing camera and receives image data captured by said passenger side-viewing camera, and wherein said image processor of said electronic control unit is operable to process image data captured by said driver side-viewing camera and to process image data captured by said passenger side-viewing camera, and wherein, responsive at least in part to at least one selected from the group consisting of (i) data processing at said electronics control unit of image data captured by said rearward-viewing camera, (ii) data processing at said electronics control unit of image data captured by said driver side-viewing camera, (iii) data processing at said electronics control unit of image data captured by said passenger side-viewing camera and (iv) data processing at said electronics control unit of sensor data captured by said rearward-sensing radar sensor, said vehicular collision avoidance system determines potential of collision with the equipped vehicle by the other vehicle present rearward of the equipped vehicle that is approaching the equipped vehicle.

33. A vehicular collision avoidance system, said vehicular collision avoidance system comprising:

a forward-viewing camera disposed at a windshield of a vehicle equipped with said vehicular collision avoidance system, wherein said forward-viewing camera views through the windshield to exterior of the equipped vehicle and has a field of view at least forward of the equipped vehicle;

a rearward-viewing camera disposed at a rear portion of the equipped vehicle, wherein said rearward-viewing camera has a field of view at least rearward of the equipped vehicle;

an electronic control unit;

wherein said electronic control unit receives image data captured by said forward-viewing camera and receives image data captured by said rearward-viewing camera;

wherein said electronic control unit comprises an image processor operable to process image data captured by said forward-viewing camera and to process image data captured by said rearward-viewing camera;

wherein, responsive at least in part to image processing by said image processor of image data captured by said forward-viewing camera, said vehicular collision avoidance system detects vehicles present forward of the equipped vehicle;

wherein, responsive at least in part to image processing by said image processor of image data captured by said rearward-viewing camera, said vehicular collision avoidance system detects vehicles present rearward of the equipped vehicle;

wherein, responsive at least in part to image processing by said image processor of image data captured by said rearward-viewing camera, said vehicular collision avoidance system detects another vehicle that is approaching the equipped vehicle from rearward of the equipped vehicle and determines that the detected other vehicle present rearward of the equipped vehicle that is approaching the equipped vehicle is traveling in the same traffic lane that the equipped vehicle is traveling in on a road the equipped vehicle is traveling along;

a rearward-sensing radar sensor disposed at the equipped vehicle;

wherein said rearward-sensing radar sensor senses at least rearward of the equipped vehicle;

wherein said rearward-sensing radar sensor captures sensor data;

wherein said electronic control unit receives sensor data captured by said rearward-sensing radar sensor;

wherein, responsive at least in part to at least one selected from the group consisting of (i) data processing at said electronics control unit of image data captured by said rearward-viewing camera and (ii) data processing at said electronics control unit of sensor data captured by said rearward-sensing radar sensor, said vehicular collision avoidance system determines potential of collision with the equipped vehicle by the detected other vehicle present rearward of the equipped vehicle that is approaching the equipped vehicle; and

wherein, responsive at least in part to the determination by said vehicular collision avoidance system of potential of collision with the equipped vehicle by the detected other vehicle present rearward of the equipped vehicle that is approaching the equipped vehicle, said vehicular collision avoidance system determines an evasive path for the equipped vehicle to avoid collision by the detected other vehicle with the equipped vehicle.

34. The vehicular collision avoidance system of claim 33, wherein said vehicular collision avoidance system controls a steering system of the equipped vehicle to steer the equipped vehicle along the determined evasive path.

35. The vehicular collision avoidance system of claim 33, wherein said vehicular collision avoidance system controls a steering system of the equipped vehicle to move the equipped vehicle into a traffic lane that is adjacent to the traffic lane the equipped vehicle is traveling in.

36. The vehicular collision avoidance system of claim 33, wherein, responsive to at least one selected from the group consisting of (i) image processing by said image processor of image data captured by said rearward-viewing camera and (ii) data processing at said electronics control unit of sensor data captured by said rearward-sensing radar sensor, said vehicular collision avoidance system determines speed difference between the equipped vehicle and the detected other vehicle present rearward of the equipped vehicle that is approaching the equipped vehicle.

