Vision system for a vehicle

• US 7,425,076 B2
• Filed: 12/18/2007
• Issued: 09/16/2008
• Est. Priority Date: 02/26/1993
• Status: Expired due to Fees

• Current Assignee: Donnelly Corporation (Magna International Incorporated)
• Original Assignee: Donnelly Corporation (Magna International Incorporated)
• Inventors: Schofield, Kenneth, Larson, Mark L.
• Primary Examiner(s): Pritchett; Joshua L
• Application Number:
  US11/958,916
• Publication Number:
  US 20080094715A1
• Time in Patent Office: 273 Days
• Field of Search: 359/604
• US Class Current: 359/604
• CPC Class Codes: B60N 2/002 Seats provided with an occupancy detection means mounted therein or thereon detection means responsive to presence or absence of children B60N2/266
• CPC Class Codes: B60Q 1/04 the devices being headlights
• CPC Class Codes: B60Q 1/1423 Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic
• CPC Class Codes: B60Q 1/143 combined with another condition, e.g. using vehicle recognition from camera images or activation of wipers
• CPC Class Codes: B60Q 2300/052 Switching delay, i.e. the beam is not switched or changed instantaneously upon occurrence of a condition change
• CPC Class Codes: B60Q 2300/21 Manual control
• CPC Class Codes: B60Q 2300/312 Adverse weather
• CPC Class Codes: B60Q 2300/314 Ambient light
• CPC Class Codes: B60Q 2300/3321 Detection of streetlights
• CPC Class Codes: B60Q 2300/41 preceding vehicle
• CPC Class Codes: B60Q 2300/42 oncoming vehicle
• CPC Class Codes: B60Q 2300/43 following vehicle
• CPC Class Codes: B60Q 2400/30 Daytime running lights [DRL], e.g. circuits or arrangements therefor
• CPC Class Codes: B60R 1/00 Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
• CPC Class Codes: B60R 1/04 mounted inside vehicle B60R1/025, B60R1/08 take precedence
• CPC Class Codes: B60R 1/088 using a cell of electrically changeable optical characteristic, e.g. liquid-crystal or electrochromic mirrors
• CPC Class Codes: B60R 1/12 Mirror assemblies combined with other articles, e.g. clocks
• CPC Class Codes: B60R 1/29 for viewing an area inside the vehicle, e.g. for viewing passengers or cargo
• CPC Class Codes: B60R 1/30 providing vision in the non-visible spectrum, e.g. night or infrared vision
• CPC Class Codes: B60R 11/04 Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
• CPC Class Codes: B60R 2001/1223 : with sensors or transducers
• CPC Class Codes: B60R 2001/1253 : with cameras, video cameras or video screens
• CPC Class Codes: B60R 21/01538 : for image processing, e.g. cameras or sensor arrays
• CPC Class Codes: B60R 2300/103 : using camera systems provided with artificial illumination device, e.g. IR light source
• CPC Class Codes: B60R 2300/30 : characterised by the type of image processing
• CPC Class Codes: B60R 2300/8006 : for monitoring and displaying scenes of vehicle interior, e.g. for monitoring passengers or cargo
• CPC Class Codes: B60R 2300/8026 : in addition to a rear-view mirror system
• CPC Class Codes: B60R 2300/8046 : for replacing a rear-view mirror system
• CPC Class Codes: B60R 2300/8066 : for monitoring rearward traffic
• CPC Class Codes: B60R 2300/8073 : for vehicle security, e.g. parked vehicle surveillance, burglar detection
• CPC Class Codes: B60R 2300/8093 : for obstacle warning
• CPC Class Codes: B60S 1/0822 : characterized by the arrangement or type of detection means
• CPC Class Codes: B60S 1/0844 : including a camera
• CPC Class Codes: B60S 1/0885 : the sensor being integrated in a rear-view mirror module
• CPC Class Codes: G01J 1/4204 : with determination of ambient light solar light G01J2001/4266
• CPC Class Codes: G01J 1/4228 : arrangements with two or more detectors, e.g. for sensitivity compensation
• CPC Class Codes: G06T 2207/10016 : Video; Image sequence
• CPC Class Codes: G06T 2207/30252 : Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 2207/30268 : Vehicle interior
• CPC Class Codes: G06T 7/97 : Determining parameters from multiple pictures depth or shape recovery from multiple images G06T7/55; stereo camera calibration G06T7/85
• CPC Class Codes: H04N 13/239 : using two 2D image sensors having a relative position equal to or related to the interocular distance H04N13/243 takes precedence
• CPC Class Codes: H04N 13/243 : using three or more 2D image sensors
• CPC Class Codes: H04N 2013/0081 : Depth or disparity estimation from stereoscopic image signals
• CPC Class Codes: H04N 23/63 : by using electronic viewfinders
• CPC Class Codes: H04N 25/443 : by reading pixels from selected 2D regions of the array, e.g. for windowing or digital zooming
• CPC Class Codes: H04N 25/76 : Addressed sensors, e.g. MOS or CMOS sensors
• CPC Class Codes: H04N 7/18 : Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
• CPC Class Codes: H04N 7/181 : for receiving images from a plurality of remote sources
• CPC Class Codes: H04N 7/183 : for receiving images from a single remote source

