Vehicular vision system with enhanced range for pedestrian detection

A vehicular vision system, the vehicular vision system comprising:

• a camera disposed at a vehicle equipped with the vehicular vision system and viewing exterior of the vehicle, the camera capturing image data;
• an electronic control unit (ECU) comprising electronic circuitry and associated software;
• wherein the electronic circuitry of the ECU comprises an image processor for processing image data captured by the camera to detect presence of objects in the field of view of the camera;
• wherein the ECU, responsive to detecting presence of at least one object via processing by the image processor of image data captured by the camera, determines whether any pedestrian candidate regions are present within a frame of captured image data;
• wherein the ECU generates at least one cropped image portion from the frame of captured image data;
• wherein the ECU generates an enlarged cropped image for each of the at least one cropped image portion that has an increased resolution as compared to the resolution of the respective cropped image portion;
• wherein the ECU, via processing by the image processor of the at least one enlarged cropped image, determines whether any pedestrian candidate regions are present in any of the at least one enlarged cropped image;
• and
• wherein the ECU determines that a pedestrian is present within the frame of captured image data responsive to determining that a pedestrian candidate region is present within the frame of captured image data or that a pedestrian candidate region is present within one or more of the at least one enlarged cropped image.

A vehicular vision system, the vehicular vision system comprising:

• a camera disposed at a vehicle equipped with the vehicular vision system and viewing exterior of the vehicle, the camera capturing image data;
• an electronic control unit (ECU) comprising electronic circuitry and associated software;
• wherein the electronic circuitry of the ECU comprises an image processor for processing image data captured by the camera to detect presence of objects in the field of view of the camera;
• wherein the ECU, responsive to detecting presence of one or more objects via processing by the image processor of image data captured by the camera, determines one or more regions of interest within a frame of captured image data;
• wherein the ECU generates an enlarged region of interest for each of the regions of interest of the determined one or more regions of interest;
• and
• wherein the ECU performs pedestrian detection on each enlarged region of interest to determine whether a pedestrian is present in the associated region of interest.