Vehicular vision system with incident recording function

Abstract

A vehicular vision system includes a camera having an imaging array. With the camera attached at an in-cabin side of a vehicle windshield, the imaging array of the camera views through the windshield and forward of the equipped vehicle. Image data captured by the imaging array is provided to and processed at an ECU for at least one driving assist system of the vehicle. The captured image data is saved in volatile memory. Responsive to occurrence of an emergency event, image data captured by the imaging array of the camera that is saved in volatile memory for a first period of time prior to the occurrence of the emergency event is moved to non-volatile memory and image data captured by the imaging array of the camera for a second period of time after the occurrence of the emergency event is saved in non-volatile memory.

Description

FIELD OF THE INVENTION

The present invention relates generally to a vehicle vision system for a vehicle and, more particularly, to a vehicle vision system that utilizes one or more cameras at a vehicle.

BACKGROUND OF THE INVENTION

Use of imaging sensors in vehicle imaging systems is common and known. Examples of such known systems are described in U.S. Pat. Nos. 5,949,331; 5,670,935 and/or 5,550,677, which are hereby incorporated herein by reference in their entireties.

SUMMARY OF THE INVENTION

The present invention provides a vision system or imaging system for a vehicle that utilizes one or more camera modules or cameras (preferably one or more CMOS cameras) to capture image data representative of images exterior of the vehicle, including a camera module configured for attachment at a windshield of a vehicle equipped with the vision system. The camera module comprises a camera, a control and a recording device. When the camera module is disposed at the windshield of the vehicle, the camera views through the windshield and forward of the equipped vehicle. Responsive to a user input or a triggering event, the control controls the recording device to record and save image data captured by the camera. The saved image data includes image data captured by the camera after the user input or triggering event and includes previously saved captured image data that was previously saved via a continuous loop recording of image data captured by the camera during operation of the vehicle.

Optionally, the control controls the recording device responsive to a user input, and the user input comprises at least one of (i) a voice command from an occupant of the vehicle, (ii) a button or switch and (iii) actuation of a hazard light of the equipped vehicle. Optionally, the control controls the recording device responsive to a triggering event, and the triggering event comprises at least one of (i) a forward collision warning event, (ii) a lane departure warning event, (iii) an automatic emergency braking event, (iv) an airbag deployment, (v) a sudden or rapid deceleration, (vi) an antilock braking system event, (vii) a hard driver steering or threshold lateral g level event, (viii) a traction control event, (ix) a stability control event, (x) a wide open throttle event and (xi) a very high speed blind spot/lane change aid signal.

Optionally, the recording device records and saves image data for a period of time after the recording starts. The period of time may vary depending on the type of user input or triggering event. Optionally, the recording device saves previously recorded image data that was recorded for a period of time before the user input or triggering event. The period of time before the user input may vary depending on the type of user input or triggering event.

Therefore, the vision system of the present invention provides a forward viewing camera module that includes a camera and a recording device. The recording device records and saves image data captured by the camera to record and save video images of an incident or event. The recording device may record image data when the vehicle is being operated, and may record over or overwrite previously recorded image data unless the previously recorded data has been saved for future review or processing. The recording and saving function is done responsive to a user input or a triggering event, such that captured image data that is desired to be saved is saved when the operator selects the record and save function or when a particular event or incident occurs that automatically triggers the record and save function.

These and other objects, advantages, purposes and features of the present invention will become apparent upon review of the following specification in conjunction with the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a plan view of a vehicle with a vision system that incorporates cameras in accordance with the present invention;

FIG. 2 is a schematic of an incident recording system of the present invention; and

FIG. 3 is a schematic of another incident recording system of the present invention.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

A vehicle vision system and/or driver assist system and/or object detection system and/or alert system operates to capture images exterior of the vehicle and may process the captured image data to display images and to detect objects at or near the vehicle and in the predicted path of the vehicle, such as to assist a driver of the vehicle in maneuvering the vehicle in a rearward direction. The vision system includes an image processor or image processing system that is operable to receive image data from one or more cameras and provide an output to a display device for displaying images representative of the captured image data. Optionally, the vision system may provide a top down or bird's eye or surround view display and may provide a displayed image that is representative of the subject vehicle, and optionally with the displayed image being customized to at least partially correspond to the actual subject vehicle.

Referring now to the drawings and the illustrative embodiments depicted therein, a vehicle 10 includes an imaging system or vision system that includes a forward viewing camera module 12 that is disposed at and views through the windshield 14 of the vehicle and captures image data of the scene exterior and forward of the vehicle (FIG. 1). The camera module includes a lens for focusing images at or onto an imaging array or imaging plane or imager of the camera. The forward viewing camera views through the windshield and forward of the vehicle, such as for a machine vision system (such as for traffic sign recognition, headlamp control, pedestrian detection, collision avoidance, lane marker detection and/or the like). The vision system includes a control or electronic control unit (ECU) or processor that is operable to process image data captured by the camera or cameras and may detect objects or the like and/or provide displayed images at a display device for viewing by the driver of the vehicle. The data transfer or signal communication from the camera to the ECU may comprise any suitable data or communication link, such as a vehicle network bus or the like of the equipped vehicle.

The camera system or camera module of the present invention may utilize aspects of the systems and/or modules described in International Publication Nos. WO 2013/123,161 and/or WO 2013/019,795, and/or U.S. Pat. Nos. 8,256,821; 7,480,149; 7,289,037; 7,004,593; 6,824,281; 6,690,268; 6,445,287; 6,428,172; 6,420,975; 6,326,613; 6,278,377; 6,243,003; 6,250,148; 6,172,613 and/or 6,087,953, and/or U.S. Publication Nos. US-2014-0226012 and/or US-2009-0295181, and/or U.S. Publication No. US-2015-0327398, which are all hereby incorporated herein by reference in their entireties. Optionally, the vision system may include a plurality of exterior facing imaging sensors or cameras, such as a rearward facing imaging sensor or camera, a forwardly facing camera at the front of the vehicle, and sidewardly/rearwardly facing cameras at respective sides of the vehicle, which capture image data representative of the scene exterior of the vehicle.

The system of the present invention includes a recording device (that may be part of the camera module or may be separate from the camera module) that is operable to record video image data captured by one or more of the cameras, such as responsive to an incident or triggering event. The recording feature or incident recorder may record image data captured by the forward viewing front camera and/or other cameras of the vehicle. The recording device may be a physical addition to the camera module itself that would capture videos as they pass from the camera to the image processor. The vision system and recording system may utilize aspects of the systems described in U.S. Publication No. US-2014-0218529, which is hereby incorporated herein by reference in its entirety.

