최소 단어 이상 선택하여야 합니다.
최대 10 단어까지만 선택 가능합니다.
다음과 같은 기능을 한번의 로그인으로 사용 할 수 있습니다.
NTIS 바로가기다음과 같은 기능을 한번의 로그인으로 사용 할 수 있습니다.
DataON 바로가기다음과 같은 기능을 한번의 로그인으로 사용 할 수 있습니다.
Edison 바로가기다음과 같은 기능을 한번의 로그인으로 사용 할 수 있습니다.
Kafe 바로가기국가/구분 | United States(US) Patent 등록 |
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국제특허분류(IPC7판) |
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출원번호 | US-0689798 (2012-11-30) |
등록번호 | US-8481910 (2013-07-09) |
발명자 / 주소 |
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출원인 / 주소 |
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대리인 / 주소 |
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인용정보 | 피인용 횟수 : 16 인용 특허 : 242 |
An image sensing system for a vehicle includes an imager disposed at or proximate to an in-cabin portion of a vehicle windshield and having a forward field of view to the exterior of the vehicle through the vehicle windshield. The photosensor array of the imager is operable to capture image data. Th
An image sensing system for a vehicle includes an imager disposed at or proximate to an in-cabin portion of a vehicle windshield and having a forward field of view to the exterior of the vehicle through the vehicle windshield. The photosensor array of the imager is operable to capture image data. The image sensing system identifies objects in the forward field of view of the imager via processing of captured image data by an image processor. The photosensor array may be operable to capture frames of image data and the image sensing system may include an exposure control which determines an accumulation period of time that the photosensor array senses light when capturing a frame of image data. Identification of objects may be based at least in part on at least one of (i) shape, (ii) luminance, (iii) geometry, (iv) spatial location, (v) motion and (vi) spectral characteristic.
1. An image sensing system for a vehicle, said image sensing system comprising: an imager comprising a two-dimensional CMOS photosensor array of light sensing photosensor elements;wherein said imager is disposed at or proximate to an in-cabin portion of a windshield of a vehicle equipped with said i
1. An image sensing system for a vehicle, said image sensing system comprising: an imager comprising a two-dimensional CMOS photosensor array of light sensing photosensor elements;wherein said imager is disposed at or proximate to an in-cabin portion of a windshield of a vehicle equipped with said image sensing system, and wherein said imager has a forward field of view to the exterior of the equipped vehicle through the windshield of the equipped vehicle;wherein said photosensor array is operable to capture image data;a control comprising an image processor;wherein said image sensing system identifies objects in said forward field of view of said imager via processing of captured image data by said image processor;wherein said image sensing system is operable to identify at least one of (i) approaching headlights, (ii) leading taillights, (iii) lane markers, (iv) traffic signs, (v) traffic lights, (vi) stop signs and (vii) caution signs;wherein said photosensor array is operable to capture frames of image data; andwherein said image sensing system includes an exposure control which determines an accumulation period of time that said photosensor array senses light when capturing a frame of image data. 2. The image sensing system of claim 1, wherein said imager has a forward field of view to the exterior of the equipped vehicle through the windshield of the equipped vehicle at a region of the windshield that is swept by a windshield wiper of the equipped vehicle. 3. The image sensing system of claim 1, wherein said exposure control determines a plurality of accumulation periods of time that said photosensor array senses light when capturing frames of image data. 4. The image sensing system of claim 3, wherein said plurality of accumulation periods comprises a first accumulation period for a first frame of captured image data and a second accumulation period for a second frame of captured image data and wherein said first accumulation period is a longer time period than said second accumulation period. 5. The image sensing system of claim 4, wherein said second frame of captured image data is the next frame that immediately follows capture by said photosensor array of said first frame of captured image data. 6. The image sensing system of claim 4, wherein said first frame is used when detecting leading vehicle taillights. 7. The image sensing system of claim 4, wherein said second frame is used when detecting approaching vehicle headlights. 8. The image sensing system of claim 1, wherein said exposure control is adaptive. 9. The image sensing system of claim 8, wherein an accumulation period for a frame of captured image data is set on a priority basis. 10. The image sensing system of claim 8, wherein an accumulation period for a frame of captured image data is determined in response to what said image sensing system is sensing to be present in the forward field of view of said imager. 11. The image sensing system of claim 10, wherein what said image sensing system is sensing to be present in the forward field of view of said imager comprises at least one of (a) a headlight of an approaching vehicle and (b) a taillight of a leading vehicle. 12. The image sensing system of claim 1, wherein said exposure control operates to mitigate at least one of (i) saturation of photosensor elements of said photosensor array and (ii) blooming. 13. The image sensing system of claim 1, wherein said exposure control maintains an accumulation period until an object of interest is at least tentatively detected. 14. The image sensing system of claim 13, wherein said exposure control changes to a different accumulation period when an object of interest is at least tentatively detected. 