Abstract

A vision system for a vehicle includes an imaging sensor and a logic and control circuit, which generates at least one control output for controlling at least one vehicular light of the vehicle. The vision system recognizes veiling glare caused by scattered light in the field of view exterior and forward of the vehicle, with the scattered light being caused by at least one of fog, snow and rain present in the field of view exterior and forward of the vehicle. The vision system, responsive to the recognition of the veiling glare in the field of view exterior and forward of the vehicle, selects an appropriate vehicular lighting configuration so as to reduce the level of the veiling glare. The logic and control circuit may generate a control output for controlling at least one headlight, which may be operable in a high beam mode and a lower beam mode.

Claims

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

an imaging sensor;

said imaging sensor comprising a two-dimensional array of light sensing photosensor elements formed on a semiconductor substrate;

a logic and control circuit;

said logic and control circuit comprising an image processor for processing image data derived from said imaging sensor, said logic and control circuit generating at least one control output for controlling at least one vehicular light of the vehicle;

said imaging sensor disposed at an interior portion of the vehicle and having a field of view exterior and forward of the vehicle through the windshield of the vehicle;

at least one headlight disposed at a front portion of the vehicle and operable to illuminate with visible light a scene forward of and in the path of travel of the vehicle;

a lens imaging light external to the vehicle onto said imaging sensor;

said light including at least in part light output by said at least one headlight of the vehicle that is scattered by at least one of fog, snow and rain present in said field of view exterior and forward of the vehicle;

wherein said vision system recognizes scattering of light output by said at least one headlight of the vehicle in said field of view exterior and forward of the vehicle; and

wherein said vision system, responsive to said recognition of said scattering of light in said field of view exterior and forward of the vehicle, selects an appropriate vehicular lighting configuration so as to reduce veiling glare.

2. The vision system of claim 1, wherein said at least one control output comprises an output for controlling a vehicular lighting switch, and wherein said vehicular lighting switch controls a headlight of the vehicle.

3. The vision system of claim 2, wherein a manual override is provided to override said controlling of said vehicular lighting switch by said at least one control output.

4. The vision system of claim 1, wherein said array of sensing elements is formed on said semiconductor substrate as a CMOS device.

5. The vision system of claim 1, wherein said logic and control circuit comprises at least one of (i) an analog-to-digital converter, (ii) a logic circuit, (iii) a clock, (iv) random access memory and (v) a digital-to-analog converter.

6. The vision system of claim 1, wherein said logic and control circuit generates at least two control outputs for controlling respective ones of at least two vehicular lights.