The captured image data is written into a ring buffer and then stored in non-volatile memory in the case of an incident. Drivers can download or erase these videos through an interface such as the radio head unit, multimedia center, instrument cluster menus, or even a direct connection between their personal device and the recorder, such as via a BLUETOOTH® link or WIFI or the like. For example, the communication may use the WIFI_33 connection.

The recorder of the present invention thus uses the advanced driver assist system (ADAS) front camera that is already designed into the vehicle (such as for use in automatic or intelligent headlamp control, lane keep assist, lane departure warning, traffic sign recognition and/or the like) and can write endlessly to RAM and then save incidents to non-volatile memory, thus saving the non-volatile memory from too many writes so it can last the life of the vehicle. The recording device may be operable responsive to an incident or may be manually activated to start and stop recording.

For example, the recording device (such as via the control or processor) may be actuated responsive to a user input (such as a button or switch or) or responsive to detection of an incident or triggering event occurring at or near the vehicle. Optionally, the recording device or control may be actuated responsive to a voice signal captured by a microphone of the system, such as a spoken word or words such as “record that” or the like. Optionally, the microphone may be disposed in a smart phone or cell phone or the like. Many vehicle infotainment systems now have microphones to handle hands-free calling too, whereby the microphone of those systems may interface with the recording system.

Thus, the system may be responsive to a microphone input, and this may be a Controller Area Network (CAN) input for a remote trigger. With such a configuration, a voice request may be received by a microphone at a mirror head unit or instrument cluster, whereby the request or voice command can be sent via a CAN message or signal to the recording system to capture images. In such an application, the recording system would not require its own microphone, yet could be responsive to vocal commands.

Optionally, the recording device or system may record audio while recording and saving captured image data in the non-volatile memory. For example, the driver may give a voice command to start a recording and then may narrate or provide other spoken or audio messages (or play music through the radio), whereby the recording device records the captured image data and the vocal or audio sounds from in the vehicle cabin, such that when the captured and saved image data file (saved by the recording device in non-volatile memory) includes image and sound information. Optionally, the recording device or system may record other audio signals, such as sounds exterior of the vehicle, depending on the particular application and user input and/or triggering event. For example, a user of the system may give a command to record exterior sound or the system may automatically record exterior sound and/or interior sound responsive to a collision or impact of the vehicle.

The system may continuously record captured image data, such as at a continuous loop recording of at least 20 seconds, preferably at least 30 seconds or more, where the system continuously records over previously recorded image data (recorded, for example, 20 seconds earlier or 30 seconds earlier or the like). The system thus continuously operates to temporarily record captured image data when the vehicle is being operated. The user input or triggering event of the recording system of the present invention overrides the continuous loop recording and records and saves captured image data as a separate data file (that is not part of the continuous loop recording) for the duration of a recording period of time. When the user actuated recording has stopped (such as due to a period of time elapsing after actuation or due to a second user input), the continuous loop recording continues while the vehicle is being operated.

Optionally, the recording device may record data responsive to a user input such as flashing the hazard warning lights (which may be picked up via a controller area network (CAN) or the like), which provides for a manual recording and storage operation of the system. Optionally, a user may trigger a recording by pressing an existing user input of the vehicle (such as by pressing a vehicle button multiple times), whereby such pressing generates a signal that is communicated (such as via a CAN bus or network of the vehicle) to the recording system. For example, a user may trigger the recording by pressing the hazard flasher button twice in a row (such as one second apart or the like), such as by pushing it once to turn on the hazard lamp, then pushing it again to turn off the hazard lamp one second (or less) later. The hazard operation may be communicated via a CAN signal, so the recording system may be responsive to such a CAN signal indicative of such a user actuation. Optionally, a patterned actuation or pressing of another user input of the vehicle may also or otherwise generate a triggering signal to the recording system.

Optionally, the recording device may record data responsive to a triggering event, such as a sudden deceleration of the vehicle or the like, such that when something happens (such as a small accident or the like) the system will immediately start recording image data to capture the incident. Optionally, other triggers may start the recording feature. For example, the recording device may be activated to record data responsive to a forward collision warning system (to begin recording data before, during and after a collision or near collision), a lane departure warning system, an automatic emergency braking system, an airbag deployment, a sudden or rapid deceleration, such as hard driver braking (such as at 0.4 gs or more), an antilock braking system event, a hard driver steering or threshold lateral g level, a traction control event, a stability control event, a wide open throttle event, and/or a very high speed blind spot/lane change aid signal (such as when an equipped vehicle is passed by another vehicle at a high relative speed, such as at least about 50 kph relative speed, or 100 kph relative or delta speed or more).

Once activated, the recording device may record data through the incident or for a period of time following the triggering event or input. For example, the system may quickly (maybe after only about two seconds) stop recording and start saving after an airbag deployment. Optionally, the system may start recording and continue recording for some duration to capture a passing car, and then save the captured data. For a stability control event, the system may record data for about 10 seconds before (as already temporarily recorded in the continuous loop recording) and 10 seconds after (or 10 seconds before and record until the vehicle has stopped/stabilized) and then save the captured data. When hazard lights are actuated, the system may record for a long duration such as about 30 seconds before (as already temporarily recorded in the continuous loop recording) and about 30 seconds after the triggering event. For a vocal input, the system may start and stop the recording device responsive to the user's voice, or may use the voice signal only as the trigger and treat it like the flashers and record for a period of time before the signal and for a period of time after the signal.

Optionally, for a situation when a pedestrian lays down in front of a vehicle and claims that the driver hit them, the system may provide a way to save the captured data that was captured before the driver thought to record the data (such as the data that was already temporarily recorded in the continuous loop recording). For example, if the driver triggers the recording, the recording may save about 30 seconds (or more) of data captured before the triggering and may continue to save captured image data for a period of time following the driver's triggering, thereby saving captured image data that encompasses substantially the entire event. Thus, the system provides the driver more time to see what happened, understand what is going on, and then think about recording the event or incident.

