`
`are defined as follows:
`
`1,
`
`An image sensing system for a vehicle, said image sensing system comprising:
`
`an imaging sensor comprising a two-dimensionalarray oflight sensing pixels;
`
`said imaging sensor having a forward field of view through the windshield of a vehicle
`
`equipped with said image sensing system to the exterior of the equipped vehicle;
`
`wherein said imaging sensor is operable to capture image data;
`
`a control comprising an image processor;
`
`wherein said image sensing system determines an object of interest present in said
`forward field of view of said imaging sensor via processing of said captured image data by said
`image processor; and
`
`wherein said image processing comprisesspatialfiltering.
`
`2.
`
`The image sensing system of claim 1, wherein said spatial filtering enhances
`
`determination of an object of interest present in said forward field of view of said imaging sensor
`
`by comparison of data from at least one of (a) adjacent pixels of said imaging sensor and (b)
`
`adjacent pixel groups of said imaging sensor.
`
`3,
`
`The image sensing system of claim 2, wherein said spatial filtering enhances
`
`determination of at least one light source present in said forward field of view of said imaging
`
`sensor.
`
`4,
`
`The image sensing system of claim 1, wherein said spatial filtering enhances
`
`determination of at least one of a headlamp of an approaching vehicle ahead of the equipped
`
`5,
`
`The image sensing system of claim 1, wherein said spatial filtering comprises analysis of
`
`a spectral signature representative of at least one detected light source present in said forward
`
`field of view of said imaging sensor,
`
`-18-
`
`vehicle andataillight of a leading vehicle ahead of the equipped vehicle.
`
`
`
`
`
`The image sensing system of claim 1, whereinsaidspatial filtering evaluates adjacent
`6.
`pixel groups to distinguish more closely proximate detected light sources from more spaced apart
`
`detected light sources,
`
`The image sensing system of claim 6, wherein said spatial filtering enhances
`7.
`determination ofa streetlight by determining the proximity of detected red light and detected
`
`white light present in said forward field of view of said imaging sensor.
`
`8,
`
`The image sensing system of claim 1, wherein said spatial filtering, at least in part,
`
`identifies atmospheric conditions.
`
`9,
`
`The image sensing system of claim 8, whereinsaid spatial filtering, at least in part,
`
`identifies at least one of (i) fog, (ii) rain and (iii) snow.
`
`The image sensing system of claim 8, wherein said spatial filtering, at least in part,
`10.
`identifies atmospheric conditions by detecting at least one effect on a light source presentin said
`
`forward field of view of said imaging sensor caused by different types of atmospheric conditions.
`
`11.
`
`The image sensing system of claim 8, wherein said spatial filtering, at least in part,
`
`identifies fog by detecting a series of transition regions that extend from a detected light source,
`
`-
`
`12.
`
`The image sensing system of claim 8, wherein at least one forward facinglight of the
`
`equipped vehicle is adjusted at least in part responsive to said identification of atmospheric
`
`conditions.
`
`The image sensing system of claim 1, wherein said spatial filtering is enhanced by
`13.
`comparing image data over successive frames of said captured imagedata.
`
`14.
`The image sensing system of claim 1, wherein said image processing comprises pattern
`recognition and wherein said pattern recognition comprises detection ofat least one of (a) a
`
`-19-
`
`
`
`
`
`
`
`headlight, (b) a taillight and (c) an object, and wherein said pattern recognition is basedat least in
`part on at least oneof(i) shape,(ii) reflectivity,(iii) luminance and(iv) spectral characteristic.
`
`15.
`
`The image sensing system of claim 1, wherein at least one of(a) said imaging sensorisat
`
`or proximate to an interior rearview mirror assembly ofthe equipped vehicle, and(b) said
`
`imaging sensoris at or proximate to the in-cabin surface of the windshield of the equipped
`
`vehicle,
`
`16.