7. The vision system of claim 6, wherein one of said at least two vehicular lights comprises a headlight.

8. The vision system of claim 6, wherein one of said at least two vehicular lights comprises a fog light.

9. The vision system of claim 6, wherein one of said at least two vehicular lights comprises a headlight and another of said at least two vehicular lights comprises a fog light of the vehicle.

10. The vision system of claim 1, wherein said lens comprises a molded plastic lens.

11. The vision system of claim 1, wherein said lens is at least one of (i) bonded to said imaging sensor and (ii) in close contact with said imaging sensor.

12. The vision system of claim 1, wherein said interior portion is at or proximate to an interior rearview minor of the vehicle.

13. The vision system of claim 1, wherein said array of sensing elements and at least a portion of said logic and control circuit are commonly formed on said semiconductor substrate as an integrated circuit.

14. The vision system of claim 1, wherein said logic and control circuit comprises a logic circuit, said logic circuit comprising at least one of (i) a central processing unit and (ii) a read-only-memory.

15. The vision system of claim 1, wherein said at least one vehicular light of the vehicle comprises a headlight and wherein said at least one control output controls said headlight via a vehicular lighting switch, and wherein said vehicular lighting switch operates to switch said headlight to at least one of a high beam mode, a mid beam mode and a low beam mode.

16. The vision system of claim 15, wherein said vehicular lighting switch operates to select at least one of said mid beam mode and said low beam mode, and not select said high beam mode, responsive to said recognition of said scattering of light in said field of view exterior and forward of the vehicle by said vision system.

17. The vision system of claim 15, wherein said vehicular lighting switch operates to select said low beam mode, and not select said high beam mode, responsive to said recognition of said scattering of light in said field of view exterior and forward of the vehicle by said vision system.

18. The vision system of claim 17, wherein a manual override is provided to override said controlling of said headlight via said vehicular lighting switch by said at least one control output.

19. The vision system of claim 15, wherein a manual override is provided to override said controlling of said headlight via said vehicular lighting switch by said at least one control output.

20. The vision system of claim 1, wherein said logic and control circuit determines a contrast factor representing the level of contrast within said field of view exterior and forward of the vehicle.

21. The vision system of claim 1, wherein said at least one vehicular light comprises a pair of headlights and wherein said logic and control circuit determines the background ambient light level about the vehicle and determines at least one of (a) the light intensity of light sources detected in said forward field of view and (b) the spatial location of light sources detected in said forward field of view, and wherein said logic and control circuit controls variation of at least a beam pattern of said headlights as a function of said determinations.

22. The vision system of claim 1, wherein said at least one vehicular light comprises a pair of headlights and wherein said logic and control circuit determines the background ambient light level about the vehicle and wherein said logic and control circuit determines the light intensity of light sources detected in said forward field of view, and wherein said logic and control circuit controls variation of at least a beam pattern of said headlights as a function of said determinations.

23. The vision system of claim 22, wherein said determinations comprises a determination that the background ambient light level is greater than a pre-determined level.

24. The vision system of claim 23, wherein said pre-determined level is characteristic of a daylight condition.

25. The vision system of claim 1, wherein said logic and control circuit undertakes pattern recognition based on image data derived from said imaging sensor.

26. The vision system of claim 1, wherein said array of sensing elements and at least a portion of said logic and control circuit are commonly formed on said semiconductor substrate as a CMOS device.

27. The vision system of claim 1, wherein said array of sensing elements and at least a portion of said logic and control circuit are commonly formed on said semiconductor substrate.

28. The vision system of claim 1, wherein at least a portion of said logic and control circuit comprises at least one selected from the group consisting of (i) an analog-to-digital converter, (ii) a logic circuit, (iii) a clock, (iv) random access memory and (v) a digital-to-analog converter, and wherein said array of sensing elements and said at least a portion of said logic and control circuit are commonly formed on said semiconductor substrate, and wherein at least one of (i) said array of sensing elements and (ii) said at least a portion of said logic and control circuit is formed on said semiconductor substrate as a CMOS device.

