# Patent

## Title
Driver assist system for vehicle

## Abstract

A vehicular driver assist system suitable for use in a vehicle includes a video processor module receiving and processing image data provided by a plurality of video sensors and sensor data provided by a plurality of non-video sensors. The video processor module communicates with other vehicle systems via a vehicle bus. The received image data may be processed at the video processor module to generate a synthesized image, which may be output from the video processor module for display by a single display screen of a display device that is viewable by a driver of the vehicle. An object external to the vehicle may be detected, at least in part, via processing of image data at the video processor module. Responsive at least in part to processing of image data and sensor data at the video processor module, a driver assistance system of the vehicle is controlled.

## Background
CROSS-REFERENCE TO RELATED APPLICATIONS
This application is a continuation of U.S. patent application Ser. No. 14/942,087, filed Nov. 16, 2015, now U.S. Pat. No. 9,376,060, which is a continuation of U.S. patent application Ser. No. 13/800,677, filed Mar. 13, 2013, now U.S. Pat. No. 9,191,574, which is a continuation of U.S. patent application Ser. No. 12/708,079, filed Feb. 18, 2010, now U.S. Pat. No. 8,405,725, which is a continuation of U.S. patent application Ser. No. 10/209,181, filed Jul. 31, 2002, now U.S. Pat. No. 7,697,027, which claims priority from U.S. provisional patent application Ser. No. 60/309,023, filed on Jul. 31, 2001, the disclosure of which is hereby incorporated herein by reference in its entirety.


FIELD OF THE INVENTION
This invention is directed to a video processor made for a vehicular video system and, more particularly, to a single electronic module which processes images from multiple image capture devices, such as CMOS video cameras, mounted throughout the interior and/or exterior of a vehicle, such as an automobile.
BACKGROUND THE INVENTION
It is known to use multiple video cameras on a vehicle to capture images both interior to the vehicle and exterior to the vehicle. It is also known to process the image outputs of such cameras by a variety of controls in order to display said images to a driver or another occupant of the vehicle, or to utilize the output of a camera in order to generate a control signal for a vehicular accessory, such as a headlamp or windshield wiper. As the number and complexity of camera-based accessories and features grows in a vehicle, there is a need to economically and efficiently process the multiple outputs from a plurality of camera and other sensors in order to perform a plurality of image displays and control functions.
SUMMARY OF THE INVENTION
The present invention is directed to a Video Processor Module (VPM) that is adapted to accept input from several vehicular cameras and optionally from other non-video devices and sensors in or on the vehicle and to process the image outputs therefrom in order to provide a variety of functions and controls. The VPM is preferably further adapted to interface with other vehicle modules via interfaces to the vehicle communication buses, such as via a CAN bus and/or a LIN bus.
A vehicle-based video processor module for a video system of a vehicle, according to an aspect of the invention, includes a video processor circuit, a plurality of electronic sensor interfaces that are operable to receive image output data from a plurality of imaging devices and at least one electronic vehicle interface that is operable to communicate with a vehicle communication bus. The video processor circuit is operable to process the image output data from the plurality of imaging devices into a single database in a standard format.
A vehicle-based video processor module for a video system of a vehicle, according to an aspect of the invention, includes a video processor circuit, a plurality of electronic sensor interfaces that are operable to receive image output data from a plurality of imaging devices and at least one electronic vehicle interface that is operable to communicate with a vehicle communication bus. The video processor circuit is operable to process the image output data from the plurality of imaging devices and to enhance the image output data.
These and other objects, advantages and features of this invention will become apparent upon review of the following specification in conjunction with the drawings.



BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a top plan view of a vehicle outfitted with a vehicular video system, according to the invention; and
FIG. 2 is a block diagram of a video processor module, according to the invention.



