Vehicle imaging system with stereo imaging

Claim 2

A vehicular imaging system comprising: at least one imaging array sensor mounted at a vehicle and directed outwardly from the vehicle, said at least one imaging array sensor sensing images of at least one object exterior of the vehicle, said at least one imaging array sensor including a first portion for receiving a first image of the at least one object and a second portion for receiving a second image of the at least one object, said first portion and second portion defining a separation distance; a first optic element positioned between said first portion and the at least one object and a second optic element positioned between said second portion and the at least one object, said first optic element having a first focal length and said second optic element having a second focal length; a control that is responsive to an output of said at least one imaging array sensor in order to capture an image of at least one object external to the vehicle and determine a distance between said at least one imaging array sensor and the at least one object external to the vehicle according to the following equation: D = Δ   f 1  f 2 f 1  x D2 - f 2  x D1 ; where D is said distance, Δ is said separation distance, f 1 is said first focal length, f 2 is said second focal length, x D1 is a directed distance from said first reference point to said first image and x D2 is a directed distance from said second reference point to said second image.

Claim 3

The vehicular imaging system of claim 1 , wherein said control compares a first registration of the first image on said first portion to a second registration of the second image on said second portion, said control determining a deviation between said first and second registrations relative to at least one reference point associated with said at least one imaging array sensor and determining said distance as a function of said deviation and said separation distance associated with said first and second portions, said separation distance being defined between corresponding reference points of said first and second portions.

Claim 4

The vehicular imaging system of claim 2 , wherein said at least one imaging array sensor is at least one pixelated array sensor defining said first and second portions, said first registration being at least one pixel on said first portion and said second registration being at least one pixel on said second portion.

Claim 5

The vehicular imaging system of claim 2 , wherein said at least one imaging array sensor is at least one pixelated array sensor defining said first and second portions, said first registration being an average pixel location of said first image and said second registration being an average pixel location of said second image.

Claim 6

The vehicular imaging system of claim 1 , wherein said at least one imaging array sensor is at least one pixelated array sensor, said control providing sub-pixel resolution to said deviation.

Claim 7

The vehicular imaging system of claim 1 , wherein said at least one imaging array sensor is a divided imaging array sensor, said first portion being a first region of said divided imaging array sensor and said second portion being a second region of said divided imaging array sensor.

Claim 8

The vehicular imaging system of claim 1 , wherein said at least one imaging array sensor comprises first and second imaging arrays, said first portion being on said first imaging array and said second portion being on said second imaging array.

Claim 9

The vehicular imaging system of claim 1 , wherein said first optic element is positioned along a first optic path between said first portion and the object and said second optic element is positioned along a second optic path between said second portion and the object.

Claim 10

The vehicular imaging system of claim 8 , wherein said at least one imaging array sensor comprises first and second imaging array sensors, said first optic path being between said first imaging array sensor and the at least one object and said second optic path being between said second imaging array sensor and the at least one object.

Claim 11

The vehicular imaging system of claim 9 further including a first reflective surface positioned along and defining said first optic path and a second reflective surface positioned along and defining said second optic path, said first and second reflective surface redirecting said first and second images toward said first and second imaging array sensors, respectively.

Claim 12

The vehicular imaging system of claim 10 , wherein said first and second imaging array sensors face generally opposite to one another, said first and second reflective surfaces redirecting said first and second images toward said first and second imaging array sensors, respectively.

Claim 13

The vehicular imaging system of claim 8 , wherein said first and second portions are generally coplanar.

Claim 14

The vehicular imaging system of claim 12 , wherein said at least one imaging array sensor is a divided imaging array sensor, said first portion being a first region of said divided imaging array sensor and said second portion being a second region of said divided imaging array sensor.

Claim 15

The vehicular imaging system of claim 12 further including at least one first reflective surface positioned along and defining said first optic path and at least one second reflective surface positioned along and defining said second optic path, said first and second reflective surfaces redirecting said first and second images toward said first and second portions of said imaging array sensor, respectively.

Claim 16

The vehicular imaging system of claim 1 , wherein said control classifies each of a plurality of images received by said at least one imaging array sensor, said each image being classified according to at least one of a location relative to said at least one imaging array sensor, a size of said image and an intensity of said image.

Claim 17

The vehicular imaging system of claim 15 further including at least one color filter associated with said at least one imaging array sensor, said control determining a color of said each image in order to classify said each image.

Claim 18

The vehicular imaging system of claim 15 , wherein said imaging system is associated with a headlamp control, said images being classified as one of headlamps or taillights.

Claim 19

The vehicular imaging system of claim 15 , wherein said at least one imaging array sensor comprises at least one pixelated imaging array comprising a plurality of photo-sensing pixels.