29. The vision system of claim 1, wherein said at least one control output comprises a pulse-width-modulated control signal.

30. A vision system for a vehicle, said vision system comprising:

an imaging sensor;

said imaging sensor comprising a two-dimensional array of light sensing photosensor elements formed on a semiconductor substrate;

a logic and control circuit;

said logic and control circuit comprising an image processor for processing image data derived from said imaging sensor, said logic and control circuit generating at least one control output for controlling at least one vehicular light of the vehicle;

said imaging sensor disposed at an interior portion of the vehicle and having a field of view exterior and forward of the vehicle through a windshield of the vehicle;

wherein said logic and control circuit comprises at least one of (i) an analog-to-digital converter, (ii) a logic circuit, (iii) a clock, (iv) random access memory, and (v) a digital-to-analog converter;

wherein said array of sensing elements and at least a portion of said logic and control circuit are commonly formed on said semiconductor substrate;

at least one headlight disposed at a front portion of the vehicle and operable to illuminate with visible light a scene forward of and in the path of travel of the vehicle;

said imaging sensor imaging light external to the vehicle, said light including at least in part light output by said at least one headlight of the vehicle that is scattered by snow present in said field of view exterior and forward of the vehicle;

wherein said vision system recognizes scattering of light output by said at least one headlight of the vehicle in said field of view exterior and forward of the vehicle; and

wherein said vision system, responsive to said recognition of scattering of light caused by snow in said field of view exterior and forward of the vehicle, selects an appropriate vehicular lighting configuration so as to reduce veiling glare.

31. The vision system of claim 30, wherein said array of sensing elements and at least a portion of said logic and control circuit are commonly formed on said semiconductor substrate as an integrated circuit.

32. The vision system of claim 30, wherein said at least one vehicular light of the vehicle comprises a headlight, said headlight operable in a high beam mode and a low beam mode, and wherein said selection of an appropriate vehicular lighting configuration so as to reduce veiling glare comprises changing said headlight from a high beam mode to a low beam mode.

33. The vision system of claim 32, wherein said logic and control circuit determines a contrast factor representing the level of contrast within said field of view exterior and forward of the vehicle.

34. The vision system of claim 30, wherein said array of sensing elements is formed on the semiconductor substrate as a CMOS device.

35. The vision system of claim 30, wherein said array of sensing elements and at least a portion of said logic and control circuit are commonly formed on said semiconductor substrate as a CMOS device, and wherein said portion of said logic and control circuit commonly formed on said semiconductor substrate comprises at least one selected from the group consisting of (i) an analog-to-digital converter, (ii) a logic circuit, (iii) a clock, (iv) random access memory and (v) a digital-to-analog converter.

36. The vision system of claim 30, wherein said at least one control output comprises a pulse-width-modulated control signal.

37. The vision system of claim 30, wherein said at least one vehicular light of the vehicle comprises a headlight and wherein said at least one control output controls said headlight via a vehicular lighting switch, and wherein said vehicular lighting switch operates to switch said headlight to at least one of a high beam mode, a mid beam mode and a low beam mode.

38. The vision system of claim 37, wherein said vehicular lighting switch operates to select at least one of said mid beam mode and said low beam mode, and not select said high beam mode, responsive to said recognition of said scattering of light caused by snow in said field of view exterior and forward of the vehicle by said vision system.

39. The vision system of claim 37, wherein said vehicular lighting switch operates to select said low beam mode, and not select said high beam mode, responsive to said recognition of said scattering of light caused by snow in said field of view exterior and forward of the vehicle by said vision system.

40. The vision system of claim 39, wherein a manual override is provided to override said controlling of said headlight via said vehicular lighting switch by said at least one control output.

41. The vision system of claim 37, wherein a manual override is provided to override said controlling of said headlight via said vehicular lighting switch by said at least one control output.