DESCRIPTION OF THE PREFERRED EMBODIMENT
Referring now to the drawings and the illustrative embodiments depicted therein, a vehicle 10 is illustrated in FIG. 1 having a vehicular video system 12, according to the invention. Vehicular video system 12 includes video processor module (VPM) 14, which receives input from a plurality of sensors, generally shown at 16. VPM 14 processes the output data from the plurality of devices and enhances the image output data. Sensors 16 may be imaging devices, such as vehicular cameras, as well as non-imaging devices. An example of a mix of sensors 16 that may be used in vehicular video system 12 includes imaging sensors, forward-facing imaging sensors, rearward-facing imaging sensors, left-side-facing imaging sensors, right-side-imaging sensors, inward-facing cabin-imaging sensors, and the like. Non-video sensors may include a near infrared sensor, a far infrared sensor, a radar sensor such as a Doppler radar sensor, a sonar sensor, a thermal sensor, a night vision sensor such as a multi-pixel bolometer and any other sensors which establish the presence, distance to, position and/or speed of an object. A Doppler radar sensor or side-facing camera may be mounted at an exterior mirror assembly. A forward-facing camera may be mounted at an interior mirror assembly of the vehicle that performs a headlamp control and/or windshield wiper control function. A side lane blind spot and/or lane change system may be provided and the VPM may be adapted to accept data from a variety of other non-video sensors to enhance performance in all visibility situations, such as when driving in fog or other low visibility conditions.
Video processor module 14 includes a video processor circuit 18 and a plurality of electronic sensor interfaces 20 for receiving data from a plurality of sensors 16. In the embodiment illustrated in FIG. 2, electronic interfaces 20 are illustrated as receiving image data output respectively from right-hand-facing and left-hand-facing side cameras, a front-facing camera and a rear-facing camera. The image data may be transmitted across a robust transmission means, such as a fiber-optic cable or a high-density wireless link, or the like. However, electronic interfaces 20 are capable of receiving data from non-imaging sensors as well. Electronic interfaces 20 may be utilized, J1394 Firewire protocol, NTSC protocol, or other standard protocol. Video processor module 14 includes at least one electronic vehicle interface 22 which is operative to interface with a vehicle bus, such as a CAN bus, a LIN bus, or the like.
Video processor circuit 18 includes a core 26 to exchange data with electronic sensor interfaces 20, and a core 28 to exchange data with electronic vehicle interfaces 22. A memory device 24 stores various data such as settings. Video processor circuit 18 includes a camera selection and advanced camera control section 30 for controlling the individual sensor devices and for integrating data from the plurality of sensors, such as by fusing or combining image data from multiple imaging sensors and data from non-imaging sensors. This combined or fused data is preprocessed into a single database in a standard format. Video processor circuit 18 further includes an object-tracking section 32 for tracking objects that are identified and classified by an object classification section 34. Video processor circuit 18 further includes a display section 36 which generates on-screen display signals and a diagnostic section 35 for performing diagnostics.
Having described the components of vehicular video system 12 and their operation, examples of various functions that can be supported with this vehicular video system will be set forth. One set of functions includes features for viewing of a displayed image. Video processor module 14 may be capable of merging of images from a plurality of imaging sensors 16 to provide a panoramic view, which exceeds the field of view of a single camera or allows the image to “wrap” around the vehicle. Video processor module 14 may be further capable of electronic elimination of distortions created by wide-angle lenses used with sensors 16. Video processor module 14 may be capable of superimposing graphics onto a displayed image to provide additional information to the observer.
Another set of functions includes features for sensing using an electronic image. Video processor module 14 may be programmed to be capable of detection with object position, speed and classification to support one or more of the following features:

    
    
        Blind spot detection
        Lane change aid
        Adaptive speed control
        Reverse aid warning
        Advanced crash warning

Video processor module 14 may be programmed to be capable of detecting the location of a lane on a road in conjunction with an imaging sensor 16. This capability can support a lane departure-warning feature or autonomous vehicle control. Video processor module 14 may use imaging sensors to establish ambient lighting and detect other vehicles for automatic control of the headlamps (on/off) and high/low beams. Video processor module 14 may have the capability to use imaging sensors to establish ambient lighting and vehicle headlamps for automatic control of electrochromic mirrors. Video processor module 14 may have the capability to detect the presence, position and size of occupants inside the vehicle. Video processor module 14 may have the capability to stabilize an image for viewing or use in sensing algorithms. It should be understood that the listed features and functions are illustrative only. Which of the particular ones that are used for a particular vehicular application may differ from those used for other vehicular applications. Additionally, other features and functions may be identified for video processor module 14 by the skilled artisan.