Claim 20

The vehicular imaging system of claim 18 , wherein said control classifies and labels a plurality of segments representing a plurality of objects in the target scene in response to signals received by said pixels of said at least one pixelated imaging array, said plurality of segments being labeled according to a position on said at least one pixelated imaging array and an intensity of said signals, said control comparing each of said plurality of segments on said first portion with corresponding segments on said second portion in order to determine a deviation between a first relative position of said segments on said first portion and a second relative position of said corresponding segments on said second portion, said distance to each of the plurality of objects being calculated as a function of said deviation and a separation distance associated with said first and second portions.

Claim 21

The vehicular imaging system of claim 1 , wherein said imaging system is associated with a headlamp control for controlling headlamps on a vehicle, said headlamp control adjusting an output of said headlamps in response to said distance and said output of said at least one imaging array sensor.

Claim 22

The vehicular imaging system of claim 1 , wherein said imaging system is associated with a rearview imaging system including a display within a vehicle for providing an operator of the vehicle with a display image of the scene rearward of the vehicle, said control communicating a signal associated with said distance to said display.

Claim 23

The vehicular imaging system of claim 1 , wherein said imaging system is associated with a rain sensor for determining whether precipitation is present on a window of a vehicle, said rain sensor being operable in response to said output of said at least one imaging array sensor and said distance.

Claim 24

The vehicular imaging system of claim 1 , wherein said imaging system is operable to control a vehicle accessory, said vehicle accessory being at least one of a display for displaying an image of the scene, a distance indicator, a warning indicator, a windshield wiper of the vehicle, headlamps of the vehicle and a brake system of the vehicle.

Claim 25

A vehicular imaging system comprising: at least one imaging array sensor mounted at a vehicle and directed outwardly from the vehicle, said at least one imaging array sensor having distance-sensing capability, said at least one imaging array sensor receiving an image of at least one object, said at least one imaging array sensor including a first portion for receiving a first image of the at least one object and a second portion for receiving a second image of the at least one object, a first reference point of said first portion and a second reference point of said second portion being separated by a separation distance; a first optic element positioned along a first optic path between said first portion and the at least one object and a second optic element positioned along a second optic path between said second portion and the at least one object, said first optic having a first focal length and said second optic having a second focal length; and a control that is responsive to an output of said at least one imaging array sensor in order to capture an image of the at least one object external to the vehicle and determine a distance between said at least one imaging array sensor and the at least one object, said control determining a first position of said first image relative to said first reference point and a second position of said second image relative to said second reference point, wherein said distance is calculated according to the following equation: D = Δ   f 1  f 2 f 1  x D2 - f 2  x D1 ; where D is said distance, Δ is said separation distance, f 1 is said first focal length, f 2 is said second focal length, x D1 is a directed distance from said first reference point to said first image and x D2 is a directed distance from said second reference point to said second image.

Claim 26

A vehicular imaging system comprising: at least one imaging array sensor mounted at a vehicle and directed outwardly from the vehicle, said at least one imaging array sensor having distance-sensing capability, said at least one imaging array sensor receiving an image of at least one object, said at least one imaging array sensor including a first portion for receiving a first image of the at least one object and a second portion for receiving a second image of the at least one object, a first reference point of said first portion and a second reference point of said second portion being separated by a separation distance; a first optic element positioned along a first optic path between said first portion and the at least one object and a second optic element positioned along a second optic path between said second portion and the at least one object, said first optic having a first focal length and said second optic having a second focal length; and a control that is responsive to an output of said at least one imaging array sensor in order to capture an image of the at least one object external to the vehicle and determine a distance between said at least one imaging array sensor and the at least one object, said control determining a first position of said first image relative to said first reference point and a second position of said second image relative to said second reference point, wherein said distance is calculated according to the following equation: D = Δ   f 1  f 2 f 1  x D2 - f 2  x D1 ; where D is said distance, Δ is said separation distance, f 1 is said first focal length, f 2 is said second focal length, x D1 is a directed distance from said first reference point to said first image and x D2 is a directed distance from said second reference point to said second image.

Claim 27

The vehicular imaging system of claim 24 , wherein said first reference point corresponds to a center axis of said first portion and said second reference point corresponds to a center axis of said second portion.

Claim 28

The vehicular imaging system of claim 24 , wherein said at least one imaging array sensor is a pixelated array sensor, said first and second positions being an average of pixel locations of first and second segments.

Claim 29

The vehicular imaging system of claim 1 , wherein said control compares a first registration of the first image of the at least one object relative to a first reference point on said at least one imaging array sensor with a second registration of the second image of the at least one object relative to a second reference point on said at least one imaging array sensor in order to determine the distance to the at least one object, said separation distance being defined between corresponding ones of said first and second reference points on said at least one imaging array sensor.

Claim 30

A vehicular imaging system comprising: at least one imaging array sensor mounted at a vehicle and directed outwardly from the vehicle, said at least one imaging array sensor having stereoscopic distance-sensing capability; and a control that is responsive to an output of said at least one imaging array sensor in order to capture an image of at least one object external to the vehicle and determine a distance between said at least one imaging array sensor and the at least one object external to the vehicle, said control being operable to classify each of a plurality of images received by said at least one imaging array sensor, said each image being classified according to at least one of a location relative to said at least one imaging array sensor, a size of said image and an intensity of said image, wherein said control is operable to vary a shutter speed of said at least one imaging array sensor in order to classify said each image according to intensity.