42. The vision system of claim 30, wherein said at least one vehicular light comprises a pair of headlights and wherein said logic and control circuit determines the background ambient light level about the vehicle and determines at least one of (a) the light intensity of light sources detected in said forward field of view and (b) the spatial location of light sources detected in said forward field of view, and wherein said logic and control circuit controls variation of at least a beam pattern of said headlights as a function of said determinations.

43. The vision system of claim 30, wherein said at least one vehicular light comprises a pair of headlights and wherein said logic and control circuit determines the background ambient light level about the vehicle and wherein said logic and control circuit determines the light intensity of light sources detected in said forward field of view, and wherein said logic and control circuit controls variation of at least a beam pattern of said headlights as a function of said determinations.

44. The vision system of claim 43, wherein said determinations comprises a determination that the background ambient light level is greater than a pre-determined level.

45. The vision system of claim 44, wherein said pre-determined level is characteristic of a daylight condition.

46. A vision system for a vehicle, said vision system comprising:

an imaging sensor;

said imaging sensor comprising a two-dimensional array of light sensing photo sensor elements formed on a semiconductor substrate;

a logic and control circuit;

said logic and control circuit comprising an image processor for processing image data derived from said imaging sensor, said logic and control circuit generating at least one control output for controlling at least one headlight of the vehicle, said headlight operable in a high beam mode and a low beam mode;

said imaging sensor disposed at an interior portion of the vehicle and having a field of view exterior and forward of the vehicle through the windshield of the vehicle at a portion thereof that is swept by the windshield wipers;

wherein said at least one headlight is disposed at a front portion of the vehicle and operable to illuminate with visible light a scene forward of and in the path of travel of the vehicle;

said imaging sensor imaging light external to the vehicle, said light including at least in part light output by said at least one headlight of the vehicle that is scattered by snow present in said field of view exterior and forward of the vehicle;

wherein said vision system recognizes scattering of light output by said at least one headlight of the vehicle in said field of view exterior and forward of the vehicle;

wherein said vision system, responsive to said recognition of scattering of light caused by snow in said field of view exterior and forward of the vehicle, selects an appropriate vehicular lighting configuration so as to reduce veiling glare; and

wherein said selection of an appropriate vehicular lighting configuration so as to reduce veiling glare comprises changing said headlight from a high beam mode to a low beam mode.

47. The vision system of claim 46, wherein said array of sensing elements and at least a portion of said logic and control circuit are commonly formed on said semiconductor substrate as a CMOS device, and wherein said at least one control output comprises a pulse-width-modulated control signa.

48. The vision system of claim 46, wherein said at least one control output controls said headlight via a vehicular lighting switch, and wherein said vehicular lighting switch operates to switch said headlight to at least one of a high beam mode, a mid beam mode and a low beam mode.

49. The vision system of claim 48, wherein said vehicular lighting switch operates to select at least one of said mid beam mode and said low beam mode, and not select said high beam mode, responsive to said recognition of said scattering of light caused by snow in said field of view exterior and forward of the vehicle by said vision system.

50. The vision system of claim 48, wherein said vehicular lighting switch operates to select said low beam mode, and not select said high beam mode, responsive to said recognition of said scattering of light caused by snow in said field of view exterior and forward of the vehicle by said vision system.

51. The vision system of claim 50, wherein a manual override is provided to override said controlling of said headlight via said vehicular lighting switch by said at least one control output.

52. The vision system of claim 48, wherein a manual override is provided to override said controlling of said headlight via said vehicular lighting switch by said at least one control output.

53. The vision system of claim 46, wherein said at least one vehicular light comprises a pair of headlights and wherein said logic and control circuit determines the background ambient light level about the vehicle and determines at least one of (a) the light intensity of light sources detected in said forward field of view and (b) the spatial location of light sources detected in said forward field of view, and wherein said logic and control circuit controls variation of at least a beam pattern of said headlights as a function of said determinations.