    
    


VPM 14 can be utilized in a variety of applications such as disclosed in commonly assigned U.S. Pat. Nos. 5,670,935; 5,949,331; 6,222,447; 6,201,642; 6,097,023; 5,715,093; 5,796,094 and 5,877,897 and commonly assigned patent application Ser. No. 09/793,002 filed Feb. 26, 2001, now U.S. Pat. No. 6,690,268, Ser. No. 09/372,915, filed Aug. 12, 1999, now U.S. Pat. No. 6,396,397, Ser. No. 09/767,939, filed Jan. 23, 2001, now U.S. Pat. No. 6,590,719, Ser. No. 09/776,625, filed Feb. 5, 2001, now U.S. Pat. No. 6,611,202, Ser. No. 09/799,993, filed Mar. 6, 2001, now U.S. Pat. No. 6,538,827, Ser. No. 09/493,522, filed Jan. 28, 2000, now U.S. Pat. No. 6,426,492, Ser. No. 09/199,907, filed Nov. 25, 1998, now U.S. Pat. No. 6,717,610, Ser. No. 08/952,026, filed Nov. 19, 1997, now U.S. Pat. No. 6,498,620, and Ser. No. 09/227,344, filed Jan. 8, 1999, now U.S. Pat. No. 6,302,545, International Publication No. WO 96/38319, published Dec. 5, 1996, and International Publication No. WO 99/23828, published May 14, 1999, the disclosures of which are collectively incorporated herein by reference.
For example, VPM 14 can be utilized in a vehicle equipped with a side object detection system utilizing stereoscopic imaging from cameras located in the driver-side exterior mirror assembly and/or in the passenger-side exterior mirror assembly, such as is described in commonly assigned patent application Ser. No. 09/372,915, filed Aug. 12, 1999, now U.S. Pat. No. 6,396,397, the disclosure of which is hereby incorporated herein by reference, and further equipped with a CMOS camera-based headlamp controller as disclosed in commonly assigned U.S. Pat. Nos. 5,796,094 and 6,097,023, the disclosures of which are hereby incorporated herein by reference, and with the various image outputs being processed by the VPM. In this regard, should the vehicle be equipped with high intensity discharge (HID)/gas discharge headlamps (as known in the automotive lighting art), then the VPM can receive the output signal from a forward-facing CMOS camera (preferably mounted at or in the interior rearview mirror assembly and viewing oncoming headlights of approaching vehicles through the front windshield of the vehicle) and the VPM can control the intensity and/or direction of the light beam output from the HID headlamps as a function of the light level of the oncoming approaching headlamps as detected by the interior rearview mirror located forward-facing multipixel CMOS camera-on-a-chip light detector. Preferably, the intensity of the light beam output by the vehicle's HID lamps is inversely proportional to the intensity of the detected oncoming headlamps and, most preferably, the intensity of the HID headlamps is continuously variable inversely proportional to the intensity of the oncoming headlight intensity of approaching vehicles as detected by the forward-facing CMOS camera.
Further, and preferably, the vehicle may be equipped with a mobile cellular phone that is docked into a cell phone cradle system (such as in the CellPort 3000 system available from Cellport Systems Inc. of Boulder, Colo.) to allow a driver to conduct a hands-free telephone call when driving, and to provide the driver the option of undocking the cellular phone as desired in order to use the cellular phone, for example, when the driver departs the vehicle. The cell phone cradle system can include a sound-processing system (preferably including a microphone or microphone array, and such as is disclosed in commonly assigned patent application Ser. No. 09/466,010, filed Dec. 17, 1999, now U.S. Pat. No. 6,420,975, the disclosure of which is hereby incorporated herein by reference, and other accessories, and with the cell cradle providing outputs at least partially processed by the VPM.
The vehicle may also be equipped with a navigational system, such as a global positioning system, and with controls and/or functions of said navigational system being at least partially processed by VPM 14. For a vehicle equipped with a GPS system and with a cell phone cradle (such as the CellPort 3000 system), a control input can be provided in the interior of the vehicle (such as at or on the interior mirror assembly) and/or a voice command control system can be provided whereby when the control input and/or voice command is actuated, a call is initiated to an external service (such as an emergency service of a concierge service or an information service) located remote from the vehicle and wherein the location of the vehicle (as generated by the vehicular navigational system) is automatically transmitted to the external service so that the external service can know the location of the vehicle and so provide assistance, advice and/or directions, and the like, to the driver of that vehicle. Such communication of geographic positional