Vehicular vision system with detection and tracking of objects at the side of a vehicle

1. A vehicular vision system, the vehicular vision system comprising:

a camera disposed at a side of a vehicle and having afield of view exterior of the vehicle, wherein the camera comprises an imaging array having at least one million photosensor elements arranged in rows and columns, and wherein the camera is operable to capture frames of image data;

an image processor operable to process multiple frames of image data captured by the camera;

wherein, with the vehicle parked, the vehicular vision system processes via the image processor image data captured by the camera to detect a three dimensional object that is present in a detection zone at least partially along the side of the parked vehicle;

wherein, responsive to processing of captured image data by the image processor, the vehicular vision system determines a distal portion of the detected three dimensional object relative to the parked vehicle and determines a ground location at which the determined distal portion of the detected three dimensional object is located;

wherein, with the vehicle parked, the vehicular vision system processes via the image processor multiple frames of image data to track the detected three dimensional object present in the detection zone to determine movement of the detected three dimensional object relative to the parked vehicle;

wherein, responsive to tracking the detected three dimensional object, the vehicular vision system is operable to determine that the detected three dimensional object is in a danger zone at a side door of the parked vehicle;

wherein the danger zone comprises a sub-region of the detection zone at the side of the vehicle, and

wherein the danger zone includes a sweep area that the side door swings through when the side door is opening; and wherein, with the side door of the parked vehicle closed, and at least in part responsive to determination that the detected three dimensional object is in the danger zone, the vehicular vision system limits opening of the side door of the parked vehicle.

2. The vehicular vision system of claim 1 , wherein, with the side door of the parked vehicle closed, and at least in part responsive to determination that the detected three dimensional object is in the danger zone, the vehicular vision system generates an alert to an occupant of the parked vehicle.

3. The vehicular vision system of claim 1 , wherein, with the vehicle parked, the vehicular vision system processes via the image processor multiple frames of image data captured by the camera to determine whether the detected three dimensional object present in the detection zone is approaching the danger zone.

4. The vehicular vision system of claim 1 , wherein, responsive to processing of captured image data by the image processor, the vehicular vision system determines a ground location at which the detected three dimensional object is located.

5. The vehicular vision system of claim 4 , wherein, responsive to the determined ground location of the detected three dimensional object relative to the vehicle and based at least in part on height of the camera relative to the ground surface on which the vehicle is parked, the vehicular vision system determines distance to the detected three dimensional object.

6. The vehicular vision system of claim 5 , wherein the vehicular vision system determines distance to the detected three dimensional object using two dimensional information.

7. The vehicular vision system of claim 1 , wherein the vehicular vision system detects the three dimensional object responsive at least in part to a determination of a sudden illumination change via processing of captured image data.

8. The vehicular vision system of claim 7 , wherein, responsive to a determination of the sudden illumination change, the vehicular vision system merges an illumination invariant edge based technique.

9. The vehicular vision system of claim 1 , wherein the vehicular vision system is operable to (i) use a first algorithm to initially detect the three dimensional object and (ii) use a second algorithm to increase accuracy of detection of the three dimensional object.

10. The vehicular vision system of claim 1 , wherein the vehicular vision system is operable to (i) use a first algorithm to find the ground location at which the determined distal portion of the detected three dimensional object is located and (ii) use a second algorithm to increase accuracy of determination of the ground location at which the determined distal portion of the detected three dimensional object is located.

11. The vehicular vision system of claim 10 , wherein the second algorithm selects where to search to determine the ground location at which the determined distal portion of the detected three dimensional object is located.

12. The vehicular vision system of claim 10 , wherein the vehicular vision system is operable to use a third algorithm that searches a larger area to detect objects moving faster than the tracked three dimensional object.

13. The vehicular vision system of claim 1 , wherein the vehicular vision system does not track objects within the field of view of the camera that are outside of the detection zone.