Optionally, when at the likes of a race track or when the vehicle is driven along the likes of “scenic routes”, the driver may want to capture images of the race or of the scenery, and the system thus may allow the driver to push “start recording” and then have it record some fixed amount of time automatically. The triggering or “start” may come from a multimedia center. The system may indicate to the driver that it is recording and saving video so that the driver does not turn off the vehicle until the file is saved. Optionally, the recording device may remain activated and may run on battery power until the system is done saving the data.

The system thus may record video images or image data (and optionally other vehicle information or the like) to record an incident or event. The recorded data is saved for later review or processing, and may be saved for a period of time following the recording event or until the user manually deletes the recording. The recorded data may be downloaded to a smart phone or server or the like, such as via a WIFI link or vehicle to infrastructure (v2x) communication or the like. For vehicles with WIFI, the recorded data can be downloaded to the vehicle owner's home computer while interfacing with the vehicle when it is parked at the owner's home. For example, if the WIFI of the vehicle remains active even when the vehicle is shut down, the owner can link to the vehicle's WIFI connection (such as via Ethernet connection between the vehicle control and the owner's router at home) to access and download the recorded data from the vehicle.

With such a WIFI connection (or other communication between a home computer or system and the vehicle), the vehicle user or owner may also or otherwise download the latest trip data (such as fuel consumption, mileage, etc.) when he or she arrives at home or at the office or the like. Optionally, a MARVELL chip can do both normal WIFI (a-n) and 802.11P (V2V) and the like, and the system may also utilize the 802.11P communication to pay road tolls. Optionally, the recorded data can be communicated via a wireless communication to a remote server or the like, or the recorded data can be saved to a portable data storage device, such as an SD card or the like, for later review and processing.

Therefore, the present invention provides an incident recording feature that includes the recording device as part of the forward viewing camera module. The recording device records image data captured by the camera, and may commence recording responsive to a user input or command and/or responsive to a triggering event. Depending on the input or event, the system may record and save image data for a particular period of time following the input or event (and optionally may save image data recorded for a particular period of time before the input or event so that the recording includes earlier image data for situations where the earlier information may be desired). The saved recorded data can be downloaded to a remote server or to the vehicle owner's computer or smart phone or the like, such as via a wireless communication or WIFI link, such as when the vehicle is parked at the user's home or office.

As the Dash Cam becomes a more popular aftermarket option, OEMs are looking for ways to provide this feature as an option to their customers. The basic requirement for such a system is to be able to save a short video clip a short time before and after a “trigger event”, so that it can be recovered and played back later. The trigger event can be a user request (such as via a user input or button or switch or a user voice request or the like), or a vehicle generated trigger, such as activation of an automatic emergency braking (AEB) system command by the forward camera module (FCM), or even an airbag deployment. Optionally, the trigger may comprise a remote trigger (such as from a remote source, such as a user's smart phone or the like or such as from a car2car or v2v or v2x communication system or the like), where the signal is received and provided to the controller or processor via a CAN input of the vehicle.

The length of recording time will depend on the triggering event. For example, for vehicle triggers (AEB message, airbag deployed message, etc.), 15 seconds before and 5 seconds after the trigger may be written to the flash memory. Optionally, for user request activated triggers, the recording time may be 60 seconds before and 60 seconds after the trigger. Optionally, the user can extend the recording time, such as one extension of about two minutes, by making the request a second time while the first recording is still in progress. Each event may be saved in a file with a name created that includes the date and time as part of the file name. Up to 10 to 15 such files may be stored in flash memory at any time, and if memory reaches full, the oldest files will be deleted first.

From a cost stand point, using the same imager/lens for both machine vision and video streaming has the lowest cost (no additional lens and imager required). However, this has some disadvantages, such as lower resolution and lack of color. If a 1280×960 resolution is acceptable, and the users are willing to accept the output of “colorization” algorithms, this becomes a viable solution.

The video streaming strategy should be designed to work across all camera (such as an APTINA megapixel based Gen 3 camera platform or the like) hardware variations. Possible platforms include the BOLERO based ECU(s), and the proposed CALYPSO based ECUs for GENERAL MOTORS CORPORATION (GM). The same strategy may work in portrait or landscape versions.

As far as possible, the video streaming option should require minimal redesign to the current CHRYSLER/MAZDA FCM ECU board designs. The external package for the FCM with the video streaming may be slightly larger, but should still fit inside the same bracket and within the space available in the target vehicle. Optionally, the design should protect for receiving a camera input from a surround view camera system with minimal modifications.

The additional hardware will require power from the vehicle, such as about 3.3 volts, at 150 mA, and may need to be able to operate in a temperature range of about −40 degrees C. to about +85 degrees C.

The video streaming section may be considered a non-critical function and can be switched off at about 75 degrees C. to reduce the total camera module internal self-heating. This reduction in internal power dissipation will help allow the rest of the critical electronics running up to about 85 degrees C. In the case where the video streaming board is simply powered off the imager 3.3 volt supply, this early switch-off may not take place, so the components will have to operate from −40 degrees C. to +85 degrees C.

The system may include a WIFI antenna, which may be designed to operate at 5.0 GHz (this limitation might help with BLUETOOTH conflicts on 2.4 GHz). There may be a provision to permit WIFI video streaming transmissions to be transmitted and received from the camera module. In the event a special lower cover is needed for the video streaming module, this cover may be designed to accommodate this. Note that any effect on overall module EMC (electromagnetic control) should be considered.

Optionally, the system may receive audio, such as from a microphone. Most vehicles will have microphones already available for hands-free phone or VR, and this audio signal may be brought into the FCM module. Optionally, a small microphone may be added into the FCM with small openings in the lower cover. While this microphone location is not optimal, the microphone should be capable of collecting acceptable audio signals.

In the event new application software is required, the bootloader design should permit a complete SW reflash over the CAN bus through the universal asynchronous receiver/transmitter (UART) communications port.

The interface connections with the rest of the camera module may include video input lines, such as video lines comprising 12 bit parallel data and a pixel clock (13 signals total). The logic level voltage may be about 1.8 volts.

A UART serial connection may provide a full duplex connection with a spare port on the control processor (TX, RX, two signals total). The logic level voltage may be about 3.3 volts.

Optionally, a single active low control line may be provided to allow the microcontroller to reset the EDR video processor. The logic level voltage may be about 3.3 volts.

Optionally, an antenna connection may be provided as needed for the WIFI RF output. This may be considered as part of the Event Data Recorder (EDR) subsystem.