data can be transmitted by telecommunication via a phone network (such as Sprint or MCI or ATT, or the like) in a voice-over-data format allowing the driver to have a conversation with the service provider (and/or with another party) concurrent with the transmission of the vehicle location information to the service provider via telephonic linkage via the docked cell phone (or, optionally, via a BLUETOOTH or similar short-range RF wireless link between a cellular phone in, for example, the pocket of a driver and a cell phone linking/telecommunication/telematic station located, for example, at an interior rearview mirror assembly of the vehicle or in a dashboard or console area of the vehicle) to the external service provider. Preferably, at least some of such processing is handled by VPM 14 and, in particular, when videoconferencing is used.
The present invention can be used in a lane change aid system such as disclosed in a commonly assigned provisional patent application Ser. No. 60/309,022 filed Jul. 31, 2001, and a utility patent application filed concurrently herewith by Schofield for an AUTOMOTIVE LANE CHANGE AID, now U.S. Pat. No. 6,882,287, the disclosures of which are hereby incorporated herein by reference.
Also, a night vision system camera (such as an infrared detecting microbolometer night vision camera or a CMOS/near-IR detecting camera used in conjunction with a near-IR laser source for illumination forward of the vehicle) and an intelligent headlamp controller (such as a forward-facing CMOS video camera that automatically detects approaching vehicles and that dims the headlights of the host vehicle in response) can have their outputs combined/fused in accordance with the present invention to identify objects hazardous to the driver, such as a deer crossing the road ahead of the vehicle as the vehicle travels down a dark road at night. The control can, in response, automatically activate one or both existing headlamps, for example, to flash them or to move from a low-beam state to a high-beam state or to activate an additional headlamp or fog lamp or to adjust headlamps to high beam so that the object may be illuminated for the driver. Current night vision systems may either provide too much information for the driver to usefully assimilate or may distract him/her from attention to the road. The above combination achieved via the fusion system of the present invention allows use of the night vision system/intelligent headlamp controller to automatically provide extra forward illumination at the time required for the driver to take action to avoid a problem, which is the real intent behind the night vision system in the first place. The fusion of these inputs into a single processor achieves optimized nighttime driving safety. Note that a single forward-facing camera can perform both the night vision and intelligent headlamp control functions.
VPM 14 may receive both wired inputs and wireless inputs. For example, a restricted-range RF wireless communication device such as a BLUETOOTH device (housed, for example within an inside mirror or housed elsewhere in the interior cabin such as in an overhead console or a facia/instrumentation panel) can be used as a convenient channel location for the programming or reprogramming of various types of radio-frequency (RF) devices in a vehicle and/or to facilitate the use of RF as a means to program or reprogram non-RF devices to provide drivers with a more complete personalization of a vehicle (e.g., trainable garage door open, memory seat/mirror position, outside mirror position, etc.). This can be used in, for example, rental cars where an RF signal can be provided (such as via an RF transmitter located in the interior mirror assembly or in a windshield electronic accessory module) from a personal display assistant device (PDA) such as a PalmPilot® PDA and thus provide a driver with immediate personalization to include temperature/climate control, radio setting, exterior mirror reflector position and other preferences.
In accordance with U.S. Pat. Nos. 5,949,331 and 6,222,447, incorporated by reference above, a display system of the equipped vehicle displays a synthesized image that visually informs the driver of what is occurring in the area surrounding the equipped vehicle. The displayed image is synthesized from the camera outputs and, preferably, approximates a substantially seamless panoramic view as would be viewed by a single virtual camera located exterior the equipped vehicle.
Changes and modifications in the specifically described embodiments can be carried out without departing from the principles of the invention, which is intended to be limited only by the scope of the appended claims, as interpreted according to the principles of patent law including the doctrine of equivalents.

