# US 10,118,618 B2 · Vehicular control system using cameras and radar sensor > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,118,618 B2 - Document ID: US10118618B2 - Status: Granted - Kind: B2 - Application number: 15/830,114 - Filed: 2017-12-04 - Published: 2018-04-19 - Granted: 2018-11-06 - Earliest claimed: 2002-05-03 - Assignees: Magna Electronics Inc. - Applicants: Magna Electronics Inc. - Inventors: John A. Pawlicki; Martha A. McMahon; Steven G. Chinn; Joel S. Gibson - Web page: https://patentgrep.com/patent/US10118618B2 ## CPC - B60K 31/0008: {including means for detecting potential obstacles in vehicle path} - B60Q 1/525: {automatically indicating risk of collision between vehicles in traffic or with pedestrians, e.g. after risk assessment using the vehicle sensor data} - B60Q 9/008: {for anti-collision purposes} - B60R 11/04: Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle - 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} - B60W 10/04: including control of propulsion units - B60W 10/20: including control of steering systems - B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering - B60W 30/12: Lane keeping - B60W 30/143: {Speed control (B60W30/16 takes precedence)} - B60W 30/16: Control of distance between vehicles, e.g. keeping a distance to preceding vehicle - B60W 30/18: Propelling the vehicle - B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention - B62D 15/025: {Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence)} - G01S 11/12: using electromagnetic waves other than radio waves - G01S 13/867: {Combination of radar systems with cameras} - G01S 13/931: of land vehicles - G06T 7/13: Edge detection - G06T 7/174: involving the use of two or more images - G06T 7/60: Analysis of geometric attributes - G06T 7/73: using feature-based methods - G06V 20/56: exterior to a vehicle by using sensors mounted on the vehicle - 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 - G06V 20/582: {of traffic signs} - G06V 20/584: {of vehicle lights or traffic lights} - G06V 20/588: {Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road} - 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) - G08G 1/167: {Driving aids for lane monitoring, lane changing, e.g. blind spot detection} - H04N 23/90: Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums - B60K 31/00: Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator - B60R 2011/004: {outside the vehicle} - B60T 2201/08: Lane monitoring; Lane Keeping Systems - B60T 2201/082: using alarm actuation - B60T 2201/089: using optical detection - B60T 2210/34: Blind spots - B60W 2050/143: {Alarm means} - B60W 2420/403: Image sensing, e.g. optical camera - B60W 2420/408: Radar; Laser, e.g. lidar - B60W 2554/4041: Position - B60W 2554/80: Spatial relation or speed relative to objects - B60W 2554/801: Lateral distance - B60W 2554/802: Longitudinal distance - B60W 2555/20: Ambient conditions, e.g. wind or rain - B60W 2556/50: of positioning data, e.g. GPS [Global Positioning System] data - B60W 2710/20: Steering systems - B60W 2720/10: Longitudinal speed - G06T 2207/30244: Camera pose - G06T 2207/30256: Lane; Road marking - G06T 2207/30261: Obstacle - G06V 2201/10: Recognition assisted with metadata - B60K: ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES - B60Q: ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL - B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR - B60T: VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL (electrodynamic brake systems for vehicle, in general B60L; brakes per se, i.e. devices where braking effect occurs, including ultimate brake actuators, F16D); ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION ## Abstract A control system for a vehicle includes a plurality of cameras, at least one radar sensor, and a control having at least one processor. Captured image data and sensed radar data are provided to the control. The control processes captured image data to detect objects present exteriorly of the vehicle and is operable to determine whether a detected edge constitutes a portion of a vehicle. The control processes sensed radar data to detect objects present exteriorly of the vehicle. The control, based at least in part on processing of (i) captured image data and/or (ii) sensed radar data, detects another vehicle and determines distance from the equipped vehicle to the detected other vehicle. The control, based at least in part on determination of distance from the equipped vehicle to the detected other vehicle, may control a steering system operable to adjust a steering direction of the equipped vehicle. ## Claims ### Claim 1 A vehicular control system, said vehicular control system comprising: a plurality of cameras disposed at a vehicle equipped with said vehicular control system; said plurality of cameras at least comprising (i) a forward-viewing camera mounted at a front portion of the equipped vehicle and having a field of view at least forward of the equipped vehicle, said forward-viewing camera operable to capture image data, (ii) a driver side-viewing camera mounted at a driver-side portion of the equipped