The system may operate at about 1.8 volts power at 150 mA (such as for an AMBARELLA EDR processor or the like), with 3.3 volts for I.O. rails to the microcontroller. Power at about 1.8 volts at 10 mA may be provided for the WIFI chip in low power beacon only mode.

On initial power up, the processor will boot from the flash, run its self-test initialization, and wait for a UART command with its initialization parameter values before proceeding to video buffering mode. On receiving the UART command, the module will turn on the external WiFi host, and begin to continuously save video frames in a small circular buffer in DDR. Optionally, and desirably, the system may reduce the number of writes to flash, since the unit life expectancy should be at least about 15 years, and continuously writing to the flash will reduce its life expectancy.

In the typical scenario, the video will already be processed by a “colorization” algorithm to convert the RCCC into a pseudo color image. The video should also be compressed using a popular industry standard compression format such as H.264/MPEG4 or H.265.

The WIFI link will be available for pairing an external WIFI client. Once the module is paired, streaming video will be available over the WIFI link to the user as well, so the external paired module (such as a smart phone or tablet or infotainment system or the like) will also be able to see and save the video as well. A Human-Machine Interface (HMI) available on the vehicle (radio or cluster) will allow the pairing password to be changed to something other than the factory default. In the event the password is “lost” the factory default password may be restored by a battery disconnect.

If the module receives a trigger to save video, all the video in the circular buffer, as well as a small amount of post-trigger video, will be written to a time/date coded file in flash memory. The WiFi link will allow a user interface to copy files off the internal flash to an external paired device.

On power-up, and also after each event write to flash is completed, the processor may check for free memory available in the flash. If there is insufficient memory available to write at least 240 seconds of video, the oldest file(s) in flash memory can be deleted to free up the minimum required space.

Because the forward camera module is a safety module and also needs to meet the security needs of all OEMs, the Event Data Recorder (EDR) option will be provided in such a way that the original functionality of the camera module shall not be compromised by any EDR component failure, or deliberate attempt by a hacker to access the camera components through the EDR WiFi link. The following possible use cases shall be protected for in the EDR architecture:

• • a) Failure of the EDR module to boot up and run. If the processor and software fail its startup diagnostics due to hardware (HW) failure, the EDR module connections may default in such a way as to not prevent the main camera functionality. Therefore if the processor is not operating correctly, the twelve parallel imager inputs, pixel-clock, and UART connection lines should all be forced to go tri-state, or remain as inputs only.
  • b) If the camera module microcontroller determines that the EDR functionality is suspect or not needed, it can choose to remove power from the processor and its associated components. If this is done, all connections between the processor and pixel data lines and pixel clock shall go to tri-state mode.
  • c) In the event that the software (SW) on the processor is hacked through the WIFI link, since the camera pixel input cannot be forced to be outputs, the only vulnerability to the rest of the camera system will be through the UART connection. Therefore, the UART connection and protocol shall be designed in such a way that the malicious SW cannot influence the rest of the camera module functionality. In the event the processor floods the UART with continuous messages, the microcontroller can just remove power and set the required Diagnostic Trouble Code (DTC).

The UART link concept may permit complete isolation of the safety critical operating components from the video recording section. Therefore, there may be no control commands permitted to be sent from the EDR components to the main microcontroller. All messaging will follow a master/slave format except for the 1 second heartbeat status message. In the event a failure occurs that causes the module to flood the UART with continuous UART transmissions, the microcontroller will detect this and disable the UART port and report this as EDR module failure.

The software is able to report the following error codes and status bits in the heartbeat message, sent once per second to the microcontroller:

• • Success/failure to pass internal self-tests (DDR, flash, initialization of WiFi);
  • SW error;
  • Image is coming in from camera (pixel clock is running);
  • If WiFi is operating, and channel number;
  • External device successfully paired on WiFi;
  • An event has been triggered and the video is being saved to flash;
  • Memory is full, and previous recordings are being deleted.

Examples of UART commands from the processor to the EDR processor include:

• • UART initial setup message, which will contain:
    • a the WiFi node broadcast name (24 ASCII characters max, trailing blanks will be deleted),
    • a the WiFi MAC address allocated to it at the factory end-of-line (EOL) tester by a calibration file, or the default MAC address,
    • a the current WiFi password (eight ASCII characters), may default to last 8 digits of the VIN, but such a simple default may encourage hackers,
    • a the minimum number bytes NVRAM free space to be available able to save the event trigger event data. In the event the processor realizes insufficient free space is available, the oldest files in memory may be deleted until sufficient free space is available.
  • UART record event trigger message, which will contain:
    • The amount of data to save is a predetermined number of seconds of data (maximum limited by RAM memory available) before the trigger, and another predetermined number of seconds after the trigger.
    • The file name to be used for this data save (up to 60 ASCII characters). Usually the file name will carry date and time information coded in the name.
    • As a special consideration, (and if available to the FCM on the vehicle bus), abbreviated GPS coordinates may also be included in the file name, or in the header of the file.

Some possible solutions include:

• • Components added to the FCM on the main board. This will require two versions of the camera module, one with EDR and one without. If the overall size of the module is not a critical factor, two versions of the same PCB could be built, one with de-populated EDR components.
  • Modification of the imager board to split up the signal into two parts, one going to the main FCM board, and the other to the video streaming board, or section of the main board. A method of connecting power and control may be added to the main board, as well as extra current capability in the power supplies.
  • A video streaming board that is in between the imager connector and the main FCM board, and passes the video through. This scheme may still need an additional connector between it and the main FCM board for power and control.
  • An extra connector may be added to the FCM main board, and will contain image signal pins and power and control pins. The video streaming board will plug onto this connector. The extra connector need only be populated for FCMs that need the option, however, all PCBs will need to give up this space permanently, and allow extra power supply headroom for this.

The system may communicate with other systems, such as via a vehicle-to-vehicle communication system or a vehicle-to-infrastructure communication system or the like. Such car2car or vehicle to vehicle (V2V) and vehicle-to-infrastructure (car2X or V2X or V2I or 4G or 5G) technology provides for communication between vehicles and/or infrastructure based on information provided by one or more vehicles and/or information provided by a remote server or the like. Such vehicle communication systems may utilize aspects of the systems described in U.S. Pat. Nos. 6,690,268; 6,693,517 and/or 7,580,795, and/or U.S. Publication Nos. US-2014-0375476; US-2014-0218529; US-2013-0222592; US-2012-0218412; US-2012-0062743; US-2015-0251599; US-2015-0158499; US-2015-0124096; US-2015-0352953 and/or US-2016-0036917, and/or U.S. patent application Ser. No. 14/996,570, filed Jan. 15, 2016, now U.S. Pat. No. 10,032,369, which are hereby incorporated herein by reference in their entireties.