15. The image sensing system of claim 14, wherein said object of interest comprises a headlight of an approaching vehicle. 16. The image sensing system of claim 15, wherein said exposure control changes to a shorter accumulation period when a headlight of an approaching vehicle is at least tentatively detected. 17. The image sensing system of claim 1, wherein said photosensor array of light sensing photosensor elements is operated by a digital signal processor to have said accumulation period. 18. The image sensing system of claim 1, wherein said photosensor array of light sensing photosensor elements comprises at least 262,144 photosensor elements. 19. The image sensing system of claim 1, wherein said imager comprises a spectral filter that substantially attenuates light having a wavelength greater than about 830 nanometers and wherein light emitted by sources external of the equipped vehicle and/or reflected by objects external of the equipped vehicle passes through, and is filtered by, said spectral filter to be incident on at least some of said light sensing photosensor elements of said photosensor array. 20. The image sensing system of claim 1 comprising a spectral filter, wherein light emitted by sources external of the equipped vehicle and/or reflected by objects external of the equipped vehicle passes through, and is filtered by, said spectral filter to be incident on at least some of said light sensing photosensor elements of said photosensor array. 21. The image sensing system of claim 20, wherein said spectral filter comprises a red filter that passes visible light of wavelength generally in the red portion of the visible spectrum and that substantially attenuates light having wavelengths generally outside the red portion of the visible spectrum. 22. The image sensing system of claim 20, wherein said spectral filter comprises a red complement filter that substantially passes wavelengths generally outside the red portion of the visible spectrum and that substantially attenuates wavelengths generally in the red portion of the visible spectrum. 23. The image sensing system of claim 20, wherein said imager comprises a lens. 24. The image sensing system of claim 23, wherein said photosensor array of light sensing photosensor elements, said lens and said spectral filter are housed within an imager module. 25. The image sensing system of claim 24, wherein said imager module is housed in a housing that mounts via a bracket to the vehicle windshield. 26. The image sensing system of claim 25, wherein said bracket also mounts an interior rearview minor. 27. The image sensing system of claim 23, wherein said spectral filter is disposed between said lens and said photosensor array of light sensing photosensor elements. 28. The image sensing system of claim 1, wherein said imager comprises a lens. 29. The image sensing system of claim 28, wherein a spectral filter is disposed between said lens and said photosensor array of light sensing photosensor elements. 30. The image sensing system of claim 1, wherein said imager is disposed at a windshield electronics module and wherein said windshield electronics module comprises a housing that mounts via a bracket to the windshield of the equipped vehicle. 31. The image sensing system of claim 30, wherein said bracket also mounts an interior rearview minor. 32. The image sensing system of claim 1, wherein at least one of (a) said photosensor array of light sensing photosensor elements comprises an array of rows and columns and wherein at least one of (i) the number of columns exceeds 512, (ii) the number of rows exceeds 512 and (iii) said photosensor array of light sensing photosensor elements comprises at least 262,144 photosensor elements, (b) said image sensing system processes said image data to identify objects based, at least in part, on at least one of (i) spatial differentiation and (ii) spectral characteristic, and (c) identification of objects is enhanced by comparing image data of objects over successive frames of captured image data. 33. The image sensing system of claim 1, wherein identification of objects is based at least in part on a spectral characteristic of objects present in said forward field of view, and wherein identification of objects is based at least in part on said control determining that spatially adjacent regions of said forward field of view include objects having a particular spectral characteristic. 34. The image sensing system of claim 1, wherein, at least in part responsive to image processing of captured image data by said image processor, said control determines if a particular object present forward of the equipped vehicle has a particular spectral characteristic by comparing levels of light sensed by photosensor elements which respond to light in a particular spectral region with levels of light sensed by photosensor elements which respond to light in a different spectral region, and wherein said object present forward of the equipped vehicle comprises one of (i) an approaching headlight, (ii) a leading taillight, (iii) a lane marker, (iv) a traffic sign, (v) a traffic light, (vi) a stop sign and (vii) a caution sign. 35. The image sensing system of claim 1, wherein a red spectral filter is disposed at some of said light sensing photosensor elements and a red spectral filter is not disposed at others of said light sensing photosensor elements. 36. The image sensing system of claim 35, wherein at least one of (a) said others of said light sensing photosensor elements are neighbors of said red filtered light sensing photosensor elements, and (b) said others of said light sensing photosensor elements are immediately adjacent to said red filtered light sensing photosensor elements. 