vehicle and having a field of view at least sideward and rearward of the equipped vehicle at the driver side of the equipped vehicle, said driver side-viewing camera operable to capture image data and (iii) a passenger side-viewing camera mounted at a passenger-side portion of the equipped vehicle and having a field of view at least sideward and rearward of the equipped vehicle at the passenger side of the equipped vehicle, said passenger side-viewing camera operable to capture image data; at least one radar sensor having a field of sensing exterior of the equipped vehicle and operable to sense radar data; a control comprising at least one processor; wherein image data captured by at least said forward-viewing camera, said driver side-viewing camera and said passenger side-viewing camera is provided to said control; wherein radar data sensed by said at least one radar sensor is provided to said control; wherein said control, based at least in part on processing of captured image data, determines curvature of a road being traveled by the equipped vehicle; wherein said control processes captured image data provided thereto via an edge detection algorithm to detect objects present exteriorly of the equipped vehicle and within the exterior field of view of at least one of said forward-viewing camera, said driver side-viewing camera and said passenger side-viewing camera; wherein said control is operable to determine whether a detected edge constitutes a portion of a vehicle; wherein said control processes sensed radar data provided thereto to detect objects present exteriorly of the equipped vehicle and within the exterior field of sensing of said at least one radar sensor; wherein said control receives data relevant to a geographic location of the equipped vehicle, and wherein the geographic location of the equipped vehicle is determined, at least in part, by a global positioning system (GPS); wherein said control, based at least in part on processing of at least one of (i) captured image data and (ii) sensed radar data, detects another vehicle that is present exterior of the equipped vehicle and determines distance from the equipped vehicle to the detected other vehicle that is present exterior of the equipped vehicle; and wherein said control, based at least in part on determination of distance from the equipped vehicle to the detected other vehicle, controls a steering system operable to adjust a steering direction of the equipped vehicle. ### Claim 2 (depends on 1) The vehicular control system of claim 1, wherein said vehicular control system is operable to wirelessly communicate information to a remote receiving device that is remote from the equipped vehicle, and wherein information wirelessly communicated to said remote receiving device relates to data received at said control relevant to the geographic location of the equipped vehicle. ### Claim 3 (depends on 1) The vehicular control system of claim 1, wherein said vehicular control system is operable to wirelessly communicate information to a remote receiving device that is remote from the equipped vehicle, and wherein information wirelessly communicated to said remote receiving device relates to data received at said control relevant to a condition of the equipped vehicle. ### Claim 4 (depends on 1) The vehicular control system of claim 1, wherein said vehicular control system is operable to wirelessly communicate information to a remote receiving device that is remote from the equipped vehicle, and wherein information is wirelessly communicated to said remote receiving device in response to an input from a transmitter associated with said remote receiving device. ### Claim 5 (depends on 4) The vehicular control system of claim 4, wherein information is wirelessly communicated to said remote receiving device via a limited-range wireless communication. ### Claim 6 (depends on 5) The vehicular control system of claim 5, wherein said limited-range wireless communication comprises a Bluetooth limited-range wireless communication. ### Claim 7 (depends on 1) The vehicular control system of claim 1, wherein said vehicular control system is operable to wirelessly communicate information to a remote receiving device that is remote from the equipped vehicle, and wherein information wirelessly communicated to said remote receiving device comprises information derived, at least in part, from image data captured by at least one of said forward-viewing camera, said driver side-viewing camera and said passenger side-viewing camera. ### Claim 8 (depends on 7) The vehicular control system of claim 7, wherein information wirelessly communicated to said remote receiving device comprises data relevant to the geographic location of the equipped vehicle. ### Claim 9 (depends on 1) The vehicular control system of claim 1, wherein said control, responsive to determination, based at least in part on processing of captured image data at said control, that the equipped vehicle is unintentionally drifting out of a traffic lane that the equipped vehicle is currently travelling in, controls the steering system of the equipped