## Claims

1. A vehicular driver assist system suitable for use in a vehicle, said vehicular driver assist system comprising:
a video processor module disposed at a vehicle equipped with said vehicular driver assist system;
said video processor module receiving and processing image data provided by a plurality of video sensors disposed at the equipped vehicle;
said video processor module receiving and processing sensor data provided by a plurality of non-video sensors disposed at the equipped vehicle;
said plurality of video sensors comprising at least five vehicular cameras;
said at least five vehicular cameras comprising a first vehicular camera disposed at a driver side of the equipped vehicle;
said at least five vehicular cameras comprising a second vehicular camera disposed at a passenger side of the equipped vehicle;
said at least five vehicular cameras comprising a third vehicular camera disposed at a rear portion of the equipped vehicle;
said at least five vehicular cameras comprising a fourth vehicular camera disposed at a front portion of the equipped vehicle;
said at least five vehicular cameras comprising a fifth vehicular camera disposed at, and viewing forwardly through, an in-cabin side of a windshield of the equipped vehicle;
wherein said first vehicular camera has a first field of view exterior of the equipped vehicle and is operable to capture first image data;
wherein said second vehicular camera has a second field of view exterior of the equipped vehicle and is operable to capture second image data;
wherein said third vehicular camera has a third field of view exterior of the equipped vehicle and is operable to capture third image data;
wherein said fourth vehicular camera has a fourth field of view exterior of the equipped vehicle and is operable to capture fourth image data;
wherein said fifth vehicular camera has a fifth field of view exterior of the equipped vehicle and is operable to capture fifth image data;
wherein said first vehicular camera comprises a CMOS imaging sensor and wherein said second vehicular camera comprises a CMOS imaging sensor and wherein said third vehicular camera comprises a CMOS imaging sensor and wherein said fourth vehicular camera comprises a CMOS imaging sensor and wherein said fifth vehicular camera comprises a CMOS imaging sensor;
said plurality of non-video sensors comprising at least one non-video sensor selected from the group consisting of a radar sensor, a near-infrared sensor, a far-infrared sensor, a thermal sensor and a sonar sensor;
wherein said video processor module receives first image data captured by said first vehicular camera;
wherein said video processor module receives second image data captured by said second vehicular camera;
wherein said video processor module receives third image data captured by said third vehicular camera;
wherein said video processor module receives fourth image data captured by said fourth vehicular camera;
wherein said video processor module receives fifth image data captured by said fifth vehicular camera;
wherein said video processor module receives sensor data captured by said plurality of non-video sensors;
wherein said video processor module communicates with other vehicle systems via a vehicle bus of the equipped vehicle;
wherein received image data is processed at said video processor module to generate a synthesized image;
wherein said synthesized image is output from said video processor module for display by a single display screen of a display device of the equipped vehicle that is viewable by a driver of the equipped vehicle when normally operating the equipped vehicle;
wherein said synthesized image displayed by said display screen approximates a view as would be viewed from a single virtual camera located exterior the equipped vehicle; and
wherein, responsive at least in part to processing of image data and sensor data at said video processor module, a driver assistance system of the equipped vehicle is controlled.

2. The driver assist system of claim 1, wherein said video processor module receives first image data captured by said first vehicular camera at a first interface, and wherein said video processor module receives second image data captured by said second vehicular camera at a second interface, and wherein said video processor module receives third image data captured by said third vehicular camera at a third interface, and wherein said video processor module receives fourth image data captured by said fourth vehicular camera at a fourth, and wherein said video processor module receives fifth image data captured by said fifth vehicular camera at a fifth interface.

3. The driver assist system of claim 2, wherein said video processor module comprises at least one non-video sensor interface configured for communication with said at least one non-video sensor of said plurality of non-video sensors.

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

5. The driver assist system of claim 4, wherein said first vehicular camera is disposed at a driver-side exterior mirror assembly at the driver side of the equipped vehicle and wherein said second vehicular camera is disposed at a passenger-side exterior mirror assembly at the passenger side of the equipped vehicle.

6. The driver assist system of claim 1, wherein objects external to the equipped vehicle are tracked based at least in part on processing of captured image data and sensed sensor data at said video processor module.

7. The driver assist system of claim 1, wherein an object external to the equipped vehicle is detected, at least in part, via processing of image data at said video processor module.

8. The driver assist system of claim 7, wherein position of the object external the equipped vehicle is detected, at least in part, via processing of image data at said video processor module.