37. The image sensing system of claim 1, wherein at least one of (a) said image sensing system determines an activity level at the equipped vehicle, (b) said image sensing system determines an environment in which the equipped vehicle is being driven, and (c) said image sensing system determines an environment in which the equipped vehicle is being driven and said image sensing system controls a headlight of the equipped vehicle at least in part responsive to said determination of the environment in which the equipped vehicle is being driven. 38. The image sensing system of claim 1, wherein, at least in part responsive to image processing of captured image data by said image processor, said image sensing system is operable to identify lane markers on a road being traveled by the equipped vehicle in order to at least one of (a) assist the driver in steering the equipped vehicle and (b) provide a warning to the driver of the equipped vehicle, and wherein identification of lane markers, at least in part, comprises identification of lane markers by a spectral characteristic. 39. The image sensing system of claim 1, wherein identification of objects is based at least in part on at least one of (i) shape, (ii) luminance, (iii) geometry, (iv) spatial location, (v) motion and (vi) spectral characteristic. 40. The image sensing system of claim 1, wherein, at least in part responsive to image processing of captured image data by said image processor, said image sensing system is operable to identify traffic signs and wherein said image sensing system is operable to identify traffic signs by at least one of (a) a spectral characteristic of the traffic signs and (b) a geometric organization of the traffic signs. 41. The image sensing system of claim 1, wherein, at least in part responsive to image processing of captured image data by said image processor, said image sensing system is operable to determine that at least one of rain, fog and mist is present in said forward field of view. 42. The image sensing system of claim 1, wherein said control controls a headlight of the equipped vehicle responsive to identification of at least one of (i) a headlight of an approaching vehicle in said forward field of view and (ii) a taillight of a leading vehicle in said forward field of view, and wherein said control is operable to at least one of (a) adjust an aim of the headlight of the equipped vehicle, (b) adjust an intensity of the headlight of the equipped vehicle, (c) adjust a beam pattern of the headlight of the equipped vehicle and (d) switch between a daytime running light beam condition and a different beam condition. 43. The image sensing system of claim 1, wherein said control, at least in part responsive to processing of captured image data by said image processor, is operable to determine an ambient light level at the equipped vehicle, and wherein said control determines the ambient light level by processing image data captured by a subset of said light sensing photosensor elements over a period of time. 44. The image sensing system of claim 1, wherein, at least in part responsive to processing of captured image data by said image processor, said control at least one of (a) controls a headlight of the equipped vehicle at least in part as a function of the speed of the equipped vehicle, (b) controls a headlight of the equipped vehicle, (c) controls a speed of the equipped vehicle and (d) generates an alert to the driver of the equipped vehicle. 45. The image sensing system of claim 1, wherein, at least in part responsive to processing of captured image data by said image processor, said control at least one of (i) warns the driver of the equipped vehicle, (ii) decelerates the equipped vehicle and (iii) stops the equipped vehicle. 46. The image sensing system of claim 1, wherein said image sensing system is operable to detect the state of a traffic light, and wherein, at least in part responsive to processing of captured image data by said image processor, said control detects the color state of said traffic light and said control at least one of (i) warns the driver of the equipped vehicle, (ii) decelerates the equipped vehicle and (iii) stops the equipped vehicle, and wherein said image processor detects the color state of said traffic light changing from at least one of (a) green to yellow and (b) yellow to red. 47. The image sensing system of claim 1, wherein at least one of (a) image processing of captured image data by said image processor comprises determination that an object present forward of the equipped vehicle is a stop sign based upon at least one of (i) the object comprising an octagon shape, (ii) the object comprising a red color and (iii) the spatial location of the object in the field of view of said imager, and (b) image processing of captured image data by said image processor comprises determination that an object present forward of the equipped vehicle is a caution sign based upon at least one of (i) the object comprising a triangular shape, (ii) the object comprising a yellow color and (iii) the spatial location of the object in the field of view of said imager. 48. The image sensing system of claim 1, wherein said imager is accommodated in a body at the in-cabin portion of the windshield of the equipped vehicle. 