vehicle to adjust steering of the equipped vehicle to mitigate such drift out of the traffic lane the equipped vehicle is travelling in. ### Claim 10 (depends on 9) The vehicular control system of claim 9, wherein said control processes image data captured by at least said forward-viewing camera to estimate distance from the equipped vehicle to a detected leading vehicle that is present exteriorly of the equipped vehicle and within the exterior field of view of said forward-viewing camera, and wherein, when the detected leading vehicle is determined by said control to be within a threshold distance from the equipped vehicle, speed of the equipped vehicle is reduced. ### Claim 11 (depends on 10) The vehicular control system of claim 10, wherein said forward-viewing camera is primary to said at least one radar sensor. ### Claim 12 (depends on 10) The vehicular control system of claim 10, wherein the steering system is manually controllable irrespective of said control. ### Claim 13 (depends on 1) The vehicular control system of claim 1, wherein, responsive at least in part to processing of captured image data at said control detecting a road condition on the road being traveled by the equipped vehicle, speed of the equipped vehicle is adjusted in accordance with the detected road condition. ### Claim 14 (depends on 1) The vehicular control system of claim 1, wherein, responsive at least in part to processing of captured image data at said control, speed of the equipped vehicle is adjusted in accordance with a traffic condition detected by said vehicular control system. ### Claim 15 (depends on 1) The vehicular control system of claim 1, wherein said forward-viewing camera is attached at a windshield of the equipped vehicle, and wherein said forward-viewing camera, when attached at the windshield, views through the windshield exteriorly of the equipped vehicle. ### Claim 16 (depends on 15) The vehicular control system of claim 15, wherein image data captured by at least said forward-viewing camera is processed at said control one way for a headlamp control system of the equipped vehicle and is processed at said control another way for a lane keeping system of the equipped vehicle. ### Claim 17 (depends on 15) The vehicular control system of claim 15, wherein said control, responsive to processing at said control of image data captured by at least said forward-viewing camera, detects headlights of oncoming vehicles within the exterior field of view of said forward-viewing camera when the equipped vehicle is operated under nighttime conditions. ### Claim 18 (depends on 15) The vehicular control system of claim 15, wherein said control, responsive to processing at said control of image data captured by at least said forward-viewing camera, detects taillights of leading vehicles within the exterior field of view of said forward-viewing camera when the equipped vehicle is operated under nighttime conditions. ### Claim 19 (depends on 18) The vehicular control system of claim 18, wherein said control, responsive to determination, based at least in part on processing of captured image data at said control, that the equipped vehicle is unintentionally drifting out of a traffic lane that the equipped vehicle is currently travelling in, controls the steering system of the equipped vehicle to adjust steering of the equipped vehicle to mitigate such drift out of the traffic lane the equipped vehicle is travelling in. ### Claim 20 (depends on 19) The vehicular control system of claim 19, wherein the steering system is manually controllable by a driver of the equipped vehicle irrespective of control by said control. ### Claim 21 (depends on 1) The vehicular control system of claim 1, wherein said driver side-viewing camera is mounted at a driver-side exterior mirror assembly of the equipped vehicle, and wherein said passenger side-viewing camera is mounted at a passenger-side exterior mirror assembly of the equipped vehicle. ### Claim 22 (depends on 21) The vehicular control system of claim 21, wherein said control receives image data captured by a rear-viewing camera mounted at a rear portion of the equipped vehicle and having a field of view at least rearward of the equipped vehicle. ### Claim 23 (depends on 22) The vehicular control system of claim 22, wherein image data captured by said rear-viewing camera at the rear portion of the equipped vehicle and by one or more of said driver side-viewing camera at the driver-side exterior mirror assembly of the equipped vehicle and said passenger side-viewing camera at the passenger-side exterior mirror assembly of the equipped vehicle is provided to a panoramic vision system of the equipped vehicle. ### Claim 24 (depends on 1) The vehicular control system of claim 1, wherein said control, responsive at least in part to processing of captured image data at said control, controls an adaptive cruise control system of the equipped vehicle. ### Claim 25 (depends on 1) The vehicular control system of claim 1, wherein said control processes image data captured by at least said forward-viewing camera for stop light recognition. ### Claim 