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

10. The driver assist system of claim 1, wherein said video processor module communicates with other vehicle systems via a CAN vehicle bus of the equipped vehicle.

11. The driver assist system of claim 1, wherein said video processor module comprises a video processor chip.

12. The driver assist system of claim 11, wherein image data captured by said fifth vehicular camera is processed at said video processor module for an automatic headlamp controller of the equipped vehicle.

13. The driver assist system of claim 11, wherein image data captured by said fifth vehicular camera is processed at said video processor module for a lane departure warning system of the equipped vehicle.

14. The driver assist system of claim 1, wherein said plurality of non-video sensors comprises a plurality of radar sensors disposed at the equipped vehicle and wherein said radar sensors are operable to sense radar data.

15. The driver assist system of claim 14, wherein said video processor module receives radar data sensed by said plurality of radar sensors and wherein received image data is processed with received radar data at said video processor module and wherein, responsive at least in part to processing of image data and radar data at said video processor module, said driver assistance system of the equipped vehicle is controlled.

16. The driver assist system of claim 15, wherein objects external to the equipped vehicle are tracked based at least in part on processing of captured image data and sensed radar data at said video processor module.

17. The driver assist system of claim 1, wherein said at least one non-video sensor of said plurality of non-video sensors comprises a radar sensor, and wherein an object external to the equipped vehicle is detected, at least in part, via processing of image data at said video processor module.

18. The driver assist system of claim 17, wherein said video processor module comprises a non-video sensor interface configured for communication with the radar sensor.

19. The driver assist system of claim 17, wherein said video processor module communicates with other vehicle systems via a CAN vehicle bus of the equipped vehicle.

20. The driver assist system of claim 19, wherein said synthesized image displayed by said display screen approximates a panoramic view as would be viewed from a single virtual camera located exterior the equipped vehicle.

21. The driver assist system of claim 20, wherein said third vehicular camera disposed at the rear portion of the equipped vehicle is located at or proximate to a longitudinal centerline of the equipped vehicle, and wherein said fourth vehicular camera disposed at the front portion of the equipped vehicle is located at or proximate to the longitudinal centerline of the equipped vehicle.

22. The driver assist system of claim 1, wherein said plurality of video sensors comprises at least eight vehicular cameras.

23. The driver assist system of claim 1, wherein data processing at said video processor module comprises object tracking of objects that are identified and classified by an object classifier.

24. The driver assist system of claim 1, wherein data processing at said video processor module comprises generation of on-screen display signals for generating on-screen displays at said display screen.

25. The driver assist system of claim 1, wherein data processing at said video processor module comprises performance of diagnostics.

26. The driver assist system of claim 1, wherein said driver assistance system of the equipped vehicle comprises an adaptive speed control system of the equipped vehicle.

27. The driver assist system of claim 1, wherein said driver assistance system of the equipped vehicle comprises a crash warning system of the equipped vehicle.

28. The driver assist system of claim 1, wherein said driver assistance system of the equipped vehicle comprises a blind spot detection system of the equipped vehicle.

29. The driver assist system of claim 1, wherein said driver assistance system of the equipped vehicle comprises a lane change aid system of the equipped vehicle.

30. The driver assist system of claim 1, wherein said driver assistance system of the equipped vehicle comprises a reverse aid warning system of the equipped vehicle.

31. The driver assist system of claim 1, wherein said driver assistance system of the equipped vehicle comprises a side object detection system of the equipped vehicle.

32. The driver assist system of claim 1, wherein said video processor module comprises a plurality of video sensor electronic interfaces for receiving image data output respectively from individual ones of said plurality of video sensors.

33. The driver assist system of claim 32, wherein image data is received at at least some of said plurality of video sensor electronic interfaces in accordance with a standard data protocol.

34. The driver assist system of claim 33, wherein said standard data protocol comprises a J1394 Firewire protocol.

35. The driver assist system of claim 32, wherein said video processor module comprises a video processor chip, a power supply and memory.