Claim 31

A vehicular imaging system comprising: at least one imaging array sensor mounted at a vehicle and directed outwardly from the vehicle, said at least one imaging array sensor having stereoscopic distance-sensing capability; and a control that is responsive to an output of said at least one imaging array sensor in order to capture an image of at least one object external to the vehicle and determine a distance between said at least one imaging array sensor and the at least one object external to the vehicle, said control being operable to classify each of a plurality of images received by said at least one imaging array sensor, said each image being classified according to at least one of a location relative to said at least one imaging array sensor, a size of said image and an intensity of said image, wherein said control is operable to vary a shutter speed of said at least one imaging array sensor in order to classify said each image according to intensity.

Claim 32

The vehicular imaging system of claim 28 further including at least one color filter associated with said at least one imaging array sensor, said control determining a color of said each image in order to classify said each image.

Claim 33

The vehicular imaging system of claim 28 , wherein said imaging system is associated with a headlamnp control, said images being classified as one of headlamps or taillights.

Claim 34

The vehicular imaging system of claim 28 , wherein said at least one imaging array sensor is at least one pixelated imaging array comprising a plurality of photo-sensing pixels.

Claim 35

The vehicular imaging system of claim 31 , wherein said at least one imaging array sensor includes a first portion for receiving a first image of the object and a second portion for receiving a second image of the object.

Claim 36

The vehicular imaging system of claim 32 , wherein said control classifies and labels a plurality of segments representing a plurality of objects in the target scene in response to signals received by said pixels of said at least one pixelated imaging array, said plurality of segments being labeled according to a position on said at least one pixelated imaging array and an intensity of said signals, said control comparing each of said plurality of segments on said first portion with corresponding segments on said second portion in order to determine a deviation between a first relative position of said segments on said first portion and a second relative position of said corresponding segments on said second portion, said distance to each of the plurality of objects being calculated as a function of said deviation and a separation distance associated with said first and second portions.

Claim 37

A vehicular imaging system comprising: a first imaging array sensor for receiving a first image of a scene remote from said imaging system; a second imaging array sensor for receiving a second image of the scene, said first and second imaging array sensors being positionable relative to one another and defining a separation distance therebetween, said first and second imaging array sensors being pixelated array sensors, each comprising a plurality of photo sensing pixels, and being operable to receive a plurality of signals associated with a plurality of objects in the scene; a first optic element positionable along a first optic path between said first imaging array sensor and the scene, said first optic element having a first focal length; a second optic element positionable along a second optic path between said second imaging array sensor and the scene, said second optic element having a second focal length; and a control operable to determine a distance between an object in the scene and said imaging system, said control determining a first registration of said first image relative to a first reference point on said first imaging array sensor and a second registration of said second image relative to a second reference point on said second imaging array sensor, said control being operable to classify each of said plurality of signals as segments with respect to at least one of intensity, color, size and position on said first and second imaging array sensors and to determine a distance between said imaging system and objects associated with similarly classified signals, said segments being determined by assigning a value to each of said pixels sensing an intensity greater than a predetermined intensity threshold and determining groups of adjacent pixels having the value assigned thereto, said control being operable to determine a maximum intensity and an average pixel location for each said segment on each of said first and second imaging array sensors, said control being further operable to compare first segments on said first imaging array sensor with second segments on said second imaging array sensor, where said first and second segments have maximum intensity and pixel locations within a predetermined threshold, wherein said control calculates said distance to at least one of the plurality of objects according to the following equation: D = Δ   f 1  f 2 f 1  x D2 - f 2  x D1 ; where D is said distance, Δ is said separation distance, f 1 is said first focal length, f 2 is said second focal length, x D1 is a directed distance from said first reference point to an average position of said first segment and x D2 is a directed distance from said second reference point to an average position of said second segment.