26 (depends on 1) The vehicular control system of claim 1, wherein said control processes image data captured by at least said forward-viewing camera for traffic sign recognition. ### Claim 27 (depends on 1) The vehicular control system of claim 1, wherein, responsive at least in part to processing at said control of captured image data detecting a curve in the road ahead of the equipped vehicle, speed of the equipped vehicle is reduced to an appropriate speed for traveling around the detected curve, and wherein speed of the equipped vehicle increases after travelling around the detected curve to a speed appropriate for travelling along a generally straight section of road that comes after the curve. ### Claim 28 (depends on 1) The vehicular control system of claim 1, wherein, when the detected other vehicle that is present exterior of the equipped vehicle is determined by said control to be within a threshold distance from the equipped vehicle, speed of the equipped vehicle is reduced. ### Claim 29 (depends on 1) The vehicular control system of claim 1, wherein said control processes captured image data and sensed radar data for an adaptive cruise control system of the equipped vehicle, and wherein, during operation of said adaptive cruise control system, captured image data is primary to sensed radar data. ### Claim 30 (depends on 1) The vehicular control system of claim 1, wherein said control processes captured image data and sensed radar data for an adaptive cruise control system of the equipped vehicle, and wherein, during operation of said adaptive cruise control system, captured image data is secondary to sensed radar data. ### Claim 31 (depends on 1) The vehicular control system of claim 1, wherein said at least one radar sensor having a field of sensing exterior of the equipped vehicle comprises a driver side-sensing radar sensor mounted at a driver-side portion of the equipped vehicle, said driver side-sensing radar sensor having a field of sensing at least sideward and rearward of the equipped vehicle, and wherein said at least one radar sensor having a field of sensing exterior of the equipped vehicle comprises a passenger side-sensing radar sensor mounted at a passenger-side portion of the equipped vehicle, said passenger side-sensing radar sensor having a field of sensing at least sideward and rearward of the equipped vehicle. ### Claim 32 (depends on 31) The vehicular control system of claim 31, wherein said at least one radar sensor having a field of sensing exterior of the equipped vehicle comprises a forward-sensing radar sensor mounted at a front portion of the equipped vehicle, said forward-sensing radar sensor having a field of sensing at least forward of the equipped vehicle. ### Claim 33 (depends on 32) The vehicular control system of claim 32, wherein said control, responsive at least in part to processing at said control of radar sensor data sensed by at least said forward-sensing radar sensor, controls an adaptive cruise control system of the equipped vehicle, and wherein said control, based at least in part on processing at said control of radar sensor data sensed by at least said forward-sensing radar sensor, detects the other vehicle that is present exterior of and ahead of the equipped and determines distance from the equipped vehicle to the detected other vehicle that is present exterior of and ahead of the equipped vehicle. ### Claim 34 (depends on 33) The vehicular control system of claim 33, wherein said control, based at least in part on processing of captured image data, detects the other vehicle that is present exterior of and ahead of the equipped vehicle. ### Claim 35 (depends on 1) The vehicular control system of claim 1, wherein said at least one radar sensor comprises a Doppler radar sensor. ### Claim 36 A vehicular control system, said vehicular control system comprising: a plurality of cameras disposed at a vehicle equipped with said vehicular control system; said plurality of cameras at least comprising (i) a forward-viewing camera mounted at a front portion of the equipped vehicle and having a field of view at least forward of the equipped vehicle, said forward-viewing camera operable to capture image data, (ii) a driver side-viewing camera mounted at a driver-side portion of the equipped vehicle and having a field of view at least sideward and rearward of the equipped vehicle at the driver side of the equipped vehicle, said driver side-viewing camera operable to capture image data and (iii) a passenger side-viewing camera mounted at a passenger-side portion of the equipped vehicle and having a field of view at least sideward and rearward of the equipped vehicle at the passenger side of the equipped vehicle, said passenger side-viewing camera operable to capture image data; wherein said forward-viewing camera is attached at a windshield of the equipped vehicle, and wherein said forward-viewing camera, when attached at the windshield, views through the windshield exteriorly of the equipped vehicle; at least one radar sensor having a field of sensing exterior of the equipped vehicle and operable to