37. The vehicular collision avoidance system of claim 33, wherein, responsive to at least one selected from the group consisting of (i) image processing by said image processor of image data captured by said rearward-viewing camera and (ii) data processing at said electronics control unit of sensor data captured by said rearward-sensing radar sensor, said vehicular collision avoidance system determines distance from the equipped vehicle to the detected other vehicle present rearward of the equipped vehicle that is approaching the equipped vehicle.

38. The vehicular collision avoidance system of claim 33, wherein the detected other vehicle present rearward of the equipped vehicle that is approaching the equipped vehicle is tailgating the equipped vehicle.

39. The vehicular collision avoidance system of claim 38, wherein, responsive to the determination of potential of collision with the equipped vehicle by the detected other vehicle present rearward of the equipped vehicle that is approaching the equipped vehicle, said vehicular collision avoidance system controls the equipped vehicle to accelerate the equipped vehicle in order to lower speed of impact with the equipped vehicle by the detected other vehicle.

40. The vehicular collision avoidance system of claim 38, wherein, responsive to the determination of potential of collision with the equipped vehicle by the detected other vehicle present rearward of the equipped vehicle that is approaching the equipped vehicle, said vehicular collision avoidance system controls the equipped vehicle to accelerate in order to give the detected other vehicle additional space for slowing/stopping.

41. The vehicular collision avoidance system of claim 33, wherein said forward-viewing camera is a component of an adaptive cruise control system of the equipped vehicle.

42. The vehicular collision avoidance system of claim 41, wherein said vehicular collision avoidance system is operable, responsive at least in part to a communication wirelessly communicated to the equipped vehicle via a car2car (v2v) communication system, to at least two selected from the group consisting of (a) control a braking system of the equipped vehicle, (b) control a steering system of the equipped vehicle and (c) control an acceleration system of the equipped vehicle.

43. The vehicular collision avoidance system of claim 33, wherein said vehicular collision avoidance system comprises a driver side-viewing camera disposed at a driver side portion of the equipped vehicle, said driver side-viewing camera having a field of view at least sideward and rearward of the equipped vehicle, and wherein said vehicular collision avoidance system comprises a passenger side-viewing camera disposed at a passenger side portion of the equipped vehicle, said passenger side-viewing camera having a field of view at least sideward and rearward of the equipped vehicle, and wherein said electronic control unit receives image data captured by said driver side-viewing camera and receives image data captured by said passenger side-viewing camera, and wherein said image processor of said electronic control unit is operable to process image data captured by said driver side-viewing camera and to process image data captured by said passenger side-viewing camera, and wherein, responsive at least in part to at least one selected from the group consisting of (i) data processing at said electronics control unit of image data captured by said rearward-viewing camera and (ii) data processing at said electronics control unit of sensor data captured by said rearward-sensing radar sensor, and responsive at least in part to at least one selected from the group consisting of (a) data processing at said electronics control unit of image data captured by said driver side-viewing camera and (b) data processing at said electronics control unit of image data captured by said passenger side-viewing camera, said vehicular collision avoidance system determines that impact with the equipped vehicle by the detected other vehicle present rearward of the equipped vehicle that is approaching the equipped vehicle is imminent.

44. The vehicular collision avoidance system of claim 43, wherein, responsive to the determination that impact with the equipped vehicle by the detected other vehicle is imminent, pre-impact measures are undertaken at the equipped vehicle.

45. The vehicular collision avoidance system of claim 44, wherein said pre-impact measures comprise at least one selected from the group consisting of (i) pre-tensioning a seat belt of the equipped vehicle and (ii) adjusting a seat of the equipped vehicle.

46. The vehicular collision avoidance system of claim 43, wherein said vehicular collision avoidance system, responsive to the determination that impact with the equipped vehicle by the detected other vehicle is imminent, controls a steering system of the equipped vehicle to move the equipped vehicle from a traffic lane that the equipped vehicle is traveling in on the road the equipped vehicle is traveling along to another traffic lane on the road the equipped vehicle is traveling along.

47. The vehicular collision avoidance system of claim 33, wherein, responsive to the determination of potential of collision with the equipped vehicle by the detected other vehicle present rearward of the equipped vehicle that is approaching the equipped vehicle, a driver of the equipped vehicle is alerted.