Claim 38

A vehicular imaging system comprising: a first imaging array sensor for receiving a first image of a scene remote from said imaging system; a second imaging array sensor for receiving a second image of the scene, said first and second imaging array sensors being positionable relative to one another and defining a separation distance therebetween, said first and second imaging array sensors being pixelated array sensors, each comprising a plurality of photo sensing pixels, and being operable to receive a plurality of signals associated with a plurality of objects in the scene; a first optic element positionable along a first optic path between said first imaging array sensor and the scene, said first optic element having a first focal length; a second optic element positionable along a second optic path between said second imaging array sensor and the scene, said second optic element having a second focal length; and a control operable to determine a distance between an object in the scene and said imaging system, said control determining a first registration of said first image relative to a first reference point on said first imaging array sensor and a second registration of said second image relative to a second reference point on said second imaging array sensor, said control being operable to classify each of said plurality of signals as segments with respect to at least one of intensity, color, size and position on said first and second imaging array sensors and to determine a distance between said imaging system and objects associated with similarly classified signals, said segments being determined by assigning a value to each of said pixels sensing an intensity greater than a predetermined intensity threshold and determining groups of adjacent pixels having the value assigned thereto, said control being operable to determine a maximum intensity and an average pixel location for each said segment on each of said first and second imaging array sensors, said control being further operable to compare first segments on said first imaging array sensor with second segments on said second imaging array sensor, where said first and second segments have maximum intensity and pixel locations within a predetermined threshold, wherein said control calculates said distance to at least one of the plurality of objects according to the following equation: D = Δ   f 1  f 2 f 1  x D2 - f 2  x D1 ; where D is said distance, Δ is said separation distance, f 1 is said first focal length, f 2 is said second focal length, x D1 is a directed distance from said first reference point to an average position of said first segment and x D2 is a directed distance from said second reference point to an average position of said second segment.

Claim 39

The vehicular imaging system of claim 34 , wherein said control further calculates an angular position of the object with respect to said imaging system.

Claim 40

The vehicular imaging system of claim 34 , wherein said first and second reference points correspond to first and second center axes of said first and second imaging array sensors, respectively.

Claim 41

The vehicular imaging system of claim 34 , wherein said control further calculates a lateral angular position of at least one of the plurality of objects with respect to said imaging system.

Claim 42

The vehicular imaging system of claim 37 , wherein said imaging system is associated with a headlamp control, said headlamp control adjusting a headlamp setting in response to at least one of said distance, said angular position, said intensity and a color of the plurality of objects.

Claim 43

The vehicular imaging system of claim 38 , wherein said headlamp control adjusts said headlamp setting in response to at least one of a rate of approach and a vertical position of the plurality of objects relative to the vehicle.

Claim 44

The vehicular imaging system of claim 37 , wherein said control calculates said lateral angular position according to the following equation: θ = tan - 1  ( x D2 f 2 ) where θ is an angle between an axis associated with said second imaging array sensor and a corresponding object.

Claim 45

The vehicular imaging system of claim 34 , wherein said imaging system is associated with at least one of a vehicular vision system and a rain sensor.

Claim 46

A vehicular imaging system comprising: a first imaging array sensor for receiving a first image of a scene remote from said imaging system; a second imaging array sensor for receiving a second image of the scene, said first and second imaging array sensors being positionable relative to one another and defining a separation distance therebetween, said first and second imaging array sensors being pixelated imaging array sensors; a first optic element positionable along a first optic path between said first imaging array sensor and the scene, said first optic element having a first focal length; a second optic element positionable along a second optic path between said second imaging array sensor and the scene, said first optic element having a second focal length; and a control operable to determine a distance between an object in the scene and said imaging system, said control determining a first registration of said first image relative to a first reference point on said first imaging array sensor and a second registration of said second image relative to a second reference point on said second imaging array sensor, said control being operable to compare individual pixels on said first imaging array sensor with similarly illuminated individual pixels on said second imaging array sensor, wherein said control calculates said distance to at least one of the plurality of objects according to the following equation: D = Δ   f 1  f 2 f 1  x D2 - f 2  x D1 ; where D is said distance, Δ is said separation distance, f 1 is said first focal length, f 2 is said second focal length, X D1 is a directed distance from said first reference point to a registration of said individual pixel on said first imaging array sensor and x D2 is a directed distance from said second reference point to a registration of said individual pixel on said second imaging array sensor.

Claim 47

A vehicular imaging system comprising: a first imaging array sensor for receiving a first image of a scene remote from said imaging system; a second imaging array sensor for receiving a second image of the scene, said first and second imaging array sensors being positionable relative to one another and defining a separation distance therebetween, said first and second imaging array sensors being pixelated imaging array sensors; a first optic element positionable along a first optic path between said first imaging array sensor and the scene, said first optic element having a first focal length; a second optic element positionable along a second optic path between said second imaging array sensor and the scene, said first optic element having a second focal length; and a control operable to determine a distance between an object in the scene and said imaging system, said control determining a first registration of said first image relative to a first reference point on said first imaging array sensor and a second registration of said second image relative to a second reference point on said second imaging array sensor, said control being operable to compare individual pixels on said first imaging array sensor with similarly illuminated individual pixels on said second imaging array sensor, wherein said control calculates said distance to at least one of the plurality of objects according to the following equation: D = Δ   f 1  f 2 f 1  x D2 - f 2  x D1 ; where D is said distance, Δ is said separation distance, f 1 is said first focal length, f 2 is said second focal length, X D1 is a directed distance from said first reference point to a registration of said individual pixel on said first imaging array sensor and x D2 is a directed distance from said second reference point to a registration of said individual pixel on said second imaging array sensor.

Claim 48

The vehicular imaging system of claim 42 , wherein said first and second reference points correspond to first and second center axes of said first and second imaging array sensors, respectively.