sense radar data; wherein said at least one radar sensor having a field of sensing exterior of the equipped vehicle comprises a driver side-sensing radar sensor mounted at a driver-side portion of the equipped vehicle, said driver side-sensing radar sensor having a field of sensing at least sideward and rearward of the equipped vehicle; wherein said at least one radar sensor having a field of sensing exterior of the equipped vehicle comprises a passenger side-sensing radar sensor mounted at a passenger-side portion of the equipped vehicle, said passenger side-sensing radar sensor having a field of sensing at least sideward and rearward of the equipped vehicle; wherein said at least one radar sensor having a field of sensing exterior of the equipped vehicle comprises a forward-sensing radar sensor mounted at a front portion of the equipped vehicle, said forward-sensing radar sensor having a field of sensing at least forward of the equipped vehicle; a control comprising at least one processor; wherein image data captured by at least said forward-viewing camera, said driver side-viewing camera and said passenger side-viewing camera is provided to said control; wherein radar data sensed by at least said driver side-sensing radar sensor, said passenger side-sensing radar sensor and said forward-sensing radar sensor is provided to said control; wherein said control, responsive to processing at said control of image data captured at least by said forward-viewing camera, detects lane markers within the exterior field of view of at least said forward-viewing camera on a road being traveled by the equipped vehicle; wherein said control processes captured image data provided thereto via an edge detection algorithm to detect objects present exteriorly of the equipped vehicle and within the exterior field of view of at least one of said forward-viewing camera, said driver side-viewing camera and said passenger side-viewing camera; wherein said control processes sensed radar data provided thereto to detect objects present exteriorly of the equipped vehicle and within the exterior field of sensing of said at least one radar sensor; wherein said control receives data relevant to a geographic location of the equipped vehicle, and wherein the geographic location of the equipped vehicle is determined, at least in part, by a global positioning system (GPS); wherein said control, based at least in part on processing of at least one of (i) captured image data and (ii) sensed radar data, detects another vehicle that is present exterior of the equipped vehicle and determines distance from the equipped vehicle to the detected other vehicle that is present exterior of the equipped vehicle; wherein said control, based at least in part on processing of at least one of (i) captured image data and (ii) sensed radar data, controls a steering system of the equipped vehicle; and wherein the steering system is manually controllable irrespective of said control. ### Claim 37 (depends on 36) The vehicular control system of claim 36, wherein said control, responsive to determination, based at least in part on processing of captured image data at said control, that the equipped vehicle is unintentionally drifting out of a traffic lane that the equipped vehicle is currently travelling in, controls the steering system of the equipped vehicle to adjust steering of the equipped vehicle to mitigate such drift out of the traffic lane the equipped vehicle is travelling in. ### Claim 38 (depends on 37) The vehicular control system of claim 37, wherein said control, based at least in part on said detection of the other vehicle present exterior of the equipped vehicle and said determination of distance from the equipped vehicle to the detected other vehicle, determines whether it is safe for the equipped vehicle to execute a lane change maneuver. ### Claim 39 (depends on 38) The vehicular control system of claim 38, wherein said control, responsive to processing at said control of image data captured by at least said forward-viewing camera, detects taillights of leading vehicles within the exterior field of view of said forward-viewing camera when the equipped vehicle is operated under nighttime conditions. ### Claim 40 (depends on 39) The vehicular control system of claim 39, wherein said control processes captured image data and sensed radar data for an adaptive cruise control system of the equipped vehicle. ### Claim 41 (depends on 40) The vehicular control system of claim 40, wherein, responsive at least in part to processing at said control of captured image data detecting a curve in the road ahead of the equipped vehicle, speed of the equipped vehicle is reduced to an appropriate speed for traveling around the detected curve, and wherein speed of the equipped vehicle increases after travelling around the detected curve to a speed appropriate for travelling along a generally straight section of road that comes after the curve. ### Claim 42 (depends on 36) The vehicular control system of claim 36, wherein said driver side-viewing camera is mounted at a driver-side exterior mirror assembly of the