14. A vehicular vision system, the vehicular vision system comprising:

a camera disposed at a side of a vehicle and having a field of view exterior of the vehicle, wherein the camera comprises an imaging array having at least one million photosensor elements arranged in rows and columns, and wherein the camera is operable to capture frames of image data;

an image processor operable to process multiple frames of image data captured by the camera;

wherein, with the vehicle parked, the vehicular vision system processes via the image processor image data captured by the camera to detect a pedestrian that is present in a detection zone at least partially along the side of the parked vehicle;

wherein, responsive to processing of captured image data by the image processor, the vehicular vision system determines a distal portion of the detected pedestrian relative to the parked vehicle and determines a ground location at which the determined distal portion of the detected pedestrian is located;

wherein, with the vehicle parked, the vehicular vision system processes via the image processor multiple frames of image data to track the detected pedestrian present in the detection zone to determine movement of the detected pedestrian relative to the parked vehicle;

wherein the vehicular vision system does not track objects within the field of view of the camera that are outside of the detection zone;

wherein, responsive to tracking the detected pedestrian, the vehicular vision system is operable to determine that the detected pedestrian is in a danger zone at a side door of the parked vehicle;

wherein the danger zone comprises a sub-region of the detection zone at the side of the vehicle, and wherein the danger zone includes a sweep area that the side door swings through when the side door is opening; and

wherein, with the side door of the parked vehicle closed, and at least in part responsive to determination that the detected pedestrian is in the danger zone, the vehicular vision system limits opening of the side door of the parked vehicle.

15. The vehicular vision system of claim 14 , wherein, with the side door of the parked vehicle closed, and at least in part responsive to determination that the detected pedestrian is in the danger zone, the vehicular vision system generates an alert to an occupant of the parked vehicle.

16. The vehicular vision system of claim 14 , wherein, with the vehicle parked, the vehicular vision system processes via the image processor multiple frames of image data captured by the camera to determine whether the detected pedestrian present in the detection zone is approaching the danger zone.

17. The vehicular vision system of claim 14 , wherein, responsive to processing of captured image data by the image processor, the vehicular vision system determines a ground location at which the detected pedestrian is located.

18. The vehicular vision system of claim 17 , wherein, responsive to the determined ground location of the detected pedestrian relative to the vehicle and based at least in part on height of the camera relative to the ground surface on which the vehicle is parked, the vehicular vision system determines distance to the detected pedestrian.

19. The vehicular vision system of claim 18 , wherein the vehicular vision system determines distance to the detected pedestrian using two dimensional information.

20. A vehicular vision system, the vehicular vision system comprising:

a camera disposed at a side of a vehicle and having a field of view exterior of the vehicle, wherein the camera comprises an imaging array having at least one million photosensor elements arranged in rows and columns, and wherein the camera is operable to capture frames of image data;

an image processor operable to process multiple frames of image data captured by the camera;

wherein, with the vehicle parked, the vehicular vision system processes via the image processor image data captured by the camera to detect a bicycle that is present in a detection zone at least partially along the side of the parked vehicle;

wherein, responsive to processing of captured image data by the image processor, the vehicular vision system determines a distal portion of the detected bicycle relative to the parked vehicle and determines a ground location at which the determined distal portion of the detected bicycle is located;

wherein, with the vehicle parked, the vehicular vision system processes via the image processor multiple frames of image data to track the detected bicycle present in the detection zone to determine movement of the detected bicycle relative to the parked vehicle;

wherein, responsive to tracking the detected bicycle, the vehicular vision system is operable to determine that the detected bicycle is in or approaching a danger zone at a side door of the parked vehicle;

wherein the danger zone comprises a sub-region of the detection zone at the side of the vehicle, and wherein the danger zone includes a sweep area that the side door swings through when the side door is opening; and

wherein, with the side door of the parked vehicle closed, and at least in part responsive to determination that the detected bicycle is in or approaching the danger zone, the vehicular vision system limits opening of the side door of the parked vehicle.

21. The vehicular vision system of claim 20 , wherein, with the side door of the parked vehicle closed, and at least in part responsive to determination that the detected bicycle is in or approaching the danger zone, the vehicular vision system generates an alert to an occupant of the parked vehicle.

22. The vehicular vision system of claim 20 , wherein the vehicular vision system does not track objects within the field of view of the camera that are outside of the detection zone.

23. The vehicular vision system of claim 20 , wherein, responsive to processing of captured image data by the image processor, the vehicular vision system determines a ground location at which the detected bicycle is located.

24. The vehicular vision system of claim 23 , wherein, responsive to the determined ground location of the detected bicycle relative to the vehicle and based at least in part on height of the camera relative to the ground surface on which the vehicle is parked, the vehicular vision system determines distance to the detected bicycle.

25. The vehicular vision system of claim 24 , wherein the vehicular vision system determines distance to the detected bicycle using two dimensional information.