Vehicular driving assist system with traffic light recognition

A vehicular vision system, the vehicular vision system comprising:

• a camera disposed at a windshield of a vehicle equipped with the vehicular vision system, the camera viewing at least forward of the equipped vehicle through the windshield of the equipped vehicle;
• wherein the camera is operable to capture image data;
• wherein the camera comprises a CMOS imaging array, and wherein the CMOS imaging array comprises at least one million photosensors arranged in rows and columns;
• an electronic control unit (ECU) comprising electronic circuitry and associated software;
• wherein image data captured by the camera is transferred to the ECU;
• wherein the electronic circuitry of the ECU comprises at least one image processor;
• wherein the ECU is operable to process image data captured by the camera and transferred to the ECU;
• wherein, as the vehicle travels along a traffic lane of a road, the vehicular vision system, (i) via processing at the ECU of image data captured by the camera and (ii) based on map data, determines presence of a plurality of traffic lights at an intersection that the equipped vehicle is approaching, and wherein each traffic light of the plurality of traffic lights is associated with one or more traffic lanes of the road at the intersection;
• wherein the vehicular vision system determines a first relevancy score based on processing at the ECU of image data captured by the camera and a first confidence value associated with the first relevancy score;
• wherein the vehicular vision system, based on the map data, determines a curvature of the road;
• wherein the vehicular vision system based on the determined curvature of the road, determines a second relevancy score and a second confidence value associated with the second relevancy score;
• wherein the vehicular vision system, based on the first relevancy score and the second relevancy score, determines an aggregated relevancy score by weighting the first relevancy score and the second relevancy score, wherein a higher weight is applied to the first relevancy score or the second relevancy score based on the first confidence value and the second confidence value;
• wherein the vehicular vision system, based at least in part on the aggregated relevancy score, identifies a target traffic light from the plurality of traffic lights that is associated with the traffic lane along which the equipped vehicle is traveling as the vehicle approaches the intersection;
• wherein the vehicular vision system determines a status of the identified target traffic light via processing at the ECU of image data captured by the camera;
• and
• wherein the vehicular vision system, responsive to determining the status of the identified target traffic light, performs at least one selected from the group consisting of (i) alerting a driver of the equipped vehicle of status of the target traffic light and (ii) controlling speed of the equipped vehicle.

A vehicular vision system, the vehicular vision system comprising:

• a camera disposed at a windshield of a vehicle equipped with the vehicular vision system, the camera viewing at least forward of the equipped vehicle through the windshield of the equipped vehicle;
• wherein the camera is operable to capture image data;
• wherein the camera comprises a CMOS imaging array, and wherein the CMOS imaging array comprises at least one million photosensors arranged in rows and columns;
• an electronic control unit (ECU) comprising electronic circuitry and associated software;
• wherein image data captured by the camera is transferred to the ECU;
• wherein the electronic circuitry of the ECU comprises at least one image processor;
• wherein the ECU is operable to process image data captured by the camera and transferred to the ECU;
• wherein, as the vehicle travels along a traffic lane of a road, the vehicular vision system, (i) via processing at the ECU of image data captured by the camera and (ii) based on map data, determines presence of a plurality of traffic lights at an intersection that the equipped vehicle is approaching, and wherein each traffic light of the plurality of traffic lights is associated with one or more traffic lanes of the road at the intersection;
• wherein the vehicular vision system, based on processing at the ECU of image data captured by the camera, determines a first relevancy score and a first confidence value associated with the first relevancy score;
• wherein the vehicular vision system, based on the map data, determines a curvature of the road;
• wherein the vehicular vision system, based on the determined curvature of the road, determines a second relevancy score and a second confidence value associated with the second relevancy score;
• wherein the vehicular vision system, based on the first relevancy score and the second relevancy score, determines an aggregated relevancy score by weighting the first relevancy score and the second relevancy score, wherein a higher weight is applied to the first relevancy score or the second relevancy score based on the first confidence value and the second confidence value;
• wherein the vehicular vision system, based at least in part on the aggregated relevancy score, identifies a target traffic light from the plurality of traffic lights that is associated with the traffic lane along which the equipped vehicle is traveling as the vehicle approaches the intersection;
• wherein the vehicular vision system determines a color of an illuminated indicator of the identified target traffic light via processing at the ECU of image data captured by the camera;
• and
• wherein the vehicular vision system, responsive to determining the color of the illuminated indicator, alerts a driver of the equipped vehicle of the color of the illuminated indicator.