equipped vehicle, and wherein said passenger side-viewing camera is mounted at a passenger-side exterior mirror assembly of the equipped vehicle, and wherein said control receives image data captured by a rear-viewing camera mounted at a rear portion of the equipped vehicle and having a field of view at least rearward of the equipped vehicle, and wherein image data captured by said rear-viewing camera at the rear portion of the equipped vehicle and by one or more of said driver side-viewing camera at the driver-side exterior mirror assembly of the equipped vehicle and said passenger side-viewing camera at the passenger-side exterior mirror assembly of the equipped vehicle is provided to a panoramic vision system of the equipped vehicle. ### Claim 43 (depends on 36) The vehicular control system of claim 36, wherein said vehicular control system is operable to wirelessly communicate information to a remote receiving device that is remote from the equipped vehicle, and wherein information wirelessly communicated to said remote receiving device comprises information derived, at least in part, from image data captured by at least one of said forward-viewing camera, said driver side-viewing camera and said passenger side-viewing camera. ### Claim 44 (depends on 43) The vehicular control system of claim 43, wherein information wirelessly communicated to said remote receiving device comprises data relevant to the geographic location of the equipped vehicle. ### Claim 45 (depends on 36) The vehicular control system of claim 36, wherein objects present exteriorly of the equipped vehicle comprise a vehicle, and wherein said control determines that an edge detected via the edge detection algorithm constitutes a portion of the vehicle present exteriorly of the equipped vehicle and tracks the detected edge over multiple frames of captured image data. ### Claim 46 A vehicular control system, said vehicular control system comprising: a plurality of cameras disposed at a vehicle equipped with said vehicular control system; said plurality of cameras at least comprising (i) a forward-viewing camera mounted at a front portion of the equipped vehicle and having a field of view at least forward of the equipped vehicle, said forward-viewing camera operable to capture image data, (ii) a driver side-viewing camera mounted at a driver-side portion of the equipped vehicle and having a field of view at least sideward and rearward of the equipped vehicle at the driver side of the equipped vehicle, said driver side-viewing camera operable to capture image data and (iii) a passenger side-viewing camera mounted at a passenger-side portion of the equipped vehicle and having a field of view at least sideward and rearward of the equipped vehicle at the passenger side of the equipped vehicle, said passenger side-viewing camera operable to capture image data; wherein said forward-viewing camera is attached at a windshield of the equipped vehicle, and wherein said forward-viewing camera, when attached at the windshield, views through the windshield exteriorly of the equipped vehicle; at least one radar sensor having a field of sensing exterior of the equipped vehicle and operable to sense radar data; a control comprising at least one processor; wherein image data captured by at least said forward-viewing camera, said driver side-viewing camera and said passenger side-viewing camera is provided to said control; wherein radar data sensed by said at least one radar sensor is provided to said control; wherein said control processes captured image data provided thereto via an edge detection algorithm to detect objects present exteriorly of the equipped vehicle and within the exterior field of view of at least one of said forward-viewing camera, said driver side-viewing camera and said passenger side-viewing camera; wherein said control is operable to determine whether a detected edge constitutes a portion of a vehicle; wherein said control processes sensed radar data provided thereto to detect objects present exteriorly of the equipped vehicle and within the exterior field of sensing of said at least one radar sensor; wherein said control receives data relevant to a geographic location of the equipped vehicle, and wherein the geographic location of the equipped vehicle is determined, at least in part, by a global positioning system (GPS); wherein said control, based at least in part on processing of at least one of (i) captured image data and (ii) sensed radar data, detects another vehicle that is present exterior of the equipped vehicle; wherein said vehicular control system is operable to wirelessly communicate information to a remote receiving device that is remote from the equipped vehicle; and wherein information wirelessly communicated to said remote receiving device comprises information derived, at least in part, from image data captured by at least said forward-viewing camera. ### Claim 47 (depends on 46) The vehicular control system of claim 46, wherein information wirelessly communicated to said remote receiving device comprises data relevant to the geographic location of the equipped