Vehicular blind spot monitoring system with enhanced lane and road edge determination

A vehicular sensing system, the vehicular sensing system comprising:

• a camera disposed at a vehicle equipped with the vehicular sensing system, the camera viewing exterior of the equipped vehicle, wherein the camera is disposed at a windshield of the equipped vehicle and views forward of the equipped vehicle through the windshield of the equipped vehicle;
• wherein the camera is operable to capture image data;
• wherein the camera comprises a CMOS imaging array, and wherein the CMOS imaging array comprises at least one million photosensors arranged in rows and columns;
• a radar sensor disposed at the equipped vehicle, the radar sensor sensing at least rearward and sideward of the equipped vehicle;
• wherein the radar sensor is operable to capture radar data;
• an electronic control unit (ECU) comprising electronic circuitry and associated software;
• wherein image data captured by the camera is transferred to the ECU, and wherein radar data captured by the radar sensor is transferred to the ECU;
• wherein the electronic circuitry of the ECU comprises at least one data processor;
• wherein the ECU is operable to process (i) image data captured by the camera and transferred to the ECU and (ii) radar data captured by the radar sensor and transferred to the ECU;
• wherein the vehicular sensing system, via processing at the ECU of radar data captured by the radar sensor, detects an object within a blind spot of a driver of the equipped vehicle, and wherein the blind spot is at least sideward of the equipped vehicle;
• wherein the vehicular sensing system, via processing at the ECU of image data captured by the camera, determines that the equipped vehicle is within a traffic lane that borders an edge of a road along which the equipped vehicle is traveling based on determining a distance between the equipped vehicle and the edge of the road;
• wherein the vehicular sensing system, responsive to determining that the detected object is not sideward of a side of the equipped vehicle that is closest to the edge of the road, generates a blind spot warning;
• and
• wherein the vehicular sensing system, responsive to determining that the detected object is sideward from the side of the equipped vehicle that is closest to the edge of the road along which the equipped vehicle is traveling, suppresses the blind spot warning.

A vehicular sensing system, the vehicular sensing system comprising:

• a camera disposed at a vehicle equipped with the vehicular sensing system, the camera viewing at least forward of the equipped vehicle;
• wherein the camera is operable to capture image data;
• wherein the camera comprises a CMOS imaging array, and wherein the CMOS imaging array comprises at least one million photosensors arranged in rows and columns;
• a radar sensor disposed at the equipped vehicle, the radar sensor sensing at least rearward and sideward of the equipped vehicle, wherein the radar sensor comprises a corner radar sensor disposed at a rear corner of the equipped vehicle;
• wherein the radar sensor is operable to capture radar data;
• an electronic control unit (ECU) comprising electronic circuitry and associated software;
• wherein image data captured by the camera is transferred to the ECU, and wherein radar data captured by the radar sensor is transferred to the ECU;
• wherein the electronic circuitry of the ECU comprises at least one data processor;
• wherein the ECU is operable to process (i) image data captured by the camera and transferred to the ECU and (ii) radar data captured by the radar sensor and transferred to the ECU;
• wherein the vehicular sensing system, via processing at the ECU of radar data captured by the radar sensor, detects an object within a blind spot of a driver of the equipped vehicle, and wherein the blind spot is at least sideward of the equipped vehicle;
• wherein the vehicular sensing system determines a distance between at least one point of interest on the equipped vehicle and an edge of a road along which the equipped vehicle is traveling;
• wherein the vehicular sensing system, via processing at the ECU of image data captured by the camera, and responsive to determining the distance between the at least one point of interest on the equipped vehicle and the edge of the road, determines that the equipped vehicle is within a traffic lane that borders the edge of the road;
• wherein the vehicular sensing system, responsive to determining that the detected object is not sideward of a side of the equipped vehicle that is closest to the edge of the road, generates a blind spot warning;
• and
• wherein the vehicular sensing system, responsive to determining that the detected object is sideward from the side of the equipped vehicle that is closest to the edge of the road along which the equipped vehicle is traveling, suppresses the blind spot warning.