Vehicular blind spot monitoring system with enhanced monitoring along curved road

A vehicular sensing system, the vehicular sensing system comprising:

• a forward-viewing camera disposed at a vehicle equipped with the vehicular sensing system and viewing at least forward of the equipped vehicle, the forward-viewing camera capturing image data;
• wherein the forward-viewing 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 forward-viewing camera is transferred to the ECU;
• wherein the electronic circuitry of the ECU comprises an image processor that is operable to process image data captured by the forward-viewing camera;
• wherein the vehicular sensing system, responsive to processing at the ECU of image data captured by the forward-viewing camera at a first time, generates a first set of lane geometries representing curvature and location of a portion of at least one traffic lane of a road along which the equipped vehicle is traveling respective to a first position of the equipped vehicle at the first time, and wherein the portion of the at least one traffic lane is located forward of the equipped vehicle at the first position, and wherein the portion of the at least one traffic lane is within a field of view of the forward-viewing camera with the equipped vehicle at the first position;
• wherein the vehicular sensing system, via processing motion data representative of motion of the equipped vehicle traveling along the road after the first time, tracks the first set of lane geometries;
• wherein the vehicular sensing system, based on processing of the motion data and the tracked first set of lane geometries, generates a second set of lane geometries representing curvature and location of the portion of the at least one traffic lane of the road respective to a second position of the equipped vehicle at a second time, and wherein the portion of the at least one traffic lane is located rearward of the equipped vehicle at the second position, and wherein the portion of the at least one traffic lane is outside the field of view of the forward-viewing camera with the equipped vehicle at the second position;
• and
• wherein the vehicular sensing system determines a blind zone of the equipped vehicle based on the generated second set of lane geometries.

A vehicular sensing system, the vehicular sensing system comprising:

• a forward-viewing camera disposed at a vehicle equipped with the vehicular sensing system and viewing at least forward of the equipped vehicle, the forward-viewing camera capturing image data;
• wherein the forward-viewing 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 forward-viewing camera is transferred to the ECU;
• wherein the electronic circuitry of the ECU comprises an image processor that is operable to process image data captured by the forward-viewing camera;
• a radar sensor disposed at the equipped vehicle and sensing exterior of the equipped vehicle, wherein the radar sensor is operable to capture radar data;
• wherein the vehicular sensing system, responsive to processing at the ECU of image data captured by the forward-viewing camera at a first time, generates a first set of lane geometries representing curvature and location of a portion of at least one traffic lane of a road along which the equipped vehicle is traveling respective to a first position of the equipped vehicle at the first time, and wherein the portion of the at least one traffic lane is located forward of the equipped vehicle at the first position, and wherein the road the vehicle is traveling along is a curved road having multiple curved traffic lanes;
• wherein the vehicular sensing system, via processing motion data representative of motion of the equipped vehicle traveling along the road after the first time, tracks the first set of lane geometries;
• wherein the vehicular sensing system, based on processing of the motion data and the tracked first set of lane geometries, generates a second set of lane geometries representing curvature and location of the portion of the at least one traffic lane of the road respective to a second position of the equipped vehicle at a second time, and wherein the portion of the at least one traffic lane is located rearward of the equipped vehicle at the second position;
• wherein the vehicular sensing system determines a blind zone of the equipped vehicle based on the generated second set of lane geometries;
• wherein the vehicular sensing system, via processing radar data captured by the radar sensor, determines a distance between another vehicle traveling along one of the at least one traffic lane and the determined blind zone;
• and
• wherein the vehicular sensing system determines, responsive to determining that the distance between the other vehicle and the determined blind zone is below a threshold, generates an alert.