vehicle. ### Claim 48 (depends on 47) The vehicular control system of claim 47, wherein said control tracks edges detected via said edge detection algorithm over multiple frames of captured image data. ### Claim 49 (depends on 47) The vehicular control system of claim 47, wherein said driver side-viewing camera is mounted at a driver-side exterior mirror assembly of the equipped vehicle, and wherein said passenger side-viewing camera is mounted at a passenger-side exterior mirror assembly of the equipped vehicle, and wherein said control receives image data captured by a rear-viewing camera mounted at a rear portion of the equipped vehicle and having a field of view at least rearward of the equipped vehicle, and wherein image data captured by said rear-viewing camera at the rear portion of the equipped vehicle and by one or more of said driver side-viewing camera at the driver-side exterior mirror assembly of the equipped vehicle and said passenger side-viewing camera at the passenger-side exterior mirror assembly of the equipped vehicle is provided to a panoramic vision system of the equipped vehicle. ### Claim 50 (depends on 49) The vehicular control system of claim 49, wherein said control processes captured image data and sensed radar data for an adaptive cruise control system of the equipped vehicle. ### Claim 51 (depends on 50) The vehicular control system of claim 50, wherein, responsive at least in part to processing at said control of captured image data detecting a curve in a road ahead of the equipped vehicle, speed of the equipped vehicle is reduced to an appropriate speed for traveling around the detected curve, and wherein speed of the equipped vehicle increases after travelling around the detected curve to a speed appropriate for travelling along a generally straight section of road that comes after the curve. ### Claim 52 (depends on 50) The vehicular control system of claim 50, wherein said control, responsive to determination, based at least in part on processing of captured image data at said control, that the equipped vehicle is unintentionally drifting out of a traffic lane that the equipped vehicle is currently travelling in, controls a steering system of the equipped vehicle to adjust steering of the equipped vehicle to mitigate such drift out of the traffic lane the equipped vehicle is travelling in. ### Claim 53 (depends on 50) The vehicular control system of claim 50, wherein said control, based at least in part on said detection of the other vehicle present exterior of the equipped vehicle and said determination of distance from the equipped vehicle to the detected other vehicle, determines whether it is safe for the equipped vehicle to execute a lane change maneuver. ### Claim 54 (depends on 53) The vehicular control system of claim 53, wherein the steering system is manually controllable irrespective of said control. ### Claim 55 (depends on 47) The vehicular control system of claim 47, wherein said at least one radar sensor having a field of sensing exterior of the equipped vehicle comprises a passenger side-sensing radar sensor mounted at a passenger-side portion of the equipped vehicle, said passenger side-sensing radar sensor having a field of sensing at least sideward and rearward of the equipped vehicle, and wherein said at least one radar sensor having a field of sensing exterior of the equipped vehicle comprises a forward-sensing radar sensor mounted at a front portion of the equipped vehicle, said forward-sensing radar sensor having a field of sensing at least forward of the equipped vehicle. ### Claim 56 (depends on 46) The vehicular control system of claim 46, wherein, responsive at least in part to processing of captured image data at said control detecting a road condition on a road being traveled by the equipped vehicle, speed of the equipped vehicle is adjusted in accordance with the detected road condition. ### Claim 57 (depends on 46) The vehicular control system of claim 46, wherein, responsive at least in part to processing of captured image data at said control, speed of the equipped vehicle is adjusted in accordance with a traffic condition detected by said vehicular control system. ### Claim 58 (depends on 46) The vehicular control system of claim 46, wherein said control, responsive to processing at said control of image data captured at least by said forward-viewing camera, detects lane markers within the exterior field of view of at least said forward-viewing camera on a road being traveled by the equipped vehicle. ### Claim 59 (depends on 58) The vehicular control system of claim 58, wherein said control, responsive to processing at said control of image data captured at least by said forward-viewing camera, detects road edges within the exterior field of view of at least said forward-viewing camera on the road being traveled by the equipped vehicle. ### Claim 60 (depends on 58) The vehicular control system of claim 58, wherein said control, based at least in part on processing of captured image data and sensed radar data, detects the other vehicle that is present exterior of the equipped vehicle.