The camera or sensor may comprise any suitable camera or sensor. Optionally, the camera may comprise a “smart camera” that includes the imaging sensor array and associated circuitry and image processing circuitry and electrical connectors and the like as part of a camera module, such as by utilizing aspects of the vision systems described in International Publication Nos. WO 2013/081984 and/or WO 2013/081985, which are hereby incorporated herein by reference in their entireties.

The system includes an image processor operable to process image data captured by the camera or cameras, such as for detecting objects or other vehicles or pedestrians or the like in the field of view of one or more of the cameras. For example, the image processor may comprise an EYEQ2 or EYEQ3 image processing chip available from Mobileye Vision Technologies Ltd. of Jerusalem, Israel, and may include object detection software (such as the types described in U.S. Pat. Nos. 7,855,755; 7,720,580 and/or 7,038,577, which are hereby incorporated herein by reference in their entireties), and may analyze image data to detect vehicles and/or other objects. Responsive to such image processing, and when an object or other vehicle is detected, the system may generate an alert to the driver of the vehicle and/or may generate an overlay at the displayed image to highlight or enhance display of the detected object or vehicle, in order to enhance the driver's awareness of the detected object or vehicle or hazardous condition during a driving maneuver of the equipped vehicle.

The vehicle may include any type of sensor or sensors, such as imaging sensors or radar sensors or lidar sensors or ladar sensors or ultrasonic sensors or the like. The imaging sensor or camera may capture image data for image processing and may comprise any suitable camera or sensing device, such as, for example, a two dimensional array of a plurality of photosensor elements arranged in at least 640 columns and 480 rows (at least a 640×480 imaging array, such as a megapixel imaging array (such as 1 to 2 MP) or the like), with a respective lens focusing images onto respective portions of the array. The photosensor array may comprise a plurality of photosensor elements arranged in a photosensor array having rows and columns. Preferably, the imaging array has at least 300,000 photosensor elements or pixels, more preferably at least 500,000 photosensor elements or pixels and more preferably at least 1 million photosensor elements or pixels. The imaging array may capture color image data, such as via spectral filtering at the array, such as via an RGB (red, green and blue) filter or via a red/red complement filter or such as via an RCCC (red, clear, clear, clear) filter or the like. The logic and control circuit of the imaging sensor may function in any known manner, and the image processing and algorithmic processing may comprise any suitable means for processing the images and/or image data.

For example, the vision system and/or processing and/or camera and/or circuitry may utilize aspects described in U.S. Pat. Nos. 8,694,224; 7,005,974; 5,760,962; 5,877,897; 5,796,094; 5,949,331; 6,222,447; 6,302,545; 6,396,397; 6,498,620; 6,523,964; 6,611,202; 6,201,642; 6,690,268; 6,717,610; 6,757,109; 6,802,617; 6,806,452; 6,822,563; 6,891,563; 6,946,978; 7,859,565; 5,550,677; 5,670,935; 6,636,258; 7,145,519; 7,161,616; 7,230,640; 7,248,283; 7,295,229; 7,301,466; 7,592,928; 7,881,496; 7,720,580; 7,038,577; 6,882,287; 5,929,786 and/or 5,786,772, and/or International Publication Nos. WO 2011/028686; WO 2010/099416; WO 2012/061567; WO 2012/068331; WO 2012/075250; WO 2012/103193; WO 2012/0116043; WO 2012/0145313; WO 2012/0145501; WO 2012/145818; WO 2012/145822; WO 2012/158167; WO 2012/075250; WO 2012/0116043; WO 2012/0145501; WO 2012/154919; WO 2013/019707; WO 2013/016409; WO 2013/019795; WO 2013/067083; WO 2013/070539; WO 2013/043661; WO 2013/048994; WO 2013/063014, WO 2013/081984; WO 2013/081985; WO 2013/074604; WO 2013/086249; WO 2013/103548; WO 2013/109869; WO 2013/123161; WO 2013/126715; WO 2013/043661; WO 2013/158592 and/or WO 2014/204794, which are all hereby incorporated herein by reference in their entireties. The system may communicate with other communication systems via any suitable means, such as by utilizing aspects of the systems described in International Publication Nos. WO 2010/144900; WO 2013/043661 and/or WO 2013/081985, and/or U.S. Publication No. US-2012-0062743, which are hereby incorporated herein by reference in their entireties.

The imaging device and control and image processor and any associated illumination source, if applicable, may comprise any suitable components, and may utilize aspects of the cameras (such as various imaging sensors or imaging array sensors or cameras or the like, such as a CMOS imaging array sensor, a CCD sensor or other sensors or the like) and vision systems described in U.S. Pat. Nos. 5,760,962; 5,715,093; 6,922,292; 6,757,109; 6,717,610; 6,590,719; 6,201,642; 5,796,094; 6,559,435; 6,831,261; 6,822,563; 6,946,978; 7,720,580; 8,542,451; 7,965,336; 7,480,149; 5,550,677; 5,877,897; 6,498,620; 5,670,935; 5,796,094; 6,396,397; 6,806,452; 6,690,268; 7,005,974; 7,937,667; 7,123,168; 7,004,606; 6,946,978; 7,038,577; 6,353,392; 6,320,176; 6,313,454 and/or 6,824,281, and/or International Publication Nos. WO 2009/036176; WO 2009/046268; WO 2010/099416; WO 2011/028686 and/or WO 2013/016409, and/or U.S. Pat. Publication Nos. US 2010-0020170 and/or US-2009-0244361, which are all hereby incorporated herein by reference in their entireties.