Claim 49

A vehicular headlamp control for controlling a headlamp of a vehicle, said headlamp control comprising: at least one imaging array sensor adaptable to receive stereoscopic images forward of the vehicle, said at least one imaging array sensor including a first portion and a second portion, said first portion receiving a first image of the light sources and said second portion receiving a second image of the light sources, said first portion being associated with a first reference point and said second portion being associated with a second reference point, a separation distance being defined by said first and second reference points; first and second optic elements, said first optic element having a first focal length and being positioned along a first optic path between the light sources and said first portion, said second optic element having a second focal length and being positioned along a second optic path between the light sources and said second portion; and a control responsive to said at least one imaging array sensor to identify light sources of interest and provide a control output to the vehicle, said control calculating a distance between at least one of the light sources of interest and said at least one imaging array sensor and providing said control output in response to said distance, said headlamp control controlling the headlamps of the vehicle in response to said control output, wherein said distance is calculated according to the following equation: D = Δ   f 1  f 2 f 1  x D2 - f 2  x D1 ; where D is said distance, Δ is said separation distance, f 1 is said first focal length, f 2 is said second focal length, x D1 is a directed distance from said first reference point to said first image and x D2 is a directed distance from said second reference point to said second image.

Claim 50

A vehicular headlamp control for controlling a headlamp of a vehicle, said headlamp control comprising: at least one imaging array sensor adaptable to receive stereoscopic images forward of the vehicle, said at least one imaging array sensor including a first portion and a second portion, said first portion receiving a first image of the light sources and said second portion receiving a second image of the light sources, said first portion being associated with a first reference point and said second portion being associated with a second reference point, a separation distance being defined by said first and second reference points; first and second optic elements, said first optic element having a first focal length and being positioned along a first optic path between the light sources and said first portion, said second optic element having a second focal length and being positioned along a second optic path between the light sources and said second portion; and a control responsive to said at least one imaging array sensor to identify light sources of interest and provide a control output to the vehicle, said control calculating a distance between at least one of the light sources of interest and said at least one imaging array sensor and providing said control output in response to said distance, said headlamp control controlling the headlamps of the vehicle in response to said control output, wherein said distance is calculated according to the following equation: D = Δ   f 1  f 2 f 1  x D2 - f 2  x D1 ; where D is said distance, Δ is said separation distance, f 1 is said first focal length, f 2 is said second focal length, x D1 is a directed distance from said first reference point to said first image and x D2 is a directed distance from said second reference point to said second image.

Claim 51

The vehicular headlamp control of claim 44 , wherein said first reference point corresponds to a center axis of said first portion and said second reference point corresponds to a center axis of said second portion.

Claim 52

The vehicular headlamp control of claim 44 , wherein said control further calculates an angular position of at least one of the light sources with respect to said headlamp control, said headlamp control controlling the headlamps of the vehicle in response to at least one of said angular position and said distance of the at least one light source relative to the vehicle.

Claim 53

The vehicular headlamp control of claim 46 , wherein said headlamp control adjusts a setting of the headlamps in response to at least one of an intensity of the at least one light source, a color of the at least one light source, said distance between said headlamp control and the at least one light source, said angular position of the at least one light source relative to the vehicle, and a rate of approach of the at least one light source relative to the vehicle.

Claim 54

The vehicular headlamp control of claim 44 , wherein said first image is an average position of a first portion of said first image associated with the light sources and said second image is an average position of a second portion of said second image associated with the light sources.

Claim 55

The vehicular headlamp control of claim 44 , wherein said at least one imaging array sensor is a pixelated imaging array sensor, said first image being an individual pixel location associated with one of the light sources and said second image being an individual pixel location associated with the one light source.

Claim 56

A vehicular headlamp control for controlling a headlamp of a subject vehicle, said headlamp control comprising: a distance sensor comprising at least one pixelated CMOS imaging array sensor having a plurality of pixels adaptable to receive images of light sources forward of the vehicle, said distance sensor being operable to calculate a distance between at least one light source of interest and said distance sensor; and a control responsive to said at least one imaging array sensor and operable to identify the light sources of interest as headlamps or taillights and to provide a control output to the vehicle, said control being responsive to said distance sensor to modulate the headlamps at least between a high beam state and a low beam state of the headlamps of the subject vehicle in response to the calculated distance between the at least one light source of interest and said distance sensor, wherein said headlamp control is mounted within a rear view mirror assembly of the vehicle, said at least one imaging array sensor being directed forwardly of the vehicle to receive the image therefrom.