`
`The image sensing system of claim 1, wherein said image sensing system determines
`
`objects of interest based, at least in part, on at least oneof(i) spatial differentiation, (ii) spectral
`
`signature recognition,and (iti) pattern recognition.
`
`17.
`
`The image sensing system of claim 1, wherein detected objects are qualified as objects of
`
`interest based, at least in part, on object motion in said field of view of said imaging sensor.
`
`18.
`
`The image sensing system of claim 17, wherein detected objects are disqualified based, at
`
`least in part, on object motion in said field of view of said imaging sensor.
`
`The image sensing system of claim 1, wherein said image sensing system determines an
`19.
`environmentin which the equipped vehicle is being driven, and wherein said image sensing
`
`system controls a headlamp of the equipped vehicle at least in part responsive to said
`
`determination of the environment in which the equipped vehicle is driven.
`
`20.
`
`The imagesensing system of claim 1, wherein said image sensing system, at least in part,
`
`detects lane markers on a road being traveled by the equipped vehicle and present in the field of
`
`view of said imaging sensor in orderto at least one of (a) assist the driver in steering the
`
`equipped vehicle and (b) provide a warningto the driver of the equipped vehicle.
`
`21.
`
`The image sensing system of claim 20, wherein said detection of lane markers comprises
`
`identification of lane markers by spectral signature.
`
`-20-
`
`
`
`
`
`22,
`
`The image sensing system of claim 1, wherein said image sensing system,at least in part,
`
`identifies traffic signs.
`
`The image sensing system of claim 22, wherein said image sensing system,at least in
`23.
`part, identifies traffic signs by at least one of (a) a spectral signature ofthe traffic signs and (b) a
`
`geometric organization of the traffic signs.
`
`The image sensing system of claim 1, wherein said array of light sensing photosensor
`24,
`elements is formed on a semiconductor substrate, and wherein said array of light sensing
`photosensor elements andassociated circuitry are formed on said semiconductor substrate and
`wherein said associated circuitry comprises at least oneof(i) an analog-to-digital converter,(ii) a
`logic circuit, (iii) a clock, (iv) random access memory, and (v) a digital-to-analog converter, and
`wherein said array of light sensing photosensor elements and said associated circuitry are formed
`
`on said semiconductor substrate as a CMOSdevice.
`
`The image sensing system of claim 1, wherein at least one of(a) at least a portion of said
`25.
`control is commonly formed with said array of light sensing photosensor elements on a
`semiconductor substrate as an integrated circuit, (b) said control comprises a logic circuit and at
`least a portion ofsaid logic circuit comprises a configuration of digital logic elements formed on
`a semiconductor substrate, and (c) said control comprisesa logic circuit comprising at least one
`
`of (i) a central processing unit and (ii) a read-only-memory.
`
`The image sensing system of claim 1, wherein said control at least one of (a) controls a
`26,
`headlampofthe equipped vehicle as a function of a speed of the equipped vehicle, (b) controls a
`headlamp of the equipped vehicle in response to said image processing, (c) controls a speed of
`the equipped vehicle in response to said image processing, and (d) generates analert to the driver
`of the equipped vehicle in response to said image processing.
`
`The image sensing system of claim 1, wherein said image sensing system determines
`27.
`headlamps of approaching vehicles andtaillights of leading vehicles,
`
`-21-
`
`
`
`
`
`28.