36. A vehicular driver assist system suitable for use in a vehicle, said vehicular driver assist system comprising:
a video processor module disposed at a vehicle equipped with said vehicular driver assist system;
said video processor module receiving and processing image data provided by a plurality of video sensors disposed at the equipped vehicle;
said video processor module receiving and processing sensor data provided by a plurality of radar sensors disposed at the equipped vehicle;
said plurality of video sensors comprising at least five vehicular cameras;
said at least five vehicular cameras comprising a first vehicular camera disposed at a driver side of the equipped vehicle;
said at least five vehicular cameras comprising a second vehicular camera disposed at a passenger side of the equipped vehicle;
said at least five vehicular cameras comprising a third vehicular camera disposed at a rear portion of the equipped vehicle;
said at least five vehicular cameras comprising a fourth vehicular camera disposed at a front portion of the equipped vehicle;
said at least five vehicular cameras comprising a fifth vehicular camera disposed at, and viewing forwardly through, an in-cabin side of a windshield of the equipped vehicle;
wherein said first vehicular camera has a first field of view exterior of the equipped vehicle and is operable to capture first image data;
wherein said second vehicular camera has a second field of view exterior of the equipped vehicle and is operable to capture second image data;
wherein said third vehicular camera has a third field of view exterior of the equipped vehicle and is operable to capture third image data;
wherein said fourth vehicular camera has a fourth field of view exterior of the equipped vehicle and is operable to capture fourth image data;
wherein said fifth vehicular camera has a fifth field of view exterior of the equipped vehicle and is operable to capture fifth image data;
wherein said third vehicular camera disposed at the rear portion of the equipped vehicle is located at or proximate to a longitudinal centerline of the equipped vehicle;
wherein said fourth vehicular camera disposed at the front portion of the equipped vehicle is located at or proximate to the longitudinal centerline of the equipped vehicle;
wherein said first vehicular camera comprises a CMOS imaging sensor and wherein said second vehicular camera comprises a CMOS imaging sensor and wherein said third vehicular camera comprises a CMOS imaging sensor and wherein said fourth vehicular camera comprises a CMOS imaging sensor and wherein said fifth vehicular camera comprises a CMOS imaging sensor;
wherein said video processor module receives first image data captured by said first vehicular camera;
wherein said video processor module receives second image data captured by said second vehicular camera;
wherein said video processor module receives third image data captured by said third vehicular camera;
wherein said video processor module receives fourth image data captured by said fourth vehicular camera;
wherein said video processor module receives fifth image data captured by said fifth vehicular camera;
wherein said video processor module receives sensor data captured by said radar sensors;
wherein an object external to the equipped vehicle is detected, at least in part, via processing of image data at said video processor module;
wherein the detected object external to the equipped vehicle is tracked based at least in part on processing of captured image data and sensed sensor data at said video processor module; and
wherein, responsive at least in part to processing of image data and sensor data at said video processor module, a driver assistance system of the equipped vehicle is controlled.

37. The driver assist system of claim 36, wherein image data captured by said fifth vehicular camera is processed at said video processor module for at least one of (i) an automatic headlamp controller of the equipped vehicle and (ii) a lane departure warning system of the equipped vehicle.

38. The driver assist system of claim 36, wherein data processing at said video processor module comprises object tracking of objects that are identified and classified by an object classifier.

39. The driver assist system of claim 36, wherein data processing at said video processor module comprises performance of diagnostics.

40. The driver assist system of claim 36, wherein said driver assistance system of the equipped vehicle comprises at least one of (i) an adaptive speed control system of the equipped vehicle, (ii) a crash warning system of the equipped vehicle, (iii) a blind spot detection system of the equipped vehicle, (iv) a lane change aid system of the equipped vehicle, (v) a reverse aid warning system of the equipped vehicle and (vi) a side object detection system of the equipped vehicle.

41. The driver assist system of claim 40, wherein said video processor module communicates with other vehicle systems via a vehicle bus of the equipped vehicle and wherein said video processor module comprises a power supply and memory.

42. The driver assist system of claim 41, wherein received image data is processed at said video processor module to generate a synthesized image, and wherein said synthesized image is output from said video processor module for display by a single display screen of a display device of the equipped vehicle that is viewable by a driver of the equipped vehicle when normally operating the equipped vehicle, and wherein said synthesized image displayed by said display screen approximates a panoramic view as would be viewed from a single virtual camera located exterior the equipped vehicle.