48. A vehicular collision avoidance system, said vehicular collision avoidance system comprising:

a forward-viewing camera disposed at a windshield of a vehicle equipped with said vehicular collision avoidance system, wherein said forward-viewing camera views through the windshield to exterior of the equipped vehicle and has a field of view at least forward of the equipped vehicle;

a rearward-viewing camera disposed at a rear portion of the equipped vehicle, wherein said rearward-viewing camera has a field of view at least rearward of the equipped vehicle;

an electronic control unit;

wherein said electronic control unit receives image data captured by said forward-viewing camera and receives image data captured by said rearward-viewing camera;

wherein said electronic control unit comprises an image processor operable to process image data captured by said forward-viewing camera and to process image data captured by said rearward-viewing camera;

wherein, responsive at least in part to image processing by said image processor of image data captured by said forward-viewing camera, said vehicular collision avoidance system detects vehicles present forward of the equipped vehicle;

wherein, responsive at least in part to image processing by said image processor of image data captured by said rearward-viewing camera, said vehicular collision avoidance system detects vehicles present rearward of the equipped vehicle;

wherein the field of view of said rearward-viewing camera at least encompasses (i) a traffic lane that the equipped vehicle is in on a road the equipped vehicle is traveling along and (ii) at least one traffic lane that is adjacent to the traffic lane that the equipped vehicle is in on the road the equipped vehicle is traveling along;

wherein said vehicular collision avoidance system is operable to determine that a vehicle detected rearward of the equipped vehicle is traveling in the same traffic lane that the equipped vehicle is in on the road the equipped vehicle is traveling along;

wherein said vehicular collision avoidance system is operable to determine that a vehicle detected rearward of the equipped vehicle is traveling in a traffic lane that is adjacent to the traffic lane that the equipped vehicle is traveling in on the road the equipped vehicle is traveling along;

at least one non-vision sensor;

wherein said at least one non-vision sensor is selected from the group consisting of (a) a rearward-sensing radar sensor disposed at the equipped vehicle, and wherein said rearward-sensing radar sensor senses at least rearward of the equipped vehicle, and wherein said rearward-sensing radar sensor captures sensor data, and wherein said electronic control unit receives sensor data captured by said rearward-sensing radar sensor and (b) a rearward-sensing lidar sensor disposed at the equipped vehicle, and wherein said rearward-sensing lidar sensor senses at least rearward of the equipped vehicle, and wherein said rearward-sensing lidar sensor captures sensor data, and wherein said electronic control unit receives sensor data captured by said rearward-sensing lidar sensor;

wherein, responsive at least in part to at least one selected from the group consisting of (i) data processing at said electronics control unit of image data captured by said rearward-viewing camera and (ii) data processing at said electronics control unit of sensor data captured by said at least one non-vision sensor, said vehicular collision avoidance system determines potential of collision with the equipped vehicle by another vehicle present rearward of the equipped vehicle that is approaching the equipped vehicle;

wherein, responsive to the determination of potential of collision with the equipped vehicle by the other vehicle present rearward of the equipped vehicle that is approaching the equipped vehicle, said vehicular collision avoidance system controls at least one system of the equipped vehicle; and

wherein the at least one system of the equipped vehicle is controlled by said vehicular collision avoidance system to at least one selected from the group consisting of (i) avoid collision with the equipped vehicle by the other vehicle present rearward of the equipped vehicle that is approaching the equipped vehicle and (ii) minimize impact with the equipped vehicle by the other vehicle present rearward of the equipped vehicle that is approaching the equipped vehicle.

49. The vehicular collision avoidance system of claim 48, wherein the at least one system of the equipped vehicle controlled by said vehicular collision avoidance system comprises a braking system of the equipped vehicle.

50. The vehicular collision avoidance system of claim 49, wherein said vehicular collision avoidance system controls the braking system of the equipped vehicle dependent on a degree of collision hazard determined by said vehicular collision avoidance system.

51. The vehicular collision avoidance system of claim 48, wherein the at least one system of the equipped vehicle controlled by said vehicular collision avoidance system comprises a steering system of the equipped vehicle.

52. The vehicular collision avoidance system of claim 51, wherein said vehicular collision avoidance system controls the steering system of the equipped vehicle dependent on a degree of collision hazard determined by said vehicular collision avoidance system.

53. The vehicular collision avoidance system of claim 48, wherein the at least one system of the equipped vehicle controlled by said vehicular collision avoidance system comprises an acceleration system of the equipped vehicle.

