Vehicular control system with cross traffic alert and collision avoidance

A vehicular driving assist system, the vehicular driving assist system comprising:

• a plurality of cameras disposed at a vehicle equipped with the vehicular driving assist system and viewing exterior of the equipped vehicle, the cameras capturing image data;
• wherein each camera of the plurality of cameras comprises a CMOS imaging array, having at least one million photosensors arranged in rows and columns;
• a plurality of sensors disposed at the equipped vehicle, the plurality of sensors capturing sensor data;
• wherein the plurality of sensors comprises at least one selected from the group consisting of (i) a plurality of radar sensors and (ii) a plurality of lidar sensors;
• wherein the plurality of sensors includes at least (i) a driver-side sensor that senses at least forward and sideward of the equipped vehicle and (ii) a passenger-side sensor that senses at least forward and sideward of the equipped vehicle;
• an electronic control unit (ECU) comprising electronic circuitry and associated software;
• wherein the electronic circuitry of the ECU comprises at least one data processor for processing image data captured by the plurality of cameras and for processing sensor data captured by the plurality of sensors;
• wherein the vehicular driving assist system, based at least in part on a driving condition at the equipped vehicle, begins processing image data captured by the plurality of cameras and sensor data captured by the plurality of sensors;
• wherein the driving condition comprises determination that the equipped vehicle is travelling in the forward direction and below a threshold speed;
• wherein the vehicular driving assist system, while the equipped vehicle is travelling in a forward direction along a path of travel and responsive to processing at the ECU of image data captured by the plurality of cameras and sensor data captured by the plurality of sensors, is operable to determine presence of another vehicle approaching the path of travel of the equipped vehicle;
• wherein the vehicular driving assist system, based at least in part on a driving environment at the equipped vehicle, and when operating to determine presence of the other vehicle approaching the path of travel of the equipped vehicle, adjusts (i) processing at the ECU of the image data captured by the plurality of cameras and (ii) processing at the ECU of the sensor data captured by the plurality of sensors;
• and
• wherein the vehicular driving assist system, responsive to determining presence of the other vehicle approaching the path of travel of the equipped vehicle, alerts a driver of the equipped vehicle.

A vehicular driving assist system, the vehicular driving assist system comprising:

• a plurality of cameras disposed at a vehicle equipped with the vehicular driving assist system and viewing exterior of the vehicle, the cameras capturing image data;
• wherein each camera of the plurality of cameras comprises a CMOS imaging array, having at least one million photosensors arranged in rows and columns;
• a plurality of sensors disposed at the vehicle, the plurality of sensors capturing sensor data;
• wherein the plurality of sensors comprises at least one selected from the group consisting of (i) a plurality of radar sensors and (ii) a plurality of lidar sensors;
• wherein the plurality of sensors includes at least (i) a driver-side sensor that senses at least forward and sideward of the vehicle and (ii) a passenger-side sensor that senses at least forward and sideward of the vehicle;
• an electronic control unit (ECU) comprising electronic circuitry and associated software;
• wherein the electronic circuitry of the ECU comprises at least one data processor for processing image data captured by the plurality of cameras and for processing sensor data captured by the plurality of sensors;
• wherein the vehicular driving assist system, based at least in part on a driving condition at the vehicle, begins processing image data captured by the plurality of cameras and sensor data captured by the plurality of sensors;
• wherein the driving condition comprises determination that a geographic location of the vehicle corresponds to one selected from the group consisting of (i) a parking lot, (ii) an intersection and (iii) a driveway;
• wherein the vehicular driving assist system, while the vehicle is travelling in a forward direction along a path of travel and responsive to processing at the ECU of image data captured by the plurality of cameras and sensor data captured by the plurality of sensors, is operable to determine presence of a pedestrian approaching the path of travel of the vehicle;
• wherein the vehicular driving assist system, based at least in part on a driving environment at the vehicle, and when operating to determine presence of the pedestrian approaching the path of travel of the vehicle, adjusts (i) processing at the ECU of the image data captured by the plurality of cameras and (ii) processing at the ECU of the sensor data captured by the plurality of sensors;
• and
• wherein the vehicular driving assist system, responsive to determining presence of the pedestrian approaching the path of travel of the vehicle, alerts a driver of the vehicle.