Vehicular driving assist system using forward-viewing camera

A vehicular driving assist system, said vehicular driving assist system comprising:

• a forward-viewing camera disposed at a vehicle equipped with said vehicular driving assist system and having a field of view at least forward of the equipped vehicle, said forward-viewing camera operable to capture image data;
• wherein said forward-viewing camera is mounted at an in-cabin side of a windshield of the equipped vehicle and views through the windshield forward of the equipped vehicle;
• a side object detection system disposed at the equipped vehicle;
• wherein said side object detection system 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, said driver side-sensing radar sensor operable to capture radar data;
• wherein said side object detection system 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, said passenger side-sensing radar sensor operable to capture radar data;
• said vehicular driving assist system comprising an image processor;
• wherein image data captured by said forward-viewing camera is provided to said image processor;
• wherein image data captured by said forward-viewing camera is processed at said image processor to detect traffic lane markers of a traffic lane the equipped vehicle is travelling in on a road the equipped vehicle is travelling along;
• wherein image data captured by said forward-viewing camera is processed at said image processor for a lane departure warning system of the equipped vehicle;
• wherein, responsive at least in part to detection by said side object detection system, based on radar data captured by said driver side-sensing radar sensor, of another vehicle travelling in the same direction as the equipped vehicle and approaching the equipped vehicle from rearward of the equipped vehicle in a traffic lane that is to the left of the traffic lane that the equipped vehicle is travelling in, said vehicular driving assist system activates a visual warning indicator to alert a driver of the equipped vehicle that another vehicle is travelling in the same direction as the equipped vehicle and approaching the equipped vehicle from rearward of the equipped vehicle in the traffic lane that is to the left of the traffic lane that the equipped vehicle is travelling in;
• and
• wherein, responsive at least in part to detection by said side object detection system, based on radar data captured by said passenger side-sensing radar sensor, of another vehicle travelling in the same direction as the equipped vehicle and approaching the equipped vehicle from rearward of the equipped vehicle in a traffic lane that is to the right of the traffic lane that the equipped vehicle is travelling in, said vehicular driving assist system activates a visual warning indicator to alert the driver of the equipped vehicle that another vehicle is travelling in the same direction as the equipped vehicle and approaching the equipped vehicle from rearward of the equipped vehicle in the traffic lane that is to the right of the traffic lane that the equipped vehicle is travelling in.

A vehicular driving assist system, said vehicular driving assist system comprising:

• a forward-viewing camera disposed at a vehicle equipped with said vehicular driving assist system and having a field of view at least forward of the equipped vehicle, said forward-viewing camera operable to capture image data;
• wherein said forward-viewing camera is mounted at an in-cabin side of a windshield of the equipped vehicle and views through the windshield forward of the equipped vehicle;
• said vehicular driving assist system comprising an image processor;
• wherein image data captured by said forward-viewing camera is provided to said image processor;
• wherein image data captured by said forward-viewing camera is processed at said image processor to detect traffic lane markers of a traffic lane the equipped vehicle is travelling in on a road the equipped vehicle is travelling along;
• wherein image data captured by said forward-viewing camera is processed at said image processor for a lane departure warning system of the equipped vehicle;
• wherein image data captured by said forward-viewing camera is processed at said image processor for an automatic headlamp control system of the equipped vehicle;
• wherein image data captured by said forward-viewing camera is processed at said image processor for a traffic sign recognition system of the equipped vehicle;
• wherein said vehicular driving assist system, responsive to determination based at least in part on processing at said image processor of image data captured by said forward-viewing camera that the equipped vehicle is drifting out of the traffic lane that the equipped vehicle is 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 that the equipped vehicle is travelling in unless a driver of the equipped vehicle has actuated a turn signal of the equipped vehicle to signal driver-intent to change out of the traffic lane that the equipped vehicle is travelling in;
• and
• wherein steering of the equipped vehicle is manually controllable by the driver of the equipped vehicle irrespective of said vehicular driving assist system.