54. The vehicular collision avoidance system of claim 53, wherein said vehicular collision avoidance system controls the acceleration system of the equipped vehicle dependent on a degree of collision hazard determined by said vehicular collision avoidance system.

55. The vehicular collision avoidance system of claim 48, wherein the at least one system of the equipped vehicle controlled by said vehicular collision avoidance system comprises at least two selected from the group consisting of (i) an acceleration system of the equipped vehicle, (ii) a steering system of the equipped vehicle and (iii) a braking system of the equipped vehicle.

56. The vehicular collision avoidance system of claim 55, wherein said vehicular collision avoidance system determines that the other vehicle present rearward of the equipped vehicle that is approaching the equipped vehicle is traveling in the same traffic lane that the equipped vehicle is traveling in on the road the equipped vehicle is traveling along, and wherein, responsive to the determination of potential of collision with the equipped vehicle by the other vehicle present rearward of the equipped vehicle that is approaching the equipped vehicle, said vehicular collision avoidance system controls the equipped vehicle to at least one selected from the group consisting of (i) accelerate the equipped vehicle, (ii) prepare the equipped vehicle for collision and (iii) steer the equipped vehicle out of the traffic lane the equipped vehicle is traveling along.

57. The vehicular collision avoidance system of claim 55, wherein said vehicular collision avoidance system determines that the other vehicle present rearward of the equipped vehicle that is approaching the equipped vehicle is traveling in a traffic lane that is adjacent to the traffic lane that the equipped vehicle is traveling in on the road the equipped vehicle is traveling along.

58. The vehicular collision avoidance system of claim 57, wherein said vehicular collision avoidance system determines that the other vehicle present rearward of the equipped vehicle that is approaching the equipped vehicle is traveling in a traffic lane that is adjacent to the traffic lane that the equipped vehicle is traveling in on the road the equipped vehicle is traveling along responsive at least in part to image processing by said image processor of image data captured by said rearward-viewing camera.

59. The vehicular collision avoidance system of claim 48, wherein said vehicular collision avoidance system comprises a driver side-viewing camera disposed at a driver side portion of the equipped vehicle, said driver side-viewing camera having a field of view at least sideward and rearward of the equipped vehicle, and wherein said image processor of said electronic control unit is operable to process image data captured by said driver side-viewing camera, and wherein, responsive at least in part to image processing by said image processor of image data captured by said driver side-viewing camera, said vehicular collision avoidance system determines that the other vehicle present rearward of the equipped vehicle that is approaching the equipped vehicle is traveling in a traffic lane that is adjacent to a driver side of the equipped vehicle.

60. The vehicular collision avoidance system of claim 48, wherein said vehicular collision avoidance system comprises a passenger side-viewing camera disposed at a passenger side portion of the equipped vehicle, said passenger side-viewing camera having a field of view at least sideward and rearward of the equipped vehicle, and wherein said image processor of said electronic control unit is operable to process image data captured by said passenger side-viewing camera, and wherein, responsive at least in part to image processing by said image processor of image data captured by said passenger side-viewing camera, said vehicular collision avoidance system determines that the other vehicle present rearward of the equipped vehicle that is approaching the equipped vehicle is traveling in a traffic lane that is adjacent to a passenger side of the equipped vehicle.

61. The vehicular collision avoidance system of claim 48, wherein said at least one non-vision sensor of said vehicular collision avoidance system comprises a rearward-sensing lidar sensor disposed at the equipped vehicle, and wherein said rearward-sensing lidar sensor senses at least rearward of the equipped vehicle, and wherein said rearward-sensing lidar sensor captures sensor data, and wherein said electronic control unit receives sensor data captured by said rearward-sensing lidar sensor.

62. The vehicular collision avoidance system of claim 61, wherein, responsive at least in part to the determination by said vehicular collision avoidance system of potential of collision with the equipped vehicle by the other vehicle present rearward of the equipped vehicle that is approaching the equipped vehicle, said vehicular collision avoidance system determines an evasive path for the equipped vehicle to avoid collision with the other vehicle.