54. The vision system of claim 46, wherein said at least one vehicular light comprises a pair of headlights and wherein said logic and control circuit determines the background ambient light level about the vehicle and wherein said logic and control circuit determines the light intensity of light sources detected in said forward field of view, and wherein said logic and control circuit controls variation of at least a beam pattern of said headlights as a function of said determinations.

55. The vision system of claim 54, wherein said determinations comprises a determination that the background ambient light level is greater than a pre-determined level.

56. The vision system of claim 55, wherein said pre-determined level is characteristic of a daylight condition.

57. A vision system for a vehicle, said vision system comprising:

an imaging sensor;

said imaging sensor comprising a two-dimensional array of light sensing photosensor elements formed on a semiconductor substrate;

a logic and control circuit;

said logic and control circuit comprising an image processor for processing image data derived from said imaging sensor, said logic and control circuit generating at least one control output for controlling at least one headlight of the vehicle, said headlight operable in a high beam mode and a low beam mode;

said imaging sensor disposed at an interior portion of the vehicle and having a field of view exterior and forward of the vehicle through the windshield of the vehicle at a portion thereof that is swept by the windshield wipers;

at least one headlight disposed at a front portion of the vehicle and operable to illuminate with visible light a scene forward of and in the path of travel of the vehicle;

said imaging sensor imaging light external to the vehicle, said light including at least in part light output by said at least one headlight of the vehicle that is scattered by fog present in said field of view exterior and forward of the vehicle;

wherein said vision system recognizes scattering of light output by said at least one headlight of the vehicle in said field of view exterior and forward of the vehicle;

wherein said vision system, responsive to said recognition of scattering of light caused by fog in said field of view exterior and forward of the vehicle, selects an appropriate vehicular lighting configuration so as to reduce veiling glare; and

wherein said selection of an appropriate vehicular lighting configuration comprises at least one of (a) changing said headlight from a high beam mode to a low beam mode and (b) actuation of at least one fog light of the vehicle.

58. The vision system of claim 57, wherein said array of sensing elements and at least a portion of said logic and control circuit are commonly formed on said semiconductor substrate as a CMOS device, and wherein said portion of said logic and control circuit commonly formed on said semiconductor substrate comprises at least one selected from the group consisting of (i) an analog-to-digital converter, (ii) a logic circuit, (iii) a clock, (iv) random access memory and (v) a digital-to-analog converter, and wherein said at least one control output comprises a pulse-width-modulated control signal.

59. The vision system of claim 57, wherein said at least one control output controls said headlight via a vehicular lighting switch, and wherein said vehicular lighting switch operates to switch said headlight to at least one of a high beam mode, a mid beam mode and a low beam mode.

60. The vision system of claim 59, wherein said vehicular lighting switch operates to select at least one of said mid beam mode and said low beam mode, and not select said high beam mode, responsive to said recognition of said scattering of light caused by fog in said field of view exterior and forward of the vehicle by said vision system.

61. The vision system of claim 59, wherein said vehicular lighting switch operates to select said low beam mode, and not select said high beam mode, responsive to said recognition of said scattering of light caused by fog in said field of view exterior and forward of the vehicle by said vision system.

62. The vision system of claim 61, wherein a manual override is provided to override said controlling of said headlight via said vehicular lighting switch by said at least one control output.

63. The vision system of claim 59, wherein a manual override is provided to override said controlling of said headlight via said vehicular lighting switch by said at least one control output.

64. The vision system of claim 57, wherein said at least one vehicular light comprises a pair of headlights and wherein said logic and control circuit determines the background ambient light level about the vehicle and determines at least one of (a) the light intensity of light sources detected in said forward field of view and (b) the spatial location of light sources detected in said forward field of view, and wherein said logic and control circuit controls variation of at least a beam pattern of said headlights as a function of said determinations.

65. The vision system of claim 57, wherein said at least one vehicular light comprises a pair of headlights and wherein said logic and control circuit determines the background ambient light level about the vehicle and wherein said logic and control circuit determines the light intensity of light sources detected in said forward field of view, and wherein said logic and control circuit controls variation of at least a beam pattern of said headlights as a function of said determinations.