Claim 57

A vehicular headlamp control for controlling a headlamp of a subject vehicle, said headlamp control comprising: a distance sensor comprising at least one pixelated CMOS imaging array sensor having a plurality of pixels adaptable to receive images of light sources forward of the vehicle, said distance sensor being operable to calculate a distance between at least one light source of interest and said distance sensor; and a control responsive to said at least one imaging array sensor and operable to identify the light sources of interest as headlamps or taillights and to provide a control output to the vehicle, said control being responsive to said distance sensor to modulate the headlamps at least between a high beam state and a low beam state of the headlamps of the subject vehicle in response to the calculated distance between the at least one light source of interest and said distance sensor, wherein said headlamp control is mounted within a rear view mirror assembly of the vehicle, said at least one imaging array sensor being directed forwardly of the vehicle to receive the image therefrom.

Claim 58

The vehicular headlamp control of claim 50 , wherein said distance sensor provides sub-pixel resolution to the distance calculation.

Claim 59

A rearview vision system for a vehicle comprising: at least one imaging array sensor positioned on the vehicle and directed rearwardly with respect to the direction of travel of the vehicle, said at least one imaging array sensor having stereoscopic distance-sensing capability, a first portion of said at least one imaging array sensor receiving a first image of the at least one object and a second portion of said at least one imaging array sensor receiving a second image of the at least one object, said first portion is associated with a first reference point and said second portion is associated with a second reference point, a separation distance being defined by said first and second reference points; first and second optic elements, said first optic element having a first focal length and being positioned along a first optic path between the at least one object and said first portion, said second optic element having a second focal length and being positioned along a second optic path between the at least one object and said second portion; and a control operable to calculate a distance to at least one object rearward of the vehicle in response to an output of said at least one imaging array sensor, wherein said distance is calculated according to the following equation: D = Δ   f 1  f 2 f 1  x D2 - f 2  x D1 ; where D is said distance, Δ is said separation distance, f 1 is said first focal length, f 2 is said second focal length, x D1 is a directed distance from said first reference point to said first image and x D2 is a directed distance from said second reference point to said second image.

Claim 60

A rearview vision system for a vehicle comprising: at least one imaging array sensor positioned on the vehicle and directed rearwardly with respect to the direction of travel of the vehicle, said at least one imaging array sensor having stereoscopic distance-sensing capability, a first portion of said at least one imaging array sensor receiving a first image of the at least one object and a second portion of said at least one imaging array sensor receiving a second image of the at least one object, said first portion is associated with a first reference point and said second portion is associated with a second reference point, a separation distance being defined by said first and second reference points; first and second optic elements, said first optic element having a first focal length and being positioned along a first optic path between the at least one object and said first portion, said second optic element having a second focal length and being positioned along a second optic path between the at least one object and said second portion; and a control operable to calculate a distance to at least one object rearward of the vehicle in response to an output of said at least one imaging array sensor, wherein said distance is calculated according to the following equation: D = Δ   f 1  f 2 f 1  x D2 - f 2  x D1 ; where D is said distance, Δ is said separation distance, f 1 is said first focal length, f 2 is said second focal length, x D1 is a directed distance from said first reference point to said first image and x D2 is a directed distance from said second reference point to said second image.

Claim 61

The rearview vision system of claim 52 , wherein said first reference point corresponds to a center axis of said first portion and said second reference point corresponds to a center axis of said second portion.

Claim 62

The rearview vision system of claim 52 , wherein said control further calculates an angular position of said at least one object with respect to said rearview vision system.

Claim 63

The rearview vision system of claim 52 , wherein said first image is an average position of a portion of said first image associated with the at least one object and said second image is an average position of a portion of said second image associated with the at least one object.

Claim 64

The rearview vision system of claim 52 , wherein said at least one imaging array sensor is a pixelated imaging array sensor, said first image being a first individual pixel location associated with the at least one object and said second image being a second individual pixel location associated with the at least one object.

Claim 65

The rearview vision system of claim 52 , wherein said at least one imaging array sensor comprises a pixelated imaging array sensor, said control providing sub-pixel resolution to the distance calculation.

Claim 66

The rearview vision system of claim 52 , wherein said at least one imaging array sensor is positioned within a rear view mirror assembly on the vehicle and directed rearwardly therefrom.

Claim 67

The rearview vision system of claim 52 , wherein said at least one imaging array sensor is positioned at a rearward portion of the vehicle and directed rearwardly therefrom.

Claim 68

The rearview vision system of claim 52 , wherein said at least one imaging array sensor comprises first and second imaging array sensors, said first imaging array sensor being positioned at a first side of the vehicle and said second imaging array sensor being positioned at a second side of the vehicle, said first imaging array sensor including said first portion and said second imaging array sensor including said second portion.

Claim 69

The rearview vision system of claim 60 further including a display system which displays an image synthesized from an output of said first and second imaging array sensors and which approximates a rearward-facing substantially seamless panoramic view from a single location substantially without duplicate redundant images of objects.

Claim 70

The rearview vision system of claim 52 further including a display system which displays an image synthesized from said output of said at least one imaging array sensor.

Claim 71

The rearview vision system of claim 62 , wherein said rearview vision system is operable to produce a graphic overlay superimposed on said display.

Claim 72

The rearview vision system of claim 63 , wherein said graphic overlay includes distance indicia indicating distances to the at least one object rearward of the vehicle.