The camera module and circuit chip or board and imaging sensor may be implemented and operated in connection with various vehicular vision-based systems, and/or may be operable utilizing the principles of such other vehicular systems or driver assistance systems, such as a vehicle headlamp control system, such as the type disclosed in U.S. Pat. Nos. 5,796,094; 6,097,023; 6,320,176; 6,559,435; 6,831,261; 7,004,606; 7,339,149 and/or 7,526,103, which are all hereby incorporated herein by reference in their entireties, a rain sensor, such as the types disclosed in commonly assigned U.S. Pat. Nos. 6,353,392; 6,313,454; 6,320,176 and/or 7,480,149, which are hereby incorporated herein by reference in their entireties, a vehicle vision system, such as a forwardly, sidewardly or rearwardly directed vehicle vision system utilizing principles disclosed in U.S. Pat. Nos. 5,550,677; 5,670,935; 5,760,962; 5,877,897; 5,949,331; 6,222,447; 6,302,545; 6,396,397; 6,498,620; 6,523,964; 6,611,202; 6,201,642; 6,690,268; 6,717,610; 6,757,109; 6,802,617; 6,806,452; 6,822,563; 6,891,563; 6,946,978 and/or 7,859,565, which are all hereby incorporated herein by reference in their entireties, a trailer hitching aid or tow check system, such as the type disclosed in U.S. Pat. No. 7,005,974, which is hereby incorporated herein by reference in its entirety, a reverse or sideward imaging system, such as for a lane change assistance system or lane departure warning system or for a blind spot or object detection system, such as imaging or detection systems of the types disclosed in U.S. Pat. Nos. 7,881,496; 7,720,580; 7,038,577; 5,929,786 and/or 5,786,772, which are hereby incorporated herein by reference in their entireties, a video device for internal cabin surveillance and/or video telephone function, such as disclosed in U.S. Pat. Nos. 5,760,962; 5,877,897; 6,690,268 and/or 7,370,983, and/or U.S. Publication No. US-2006-0050018, which are hereby incorporated herein by reference in their entireties, a traffic sign recognition system, a system for determining a distance to a leading or trailing vehicle or object, such as a system utilizing the principles disclosed in U.S. Pat. Nos. 6,396,397 and/or 7,123,168, which are hereby incorporated herein by reference in their entireties, and/or the like.

Optionally, the vision system may include a display for displaying images captured by one or more of the imaging sensors for viewing by the driver of the vehicle while the driver is normally operating the vehicle. Optionally, for example, the vision system may include a video display device disposed at or in the interior rearview mirror assembly of the vehicle, such as by utilizing aspects of the video mirror display systems described in U.S. Pat. No. 6,690,268 and/or U.S. Publication No. US-2012-0162427, which are hereby incorporated herein by reference in their entireties. The video mirror display may comprise any suitable devices and systems and optionally may utilize aspects of the compass display systems described in U.S. Pat. Nos. 7,370,983; 7,329,013; 7,308,341; 7,289,037; 7,249,860; 7,004,593; 4,546,551; 5,699,044; 4,953,305; 5,576,687; 5,632,092; 5,677,851; 5,708,410; 5,737,226; 5,802,727; 5,878,370; 6,087,953; 6,173,508; 6,222,460; 6,513,252 and/or 6,642,851, and/or European patent application, published Oct. 11, 2000 under Publication No. EP 0 1043566, and/or U.S. Publication No. US-2006-0061008, which are all hereby incorporated herein by reference in their entireties. Optionally, the video mirror display screen or device may be operable to display images captured by a rearward viewing camera of the vehicle during a reversing maneuver of the vehicle (such as responsive to the vehicle gear actuator being placed in a reverse gear position or the like) to assist the driver in backing up the vehicle, and optionally may be operable to display the compass heading or directional heading character or icon when the vehicle is not undertaking a reversing maneuver, such as when the vehicle is being driven in a forward direction along a road (such as by utilizing aspects of the display system described in International Publication No. WO 2012/051500, which is hereby incorporated herein by reference in its entirety).

Optionally, the vision system (utilizing the forward facing camera and a rearward facing camera and other cameras disposed at the vehicle with exterior fields of view) may be part of or may provide a display of a top-down view or birds-eye view system of the vehicle or a surround view at the vehicle, such as by utilizing aspects of the vision systems described in International Publication Nos. WO 2010/099416; WO 2011/028686; WO 2012/075250; WO 2013/019795; WO 2012/075250; WO 2012/145822; WO 2013/081985; WO 2013/086249 and/or WO 2013/109869, and/or U.S. Publication No. US-2012-0162427, which are hereby incorporated herein by reference in their entireties.

Changes and modifications in the specifically described embodiments can be carried out without departing from the principles of the invention, which is intended to be limited only by the scope of the appended claims, as interpreted according to the principles of patent law including the doctrine of equivalents.

Claims

1. A vehicular vision system, the vehicular vision system comprising: a camera, the camera comprising an imaging array having at least one million photosensor pixels arranged in multiple rows and columns;wherein, with the camera disposed at an in-cabin side of a windshield of a vehicle equipped with the vehicular vision system, the imaging array of the camera views through the windshield and forward of the equipped vehicle, and wherein the imaging array of the camera captures image data;an electronic control unit (ECU) disposed in the equipped vehicle, the ECU comprising an image processor;wherein image data captured by the imaging array of the camera is provided to the ECU;wherein, with the camera disposed at the in-cabin side of the windshield of the equipped vehicle, image data captured by the imaging array of the camera and provided to the ECU is processed at the ECU for at least one driving assist system of the equipped vehicle;wherein, with the camera disposed at the in-cabin side of the windshield of the equipped vehicle, image data captured by the imaging array of the camera is saved in volatile memory;wherein, with the camera disposed at the in-cabin side of the windshield of the equipped vehicle, and responsive to occurrence of an emergency event, image data captured by the imaging array of the camera that is saved in volatile memory for a first period of time prior to the occurrence of the emergency event is moved to non-volatile memory and image data captured by the imaging array of the camera for a second period of time after the occurrence of the emergency event is saved in non-volatile memory; andwherein the second period of time after the occurrence of the emergency event lasts until an intervention occurs, and wherein the intervention comprises actuation of a hazard light of the equipped vehicle.

2. The vehicular vision system of claim 1, wherein the emergency event comprises automatic emergency braking of the equipped vehicle.

3. The vehicular vision system of claim 1, wherein the emergency event comprises a forward collision warning generated to alert a driver of the equipped vehicle of a potential collision.

4. The vehicular vision system of claim 1, wherein the emergency event comprises deployment of an airbag of the equipped vehicle.

5. The vehicular vision system of claim 1, wherein the emergency event comprises a sudden deceleration of the equipped vehicle.

6. The vehicular vision system of claim 5, wherein the sudden deceleration comprises braking of the equipped vehicle at 0.4 g or more.

7. The vehicular vision system of claim 1, wherein, with the camera disposed at the in-cabin side of the windshield of the equipped vehicle, image data captured by the imaging array of the camera that is saved in volatile memory is overwritten by newly captured image data as part of a continuous loop recording of captured image data.