`
` Animagesensing system for a vehicle, said image sensing system comprising:
`
`an imaging sensor comprising a two-dimensionalarray of light sensing pixels;
`
`wherein said array of light sensing photosensor elements and associated circuitry are
`
`formed on a semiconductor substrate and wherein said associated circuitry comprises at least one
`
`of (i) an analog-to-digital converter, (ii) a logic circuit, (iii) a clock, (iv) random access memory,
`
`and (v) a digital-to-analog converter, and wherein said array of light sensing photosensor
`
`elements and said associated circuitry are formed on said semiconductor substrate as a CMOS
`
`device;
`
`said imaging sensor having a forward field of view through the windshield of a vehicle
`
`equipped with said image sensing system to the exterior of the equipped vehicle;
`
`wherein said imaging sensor is operable to capture image data;
`
`a control comprising an image processor;
`
`wherein said image sensing system determines an object of interest present in said
`
`forwardfield of view of said imaging sensor via processing of said captured image data by said
`
`image processor;
`
`wherein said image processing comprises spatial filtering; and
`
`wherein said spatial filtering, at least in part, identifies atmospheric conditions.
`
`29,
`
`The image sensing system of claim 28, wherein said spatial filtering, at least in part,
`
`identifies at least one of(i) fog, (i1) rain and (iii) snow.
`
`30,
`
`The image sensing system of claim 28, wherein said spatial filtering, at least in part,
`
`identifies atmospheric conditions by detecting at least one effect on a light source present in said
`
`forward field of view of said imaging sensor caused by different types of atmospheric conditions,
`
`31,
`
`The image sensing system of claim 28, wherein at least one forward facing light of the
`
`equipped vehicle is adjusted at least in part responsive to said identification of atmospheric
`
`conditions.
`
`32.
`
`The image sensing system of claim 28, wherein said spatial filtering enhances
`
`determination of an object of interest present in said forward field of view of said imaging sensor
`
`-22-
`
`
`
`
`
`by comparisonof data from at least one of (a) adjacent pixels of said imaging sensor and (b)
`
`adjacent pixel groups of said imaging sensor.
`
`33.
`
`The image sensing system of claim 28, wherein said spatial filtering enhances
`
`determination ofat least one light source present in said forward field of view of said imaging
`
`sensor,
`
`34.
`
`The image sensing system of claim 28, wherein said image processing comprises pattern
`
`recognition and wherein said pattern recognition comprises detection of at least one of (a) a
`headlight, (b) a taillight and (c) an object, and whereinsaid pattern recognition is based at least in
`part on at least one of(i) shape,(ii) reflectivity, (iii) luminance and(iv) spectral characteristic.
`
`35.
`
` Animage sensing system for a vehicle, said image sensing system comprising:
`
`an imaging sensor comprising a two-dimensional array oflight sensing pixels;
`said imaging sensor having a forwardfield of view through the windshield of a vehicle
`equipped with said image sensing system to the exterior of the equipped vehicle;
`
`wherein said imaging sensor is operable to capture image data;
`
`a control comprising an image processor;
`
`wherein said image sensing system determines an object of interest present in said
`
`forward field of view of said imaging sensor via processing of said captured image data by said
`
`image processor;
`
`wherein said image processing comprises spatial filtering;
`
`wherein said spatial filtering enhances determination ofat least one of a headlamp of an
`
`the equipped vehicle; and
`
`whereinsaid spatial filtering comprises analysis of a spectral signature representative of
`
`at least one detected light source present in said forward field of view of said imaging sensor.
`
`36,
`
`The image sensing system of claim 35, wherein said spatial filtering, at least in part,
`
`identifies atmospheric conditions, and wherein at least one forward facing light of the equipped
`
`vehicle is adjusted at least in part responsiveto said identification of atmospheric conditions.
`
`-23-
`
`approaching vehicle ahead of the equipped vehicle andataillight of a leading vehicle ahead of
`
`
`
`
`
`37.
`
`The image sensing system of claim 35, wherein said spatial filtering enhances
`
`determination of an object of interest present in said forward field of view of said imaging sensor
`
`by comparison of data from at least one of (a) adjacent pixels of said imaging sensor and (b)
`
`adjacent pixel groupsof said imaging sensor.
`
`38.
`
`The image sensing system of claim 35, wherein said spatial filtering enhances
`
`determination of at least one light source present in said forward field of view of said imaging
`
`sensor,
`
`
`
`-24-
`
`
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