Object detection system

A vehicular object detection system, the vehicular object detection system comprising:

• a camera configured for mounting at an in-cabin side of a windshield of a vehicle equipped with the vehicular object detection system, the camera operable to capture image data;
• wherein the camera views forward through the windshield to the exterior of the equipped vehicle when the camera is mounted at the windshield of the equipped vehicle;
• wherein the camera comprises a CMOS imaging array having a plurality of photo-sensing pixels arranged in rows and columns;
• a lidar configured for mounting at an exterior portion of the equipped vehicle, the lidar operable to capture lidar data;
• wherein, with the camera mounted at the in-cabin side of the windshield of the equipped vehicle, and with the lidar mounted at the exterior portion of the equipped vehicle, and based at least in part on processing by the vehicular object detection system of image data captured by the camera and based at least in part on processing by the vehicular object detection system of lidar data captured by the lidar, a pedestrian present exterior of the equipped vehicle is detected;
• and
• wherein, based at least in part on at least one selected from the group consisting of (i) processing by the vehicular object detection system of image data captured by the camera and (ii) processing by the vehicular object detection system of lidar data captured by the lidar, at least one selected from the group consisting of (a) proximity relative to the equipped vehicle of the pedestrian present exterior the equipped vehicle is determined, (b) speed relative to the equipped vehicle of the pedestrian present exterior the equipped vehicle is determined and (c) location relative to the equipped vehicle of the pedestrian present exterior the equipped vehicle is determined.

A vehicular object detection system, the vehicular object detection system comprising:

• a camera configured for mounting at an in-cabin side of a windshield of a vehicle equipped with the vehicular object detection system, the camera operable to capture image data;
• wherein the camera views forward through the windshield to the exterior of the equipped vehicle when the camera is mounted at the windshield of the equipped vehicle;
• wherein the camera comprises a CMOS imaging array having a plurality of photo-sensing pixels arranged in rows and columns;
• a lidar configured for mounting at an exterior portion of the equipped vehicle, the lidar operable to capture lidar data;
• wherein, with the camera mounted at the in-cabin side of the windshield of the equipped vehicle, and with the lidar mounted at the exterior portion of the equipped vehicle, and based at least in part on processing by the vehicular object detection system of image data captured by the camera and based at least in part on processing by the vehicular object detection system of lidar data captured by the lidar, a vehicle present exterior of the equipped vehicle is detected;
• and
• wherein, based at least in part on at least one selected from the group consisting of (i) processing by the vehicular object detection system of image data captured by the camera and (ii) processing by the vehicular object detection system of lidar data captured by the lidar, at least one selected from the group consisting of (a) proximity relative to the equipped vehicle of the vehicle present exterior the equipped vehicle is determined, (b) speed relative to the equipped vehicle of the vehicle present exterior the equipped vehicle is determined and (c) location relative to the equipped vehicle of the vehicle present exterior the equipped vehicle is determined.