Claim 73

The rearview vision system of claim 64 , wherein said distance indicia comprises at least one horizontal mark.

Claim 74

The rearview vision system of claim 64 , wherein said control adjusts said distance indicia in response to at least one of the vehicle's steering system, the vehicle's differential system and a compass.

Claim 75

The rearview vision system of claim 62 , wherein said rearview vision system is operable to provide an additional enhancement to the displayed image.

Claim 76

The rearview vision system of claim 67 , wherein said additional enhancement includes visually distinguishing images of objects within a threshold distance to the vehicle.

Claim 77

The rearview vision system of claim 68 , wherein said additional enhancement includes at least one of displaying the objects in a particular color and flashing the image of the objects.

Claim 78

A vehicular headlamp control for controlling a headlamp of a subject vehicle, said headlamp control comprising: a distance sensor comprising at least one pixelated CMOS imaging array sensor having a plurality of pixels adaptable to receive images of light sources forward of the vehicle, said distance sensor being operable to calculate a distance between at least one light source of interest and said distance sensor; and a control responsive to said at least one imaging array sensor and operable to identify the light sources of interest as headlamps or taillights and to provide a control output to the vehicle, said control being responsive to said distance sensor to modulate the headlamps at least between a high beam state and a low beam state of the headlamps of the subject vehicle in response to the calculated distance between the at least one light source of interest and said distance sensor, said control being operable to classify each of the images received by said at least one imaging array sensor, said each image being classified according to at least one of a location relative to said distance sensor, a size of said image and an intensity of said image, wherein said control is operable to vary a shutter speed of said at least one imaging array sensor in order to classify said each image according to intensity.

Claim 79

A vehicular headlamp control for controlling a headlamp of a subject vehicle, said headlamp control comprising: a distance sensor comprising at least one pixelated CMOS imaging array sensor having a plurality of pixels adaptable to receive images of light sources forward of the vehicle, said distance sensor being operable to calculate a distance between at least one light source of interest and said distance sensor; and a control responsive to said at least one imaging array sensor and operable to identify the light sources of interest as headlamps or taillights and to provide a control output to the vehicle, said control being responsive to said distance sensor to modulate the headlamps at least between a high beam state and a low beam state of the headlamps of the subject vehicle in response to the calculated distance between the at least one light source of interest and said distance sensor, said control being operable to classify each of the images received by said at least one imaging array sensor, said each image being classified according to at least one of a location relative to said distance sensor, a size of said image and an intensity of said image, wherein said control is operable to vary a shutter speed of said at least one imaging array sensor in order to classify said each image according to intensity.

Claim 80

The vehicular headlamp control of claim 70 , wherein said control determines if an intensity of the at least one light source of interest is within a threshold intensity level and if said distance is within a threshold distance range from the vehicle, said control modulating the state of the headlamps of the subject vehicle in response to said intensity and said distance of the at least one light source of interest.

Claim 81

The vehicular headlamp control of claim 71 , wherein said threshold intensity level and threshold distance level are different between a headlamp and a taillight determination.

Claim 82

The vehicular headlamp control of claim 71 further including at least one color filter associated with said at least one imaging array sensor, said control determining a color associated with the at least one light source of interest, said control modulating the state of the headlamps of the subject vehicle in response to said color, said intensity level and said distance.

Claim 83

The vehicular headlamp control of claim 71 , wherein said control determines a lateral angular position of the at least one light source of interest relative to the vehicle, said control modulating the state of the headlamps of the subject vehicle in response to said intensity level, said distance and said angular position.

Claim 84

The vehicular headlamp control of claim 74 further including at least one color filter associated with said at least one imaging array sensor, said control determining a color associated with the at least one light source of interest, said control modulating the state of the headlamps of the subject vehicle in response to said color, said lateral angular position, said intensity level and said distance.

Claim 85

The vehicular headlamp control of claim 75 , wherein said control modulates the state of the headlamps of the subject vehicle in response to at least one of a rate of approach and a vertical position of the at least one light source of interest relative to the vehicle.

Claim 86

The vehicular headlamp control of claim 70 , wherein said at least one imaging array sensor comprises a first portion and a second portion, said first portion receiving a first image of the light sources and said second portion receiving a second image of the light sources.

Claim 87

The vehicular headlamp control of claim 77 further including first and second optic elements, said first optic element having a first focal length and being positioned along a first optic path between the light sources and said first portion, said second optic element having a second focal length and being positioned along a second optic path between the light sources and said second portion.

Claim 88

The vehicular headlamp control of claim 78 , wherein said first portion is associated with a first reference point and said second portion is associated with a second reference point, a separation distance being defined by said first and second reference points, said distance sensor calculating said distance as a function of said separation distance and said first and second focal lengths.

Claim 89

The vehicular headlamp control of claim 78 , wherein said headlamp control is mounted within a rear view mirror assembly of the vehicle, said at least one imaging array sensor being directed forwardly of the vehicle to receive the stereoscopic image therefrom.