8. The vehicular vision system of claim 7, wherein the continuous loop recording of captured image data comprises a continuous loop recording of at least 20 seconds.

9. The vehicular vision system of claim 1, wherein, responsive to the occurrence of the emergency event, image data captured by the imaging array of the camera that is saved in non-volatile memory includes image data captured by the imaging array of the camera and saved in volatile memory for at least 15 seconds prior to the occurrence of the emergency event.

10. The vehicular vision system of claim 1, wherein, responsive to the occurrence of the emergency event, image data captured by the imaging array of the camera that is saved in non-volatile memory includes image data captured by the imaging array of the camera and saved in volatile memory for up to 15 seconds prior to the occurrence of the emergency event.

11. The vehicular vision system of claim 1, wherein, responsive to the occurrence of the emergency event, image data captured by the imaging array of the camera that is saved in non-volatile memory includes (i) image data captured by the imaging array of the camera and saved in volatile memory for up to 15 seconds prior to the occurrence of the emergency event and (ii) image data captured by the imaging array of the camera for at least 5 seconds after the occurrence of the emergency event.

12. The vehicular vision system of claim 1, wherein the first period of time prior to the occurrence of the emergency event varies depending on a type of emergency event that occurs.

13. The vehicular vision system of claim 1, wherein the non-volatile memory is part of a recording device of the equipped vehicle.

14. The vehicular vision system of claim 1, wherein the non-volatile memory is accommodated within the camera.

15. The vehicular vision system of claim 1, wherein the image processor is accommodated within the camera.

16. The vehicular vision system of claim 1, wherein, with the camera disposed at the in-cabin side of the windshield of the equipped vehicle, and responsive to the occurrence of the emergency event, the image data captured by the imaging array of the camera and saved in volatile memory for the first period of time prior to the occurrence of the emergency event and the image data captured by the imaging array of the camera for the second period of time after the occurrence of the emergency event are saved in non-volatile memory as a single data file.

17. The vehicular vision system of claim 1, wherein the vehicular vision system is operable to communicate captured image data saved in non-volatile memory to a remote device via a wireless communication.

18. The vehicular vision system of claim 1, wherein, with the camera disposed at the in-cabin side of the windshield of the equipped vehicle, and at vehicle start up and responsive to the occurrence of the emergency event, the ECU determines available non-volatile memory for saving captured image data, and wherein, if the determined available non-volatile memory is below a threshold level, the ECU deletes at least some of the saved data from the non-volatile memory.

19. The vehicular vision system of claim 1, wherein, with the camera disposed at the in-cabin side of the windshield of the equipped vehicle, the occurrence of the emergency event is determined, at least in part, by processing at the ECU of image data captured by the imaging array of the camera and provided to the ECU.

20. The vehicular vision system of claim 19, wherein the emergency event comprises automatic emergency braking of the equipped vehicle.

21. The vehicular vision system of claim 20, wherein the image processor comprises an image processing chip.

22. The vehicular vision system of claim 1, wherein the at least one driving assist system comprises (i) a headlamp control system and (ii) a lane marker detection system and at least one selected from the group consisting of (a) a pedestrian detection system and (b) an automatic emergency braking system.

23. The vehicular vision system of claim 1, wherein the at least one driving assist system comprises at least two driving assist systems.

24. The vehicular vision system of claim 23, wherein the at least two driving assist systems comprise at least (i) a pedestrian detection system and (ii) an automatic emergency braking system.

25. A vehicular vision system, the vehicular vision system comprising: a camera, the camera comprising an imaging array having at least one million photosensor pixels arranged in multiple rows and columns;wherein, with the camera disposed at an in-cabin side of a windshield of a vehicle equipped with the vehicular vision system, the imaging array of the camera views through the windshield and forward of the equipped vehicle, and wherein the imaging array of the camera captures image data;an electronic control unit (ECU) disposed in the equipped vehicle, the ECU comprising an image processor;wherein image data captured by the imaging array of the camera is provided to the ECU;wherein, with the camera disposed at the in-cabin side of the windshield of the equipped vehicle, image data captured by the imaging array of the camera and provided to the ECU is processed at the ECU for at least one driving assist system of the equipped vehicle;wherein, with the camera disposed at the in-cabin side of the windshield of the equipped vehicle, image data captured by the imaging array of the camera is saved in volatile memory;wherein, with the camera disposed at the in-cabin side of the windshield of the equipped vehicle, image data captured by the imaging array of the camera that is saved in volatile memory is overwritten by newly captured image data as part of a continuous loop recording of captured image data;wherein, with the camera disposed at the in-cabin side of the windshield of the equipped vehicle, and responsive to occurrence of automatic emergency braking of the equipped vehicle, image data captured by the imaging array of the camera that is saved in volatile memory for a first period of time prior to the occurrence of the automatic emergency braking of the equipped vehicle is moved to non-volatile memory and image data captured by the imaging array of the camera for a second period of time after the occurrence of the automatic emergency braking of the equipped vehicle is saved in non-volatile memory; andwherein the second period of time after the occurrence of the automatic emergency braking of the equipped vehicle lasts until an intervention occurs, and wherein the intervention comprises actuation of a hazard light of the equipped vehicle.

26. The vehicular vision system of claim 25, wherein the continuous loop recording of captured image data comprises a continuous loop recording of at least 20 seconds.

27. The vehicular vision system of claim 25, wherein, responsive to the occurrence of the automatic emergency braking of the equipped vehicle, image data captured by the imaging array of the camera that is saved in non-volatile memory includes image data captured by the imaging array of the camera and saved in volatile memory for at least 15 seconds prior to the occurrence of the automatic emergency braking of the equipped vehicle.

28. The vehicular vision system of claim 25, wherein, responsive to the occurrence of the automatic emergency braking of the equipped vehicle, image data captured by the imaging array of the camera that is saved in non-volatile memory includes image data captured by the imaging array of the camera and saved in volatile memory for up to 15 seconds prior to the occurrence of the automatic emergency braking of the equipped vehicle.

29. The vehicular vision system of claim 25, wherein, responsive to the occurrence of the automatic emergency braking of the equipped vehicle, image data captured by the imaging array of the camera that is saved in non-volatile memory includes (i) image data captured by the imaging array of the camera and saved in volatile memory for up to 15 seconds prior to the occurrence of the automatic emergency braking of the equipped vehicle and (ii) image data captured by the imaging array of the camera for at least 5 seconds after the occurrence of the automatic emergency braking of the equipped vehicle.