66. The vision system of claim 65, wherein said determinations comprises a determination that the background ambient light level is greater than a pre-determined level.

67. The vision system of claim 66, wherein said pre-determined level is characteristic of a daylight condition.

68. A vision system for a vehicle, said vision system comprising:

an imaging sensor;

said imaging sensor comprising a two-dimensional array of light sensing photosensor elements formed on a semiconductor substrate;

a logic and control circuit;

said logic and control circuit comprising an image processor for processing image data derived from said imaging sensor, said logic and control circuit generating at least one control output for controlling at least one headlight of the vehicle, said at least one headlight operable in a high beam mode and a lower beam mode;

said imaging sensor disposed at an interior portion of the vehicle and having a field of view exterior and forward of the vehicle through the windshield of the vehicle at a portion thereof that is swept by the windshield wipers;

at least one headlight disposed at a front portion of the vehicle and operable to illuminate with visible light a scene forward of and in the path of travel of the vehicle;

said imaging sensor imaging light external to the vehicle, said light including at least in part light output by said at least one headlight of the vehicle that is scattered by at least one of (a) snow present in said field of view exterior and forward of the vehicle that is illuminated by light output by said at least one headlight of the vehicle when operated and (b) fog present in said field of view exterior and forward of the vehicle that is illuminated by light output by said at least one headlight of the vehicle when operated;

wherein said vision system recognizes scattering of light output by said at least one headlight of the vehicle in said field of view exterior and forward of the vehicle;

wherein said vision system, responsive to said recognition of said scattering of light caused by snow or fog in said field of view exterior and forward of the vehicle, selects an appropriate vehicular lighting configuration so as to reduce veiling glare;

wherein said selection of an appropriate vehicular lighting configuration so as to reduce veiling glare comprises changing said headlight from a high beam mode to a lower beam mode; and

wherein said at least one control output comprises a pulse-width-modulated control signal.

69. The vision system of claim 68, wherein said scattered light is caused by snow present in said field of view exterior and forward of the vehicle, and wherein said at least one control output controls said headlight via a vehicular lighting switch, and wherein said vehicular lighting switch operates to switch said headlight to at least one of a high beam mode, a mid beam mode and a low beam mode.

70. The vision system of claim 69, wherein said vehicular lighting switch operates to select at least one of said mid beam mode and said low beam mode, and not select said high beam mode, responsive to said recognition of said scattering of light caused by snow or fog in said field of view exterior and forward of the vehicle by said vision system.

71. The vision system of claim 69, wherein said vehicular lighting switch operates to select said low beam mode, and not select said high beam mode, responsive to said recognition of said scattering of light caused by snow or fog in said field of view exterior and forward of the vehicle by said vision system.

72. The vision system of claim 71, wherein a manual override is provided to override said controlling of said headlight via said vehicular lighting switch by said at least one control output.

73. The vision system of claim 69, wherein a manual override is provided to override said controlling of said headlight via said vehicular lighting switch by said at least one control output.

74. The vision system of claim 68, wherein said at least one vehicular light comprises a pair of headlights and wherein said logic and control circuit determines the background ambient light level about the vehicle and determines at least one of (a) the light intensity of light sources detected in said forward field of view and (b) the spatial location of light sources detected in said forward field of view, and wherein said logic and control circuit controls variation of at least a beam pattern of said headlights as a function of said determinations.

75. The vision system of claim 68, wherein said at least one vehicular light comprises a pair of headlights and wherein said logic and control circuit determines the background ambient light level about the vehicle and wherein said logic and control circuit determines the light intensity of light sources detected in said forward field of view, and wherein said logic and control circuit controls variation of at least a beam pattern of said headlights as a function of said determinations.

76. The vision system of claim 75, wherein said determinations comprises a determination that the background ambient light level is greater than a pre-determined level.

77. The vision system of claim 76, wherein said pre-determined level is characteristic of a daylight condition.