Claim 90

The vehicular headlamp control of claim 80 , wherein said at least one imaging array sensor comprises a divided imaging array sensor, said first portion being a first region of said divided imaging array sensor and said second portion being a second region of said divided imaging array sensor.

Claim 91

The vehicular headlamp control of claim 80 , wherein said at least one imaging array sensor comprises first and second imaging arrays, said first portion being on said first imaging an array and said second portion being on said second imaging array.

Claim 92

The vehicular headlamp control of claim 82 further including a first reflective surface positioned along and defining said first optic path and a second reflective surface positioned along and defining said second optic path.

Claim 93

The vehicular headlamp control of claim 83 , wherein said first and second imaging arrays face generally opposite to one another, said first and second reflective surfaces redirecting said first and second images toward said first and second imaging arrays, respectively.

Claim 94

The vehicular headlamp control of claim 80 , wherein said first and second portions are generally coplanar.

Claim 95

The vehicular headlamp control of claim 85 further including first and second reflective surfaces positioned along said first and second optic paths, respectively, said first and second reflective surfaces directing the first and second images toward said first and second portions of said at least one imaging array sensor, respectively.

Claim 96

The vehicular headlamp control of claim 70 further including at least one color filter associated with said at least one imaging array sensor, said control determining a color of said each image in order to classify said each image.

Claim 97

The vehicular headlamp control of claim 70 , wherein said control classifies and labels a plurality of segments representing a plurality of light sources in the target scene in response to signals received by said pixels of said at least one pixelated CMOS imaging array sensor, said plurality of segments being labeled according to a position on said at least one pixelated CMOS imaging array sensor and an intensity of said signals.

Claim 98

The vehicular headlamp control of claim 88 , wherein said at least one pixelated CMOS imaging array sensor includes first and second portions, each of said first and second portions receiving respective first and second images of the light sources.

Claim 99

A vehicular headlamp control for controlling a headlamp of a subject vehicle, said headlamp control comprising: a distance sensor comprising at least one pixelated CMOS imaging array sensor having a plurality of pixels adaptable to receive images of light sources forward of the vehicle, said distance sensor being operable to calculate a distance between at least one light source of interest and said distance sensor, said at least one pixelated CMOS imaging array sensor including first and second portions, each of said first and second portions receiving respective first and second images of the light sources; and a control responsive to said at least one imaging array sensor and operable to identify the light sources of interest as headlamps or taillights and to provide a control output to the vehicle, said control being responsive to said distance sensor to modulate the headlamps at least between a high beam state and a low beam state of the headlamps of the subject vehicle in response to the calculated distance between the at least one light source of interest and said distance sensor, said control being operable to classify each of the images received by said at least one imaging array sensor, said each image being classified according to at least one of a location relative to said distance sensor, a size of said image and an intensity of said image, said control classifying and labeling a plurality of segments representing a plurality of light sources in the target scene in response to signals received by said pixels of said at least one pixelated CMOS imaging array sensor, said plurality of segments being labeled according to a position on said at least one pixelated CMOS imaging array sensor and an intensity of said signals, wherein said distance sensor compares each of said plurality of segments on said first portion with corresponding segments on said second portion in order to determine a deviation between a first relative position of said segments on said first portion and a second relative position of said corresponding segments on said second portion, said distance to each of the plurality of objects being calculated as a function of said deviation and a separation distance

Claim 100

A vehicular headlamp control for controlling a headlamp of a subject vehicle, said headlamp control comprising: a distance sensor comprising at least one pixelated CMOS imaging array sensor having a plurality of pixels adaptable to receive images of light sources forward of the vehicle, said distance sensor being operable to calculate a distance between at least one light source of interest and said distance sensor, said at least one pixelated CMOS imaging array sensor including first and second portions, each of said first and second portions receiving respective first and second images of the light sources; and a control responsive to said at least one imaging array sensor and operable to identify the light sources of interest as headlamps or taillights and to provide a control output to the vehicle, said control being responsive to said distance sensor to modulate the headlamps at least between a high beam state and a low beam state of the headlamps of the subject vehicle in response to the calculated distance between the at least one light source of interest and said distance sensor, said control being operable to classify each of the images received by said at least one imaging array sensor, said each image being classified according to at least one of a location relative to said distance sensor, a size of said image and an intensity of said image, said control classifying and labeling a plurality of segments representing a plurality of light sources in the target scene in response to signals received by said pixels of said at least one pixelated CMOS imaging array sensor, said plurality of segments being labeled according to a position on said at least one pixelated CMOS imaging array sensor and an intensity of said signals, wherein said distance sensor compares each of said plurality of segments on said first portion with corresponding segments on said second portion in order to determine a deviation between a first relative position of said segments on said first portion and a second relative position of said corresponding segments on said second portion, said distance to each of the plurality of objects being calculated as a function of said deviation and a separation distance