30. The vehicular vision system of claim 25, wherein the non-volatile memory is part of a recording device of the equipped vehicle.

31. The vehicular vision system of claim 25, wherein the non-volatile memory is accommodated within the camera.

32. The vehicular vision system of claim 25, wherein the image processor is accommodated within the camera.

33. The vehicular vision system of claim 25, wherein, with the camera disposed at the in-cabin side of the windshield of the equipped vehicle, and responsive to the occurrence of the automatic emergency braking of the equipped vehicle, the image data captured by the imaging array of the camera and saved in volatile memory for the first period of time prior to the occurrence of the automatic emergency braking of the equipped vehicle and the image data captured by the imaging array of the camera for the second period of time after the occurrence of the automatic emergency braking of the equipped vehicle are saved in non-volatile memory as a single data file.

34. The vehicular vision system of claim 25, wherein the at least one driving assist system comprises (i) a headlamp control system and (ii) a lane marker detection system and at least one selected from the group consisting of (a) a pedestrian detection system and (b) an automatic emergency braking system.

35. The vehicular vision system of claim 25, wherein the at least one driving assist system comprises at least two driving assist systems.

36. The vehicular vision system of claim 35, wherein the at least two driving assist systems comprise at least (i) a pedestrian detection system and (ii) an automatic emergency braking system.

37. A vehicular vision system, the vehicular vision system comprising: a camera, the camera comprising an imaging array having at least one million photosensor pixels arranged in multiple rows and columns;wherein, with the camera disposed at an in-cabin side of a windshield of a vehicle equipped with the vehicular vision system, the imaging array of the camera views through the windshield and forward of the equipped vehicle, and wherein the imaging array of the camera captures image data;an electronic control unit (ECU) disposed in the equipped vehicle, the ECU comprising an image processor;wherein image data captured by the imaging array of the camera is provided to the ECU;wherein, with the camera disposed at the in-cabin side of the windshield of the equipped vehicle, image data captured by the imaging array of the camera and provided to the ECU is processed at the ECU for at least one driving assist system of the equipped vehicle;wherein, with the camera disposed at the in-cabin side of the windshield of the equipped vehicle, image data captured by the imaging array of the camera is saved in volatile memory;wherein, with the camera disposed at the in-cabin side of the windshield of the equipped vehicle, and responsive to occurrence of braking of the equipped vehicle at 0.4 g or more, image data captured by the imaging array of the camera that is saved in volatile memory for a first period of time prior to the occurrence of the braking of the equipped vehicle at 0.4 g or more is moved to non-volatile memory and image data captured by the imaging array of the camera for a second period of time after the occurrence of the braking of the equipped vehicle at 0.4 g or more is saved in non-volatile memory; andwherein the second period of time after the occurrence of the braking of the equipped vehicle at 0.4 g or more lasts at least 5 seconds after the occurrence of the braking of the equipped vehicle at 0.4 g or more and until an intervention occurs, and wherein the intervention comprises actuation of a hazard light of the equipped vehicle.

38. The vehicular vision system of claim 37, wherein, with the camera disposed at the in-cabin side of the windshield of the equipped vehicle, image data captured by the imaging array of the camera that is saved in volatile memory is overwritten by newly captured image data as part of a continuous loop recording of captured image data.

39. The vehicular vision system of claim 38, wherein the continuous loop recording of captured image data comprises a continuous loop recording of at least 20 seconds.

40. The vehicular vision system of claim 37, wherein, responsive to the occurrence of the braking of the equipped vehicle at 0.4 g or more, image data captured by the imaging array of the camera that is saved in non-volatile memory includes image data captured by the imaging array of the camera and saved in volatile memory for at least 15 seconds prior to the occurrence of the braking of the equipped vehicle at 0.4 g or more.

41. The vehicular vision system of claim 37, wherein, responsive to the occurrence of the braking of the equipped vehicle at 0.4 g or more, image data captured by the imaging array of the camera that is saved in non-volatile memory includes image data captured by the imaging array of the camera and saved in volatile memory for up to 15 seconds prior to the occurrence of the braking of the equipped vehicle at 0.4 g or more.

42. The vehicular vision system of claim 37, wherein the first period of time prior to the occurrence of the braking of the equipped vehicle at 0.4 g or more varies depending on a type of braking of the equipped vehicle at 0.4 g or more that occurs.

43. The vehicular vision system of claim 37, wherein the non-volatile memory is part of a recording device of the equipped vehicle.

44. The vehicular vision system of claim 37, wherein the non-volatile memory is accommodated within the camera.

45. The vehicular vision system of claim 37, wherein the image processor is accommodated within the camera.

46. The vehicular vision system of claim 37, wherein, with the camera disposed at the in-cabin side of the windshield of the equipped vehicle, and responsive to the occurrence of the braking of the equipped vehicle at 0.4 g or more, the image data captured by the imaging array of the camera and saved in volatile memory for the first period of time prior to the occurrence of the braking of the equipped vehicle at 0.4 g or more and the image data captured by the imaging array of the camera for the second period of time after the occurrence of the braking of the equipped vehicle at 0.4 g or more are saved in non-volatile memory as a single data file.

47. The vehicular vision system of claim 37, wherein the vehicular vision system is operable to communicate captured image data saved in non-volatile memory to a remote device via a wireless communication.

48. The vehicular vision system of claim 37, wherein, with the camera disposed at the in-cabin side of the windshield of the equipped vehicle, and at vehicle start up and responsive to the occurrence of the braking of the equipped vehicle at 0.4 g or more, the ECU determines available non-volatile memory for saving captured image data, and wherein, if the determined available non-volatile memory is below a threshold level, the ECU deletes at least some of the saved data from the non-volatile memory.

49. The vehicular vision system of claim 37, wherein the at least one driving assist system comprises (i) a headlamp control system and (ii) a lane marker detection system and at least one selected from the group consisting of (a) a pedestrian detection system and (b) an automatic emergency braking system.

50. The vehicular vision system of claim 37, wherein the at least one driving assist system comprises at least two driving assist systems.

51. The vehicular vision system of claim 50, wherein the at least two driving assist systems comprise at least (i) a pedestrian detection system and (ii) an automatic emergency braking system.