63. The vehicular collision avoidance system of claim 61, wherein said vehicular collision avoidance system comprises a driver side-viewing camera disposed at a driver side portion of the equipped vehicle, said driver side-viewing camera having a field of view at least sideward and rearward of the equipped vehicle, and wherein said vehicular collision avoidance system comprises a passenger side-viewing camera disposed at a passenger side portion of the equipped vehicle, said passenger side-viewing camera having a field of view at least sideward and rearward of the equipped vehicle, and wherein said electronic control unit receives image data captured by said driver side-viewing camera and receives image data captured by said passenger side-viewing camera, and wherein said image processor of said electronic control unit is operable to process image data captured by said driver side-viewing camera and to process image data captured by said passenger side-viewing camera, and wherein, responsive at least in part to at least one selected from the group consisting of (i) data processing at said electronics control unit of image data captured by said rearward-viewing camera and (ii) data processing at said electronics control unit of sensor data captured by said rearward-sensing lidar sensor, and responsive at least in part to at least one selected from the group consisting of (a) data processing at said electronics control unit of image data captured by said driver side-viewing camera and (b) data processing at said electronics control unit of image data captured by said passenger side-viewing camera, said vehicular collision avoidance system determines that impact with the equipped vehicle by the other vehicle present rearward of the equipped vehicle that is approaching the equipped vehicle is imminent.

64. The vehicular collision avoidance system of claim 63, wherein said vehicular collision avoidance system, responsive at least in part to the determination of potential of collision with the equipped vehicle by the other vehicle present rearward of the equipped vehicle that is approaching the equipped vehicle, controls a steering system of the equipped vehicle to move the equipped vehicle from the traffic lane that the equipped vehicle is traveling in on the road the equipped vehicle is traveling along to another traffic lane on the road the equipped vehicle is traveling along.

65. The vehicular collision avoidance system of claim 63, wherein, responsive to the determination of potential of collision with the equipped vehicle by the other vehicle present rearward of the equipped vehicle that is approaching the equipped vehicle, pre-impact measures are undertaken at the equipped vehicle.

66. The vehicular collision avoidance system of claim 63, wherein, responsive to the determination of potential of collision with the equipped vehicle by the other vehicle present rearward of the equipped vehicle that is approaching the equipped vehicle, a driver of the equipped vehicle is alerted.

67. The vehicular collision avoidance system of claim 48, wherein said at least one non-vision sensor of said vehicular collision avoidance system comprises a rearward-sensing radar sensor disposed at the equipped vehicle, and wherein said rearward-sensing radar sensor senses at least rearward of the equipped vehicle, and wherein said rearward-sensing radar sensor captures sensor data, and wherein said electronic control unit receives sensor data captured by said rearward-sensing radar sensor.

68. The vehicular collision avoidance system of claim 67, wherein, responsive at least in part to the determination by said vehicular collision avoidance system of potential of collision with the equipped vehicle by the other vehicle present rearward of the equipped vehicle that is approaching the equipped vehicle, said vehicular collision avoidance system determines an evasive path for the equipped vehicle to avoid collision with the other vehicle.

69. The vehicular collision avoidance system of claim 67, wherein said vehicular collision avoidance system comprises a driver side-viewing camera disposed at a driver side portion of the equipped vehicle, said driver side-viewing camera having a field of view at least sideward and rearward of the equipped vehicle, and wherein said vehicular collision avoidance system comprises a passenger side-viewing camera disposed at a passenger side portion of the equipped vehicle, said passenger side-viewing camera having a field of view at least sideward and rearward of the equipped vehicle, and wherein said electronic control unit receives image data captured by said driver side-viewing camera and receives image data captured by said passenger side-viewing camera, and wherein said image processor of said electronic control unit is operable to process image data captured by said driver side-viewing camera and to process image data captured by said passenger side-viewing camera, and wherein, responsive at least in part to at least one selected from the group consisting of (i) data processing at said electronics control unit of image data captured by said rearward-viewing camera and (ii) data processing at said electronics control unit of sensor data captured by said rearward-sensing radar sensor, and responsive at least in part to at least one selected from the group consisting of (a) data processing at said electronics control unit of image data captured by said driver side-viewing camera and (b) data processing at said electronics control unit of image data captured by said passenger side-viewing camera, said vehicular collision avoidance system determines that impact with the equipped vehicle by the other vehicle present rearward of the equipped vehicle that is approaching the equipped vehicle is imminent.