43. A vehicular driver assist system suitable for use in a vehicle, said vehicular driver assist system comprising:
a video processor module disposed at a vehicle equipped with said vehicular driver assist system;
said video processor module receiving and processing image data provided by a plurality of video sensors disposed at the equipped vehicle;
said video processor module receiving and processing sensor data provided by a plurality of radar sensors disposed at the equipped vehicle;
said plurality of video sensors comprising at least five vehicular cameras;
said at least five vehicular cameras comprising a first vehicular camera disposed at a driver side of the equipped vehicle;
said at least five vehicular cameras comprising a second vehicular camera disposed at a passenger side of the equipped vehicle;
said at least five vehicular cameras comprising a third vehicular camera disposed at a rear portion of the equipped vehicle;
said at least five vehicular cameras comprising a fourth vehicular camera disposed at a front portion of the equipped vehicle;
said at least five vehicular cameras comprising a fifth vehicular camera disposed at, and viewing forwardly through, an in-cabin side of a windshield of the equipped vehicle;
wherein said first vehicular camera has a first field of view exterior of the equipped vehicle and is operable to capture first image data;
wherein said second vehicular camera has a second field of view exterior of the equipped vehicle and is operable to capture second image data;
wherein said third vehicular camera has a third field of view exterior of the equipped vehicle and is operable to capture third image data;
wherein said fourth vehicular camera has a fourth field of view exterior of the equipped vehicle and is operable to capture fourth image data;
wherein said fifth vehicular camera has a fifth field of view exterior of the equipped vehicle and is operable to capture fifth image data;
wherein said third vehicular camera disposed at the rear portion of the equipped vehicle is located at or proximate to a longitudinal centerline of the equipped vehicle;
wherein said fourth vehicular camera disposed at the front portion of the equipped vehicle is located at or proximate to the longitudinal centerline of the equipped vehicle;
wherein said video processor module receives first image data captured by said first vehicular camera;
wherein said video processor module receives second image data captured by said second vehicular camera;
wherein said video processor module receives third image data captured by said third vehicular camera;
wherein said video processor module receives fourth image data captured by said fourth vehicular camera;
wherein said video processor module receives fifth image data captured by said fifth vehicular camera;
wherein said video processor module receives sensor data captured by said radar sensors;
wherein an object external to the equipped vehicle is detected, at least in part, via processing of image data at said video processor module;
wherein the detected objects external to the equipped vehicle is tracked based at least in part on processing of captured image data and sensed sensor data at said video processor module;
wherein image data captured by said fifth vehicular camera is processed at said video processor module for at least one of (i) an automatic headlamp controller of the equipped vehicle and (ii) a lane departure warning system of the equipped vehicle;
wherein, responsive at least in part to processing of image data and sensor data at said video processor module, a driver assistance system of the equipped vehicle is controlled; and
wherein said driver assistance system of the equipped vehicle comprises at least one of (i) an adaptive speed control system of the equipped vehicle, (ii) a crash warning system of the equipped vehicle, (iii) a blind spot detection system of the equipped vehicle, (iv) a lane change aid system of the equipped vehicle, (v) a reverse aid warning system of the equipped vehicle and (vi) a side object detection system of the equipped vehicle.

44. The driver assist system of claim 43, wherein said video processor module communicates with other vehicle systems via a vehicle bus of the equipped vehicle and wherein said video processor module comprises a power supply and memory.

45. The driver assist system of claim 43, wherein said first vehicular camera comprises a CMOS imaging sensor and wherein said second vehicular camera comprises a CMOS imaging sensor and wherein said third vehicular camera comprises a CMOS imaging sensor and wherein said fourth vehicular camera comprises a CMOS imaging sensor and wherein said fifth vehicular camera comprises a CMOS imaging sensor.

46. The driver assist system of claim 45, wherein received image data is processed at said video processor module to generate a synthesized image, and wherein said synthesized image is output from said video processor module for display by a single display screen of a display device of the equipped vehicle that is viewable by a driver of the equipped vehicle when normally operating the equipped vehicle, and wherein said synthesized image displayed by said display screen approximates a panoramic view as would be viewed from a single virtual camera located exterior the equipped vehicle.