Vehicular vision system

A vehicular vision system, said vehicular vision system comprising:

• a camera comprising a lens and an image sensor, wherein the camera is disposed at a vehicle equipped with said vehicular vision system so as to have a field of view exterior of the equipped vehicle;
• a distance sensor disposed at the equipped vehicle so as to have a field of sensing exterior of the equipped vehicle;
• wherein the distance sensor comprises a plurality of infrared light-emitting light sources, and wherein the distance sensor senses infrared light;
• a controller comprising at least one processor;
• wherein image data captured by the camera and sensor data captured by the distance sensor are processed at the controller;
• wherein the controller, responsive to processing at the controller of image data captured by the camera and of sensor data captured by the distance sensor, detects an object present in the field of view of the camera and in the field of sensing of the distance sensor;
• wherein the controller receives a depth map from the distance sensor and determines distance to the detected object based at least in part on the depth map;
• wherein the controller, responsive to processing at the controller of image data captured by the camera and of sensor data captured by the distance sensor, and responsive to the determined distance to the detected object, determines that the detected object represents a collision risk;
• and
• wherein, responsive to determination that the detected object represents a collision risk, the controller controls the equipped vehicle to mitigate the collision risk.

A vehicular vision system, said vehicular vision system comprising:

• a camera comprising a lens and an image sensor, wherein the camera is disposed at a vehicle equipped with said vehicular vision system so as to have a field of view exterior of the equipped vehicle;
• a distance sensor disposed at the equipped vehicle so as to have a field of sensing exterior of the equipped vehicle;
• wherein image data captured by the camera has a first resolution and sensor data captured by the distance sensor has a second resolution that is lower than the first resolution;
• wherein the distance sensor comprises a plurality of infrared light-emitting light sources, and wherein the distance sensor senses infrared light;
• a controller comprising at least one processor, wherein image data captured by the camera and sensor data captured by the distance sensor are processed at the controller;
• a display disposed in an interior of the equipped vehicle and viewable by a driver of the equipped vehicle, and wherein the display displays video images derived from image data captured by the camera;
• wherein the controller, responsive to processing at the controller of image data captured by the camera and of sensor data captured by the distance sensor, detects an object present in the field of view of the camera and in the field of sensing of the distance sensor;
• wherein the controller determines the distance to the detected object based at least in part on difference between the position of the detected object in image data captured by the camera and the position of the detected object in sensor data captured by the distance sensor;
• wherein the displayed video images include images of the detected object;
• wherein the controller, responsive to processing at the controller of image data captured by the camera and of sensor data captured by the distance sensor, and responsive to the determined distance to the detected object, determines that the detected object represents a collision risk;
• and
• wherein, responsive to determination that the detected object represents a collision risk, the controller carries out at least one action selected from the group consisting of (i) informing the driver of the equipped vehicle of the collision risk and (ii) controlling the equipped vehicle to mitigate the collision risk.