49. An image sensing system for a vehicle, said image sensing system comprising: an imager comprising a two-dimensional CMOS photosensor array of light sensing photosensor elements;wherein said imager is disposed at or proximate to an in-cabin portion of a windshield of a vehicle equipped with said image sensing system, and wherein said imager has a forward field of view to the exterior of the equipped vehicle through the windshield of the equipped vehicle;wherein said photosensor array is operable to capture image data;a control comprising an image processor;wherein said image sensing system identifies objects in said forward field of view of said imager via processing of captured image data by said image processor;wherein identification of objects is based at least in part on at least one of (i) shape, (ii) luminance, (iii) geometry, (iv) spatial location, (v) motion and (vi) spectral characteristic;wherein objects identified by said image sensing system comprise at least one of (i) headlights of approaching vehicles, (ii) taillights of leading vehicles, (iii) lane markers on a road being traveled by the equipped vehicle, (iv) traffic signs, (v) traffic lights, (vi) stop signs and (vii) caution signs;wherein said photosensor array is operable to capture frames of image data;wherein said image sensing system includes an exposure control which determines an accumulation period of time that said photosensor array senses light when capturing a frame of image data; andwherein, responsive at least in part to image processing of captured image data by said image processor, said control at least one of (a) controls a headlight of the equipped vehicle, (b) controls a headlight of the equipped vehicle as a function of a speed of the equipped vehicle, (c) controls a speed of the equipped vehicle, (d) generates an alert to the driver of the equipped vehicle, (e) warns the driver of the equipped vehicle, (f) decelerates the equipped vehicle, (g) stops the equipped vehicle, (h) determines an ambient light level at the equipped vehicle, (i) activates a fog light of the equipped vehicle, (j) adjusts a light beam emitted by a headlight of the equipped vehicle, (k) inhibits operation of a headlight of the equipped vehicle in a high beam state, (l) assists the driver in steering the equipped vehicle, (m) adjusts an aim of a headlight of the equipped vehicle, (n) adjusts an intensity of a headlight of the equipped vehicle, (o) adjusts a beam pattern of a headlight of the equipped vehicle, (p) switches between a first lighting condition and a second lighting condition, (q) discriminates headlights of approaching vehicles from streetlights, (r) discriminates taillights of leading vehicles from streetlights, (s) discriminates headlights of approaching vehicles from reflections off signs of light emitted by a headlight of the equipped vehicle, (t) discriminates taillights of leading vehicles from reflections off signs of light emitted by a headlight of the equipped vehicle, and (u) determines at least one of fog, rain and mist in said forward field of view. 50. The image sensing system of claim 49, wherein said imager has a forward field of view to the exterior of the equipped vehicle through the windshield of the equipped vehicle at a region of the windshield that is swept by a windshield wiper of the equipped vehicle. 51. The image sensing system of claim 49, wherein a red spectral filter is disposed at some of said light sensing photosensor elements and wherein a red spectral filter is not disposed at others of said light sensing photosensor elements. 52. The image sensing system of claim 51, wherein said imager comprises a lens. 53. The image sensing system of claim 52, wherein said red spectral filter is disposed between said lens and said photosensor array of light sensing photosensor elements. 54. The image sensing system of claim 52, wherein said photosensor array of light sensing photosensor elements, said lens and said red spectral filter are housed within an imager module, and wherein said imager module is housed in a housing that mounts via a bracket to the vehicle windshield. 55. The image sensing system of claim 54, wherein at least one of (a) said exposure control determines a plurality of accumulation periods of time that said photosensor array senses light when capturing frames of image data, (b) said exposure control determines a plurality of accumulation periods of time that said photosensor array senses light when capturing frames of image data and wherein said plurality of accumulation periods comprises a first accumulation period for a first frame of captured image data and a second accumulation period for a second frame of captured image data and wherein said first accumulation period is a longer time period than said second accumulation period, (c) said exposure control determines a plurality of accumulation periods of time that said photosensor array senses light when capturing frames of image data and wherein said plurality of accumulation periods comprises a first accumulation period for a first frame of captured image data and a second accumulation period for a second frame of captured image data and wherein said first accumulation period is a longer time period than said second accumulation period and wherein said first frame is used when detecting leading vehicle taillights and said second frame is used when detecting approaching vehicle headlights, (d) said exposure control is adaptive and wherein at least one of (i) an accumulation period for a frame of captured image data is set on a priority basis and (ii) an accumulation period for a frame of captured image data is determined in response to what said image sensing system is sensing to be present in the forward field of view of said imager, and (e) said exposure control maintains an accumulation period until an object of interest is at least tentatively detected and wherein said exposure control changes to a different accumulation period when an object of interest is at least tentatively detected. 56. The image sensing system of claim 55, wherein at least one of (a) at least a portion of said control is commonly formed with said photosensor array of light sensing photosensor elements on a semiconductor substrate, (b) said control comprises a logic circuit and at least a portion of said logic circuit is commonly formed with said photosensor array of light sensing photosensor elements on a semiconductor substrate, (c) said control comprises a logic circuit and at least a portion of said logic circuit comprises digital logic elements commonly formed with said photosensor array of light sensing photosensor elements on a semiconductor substrate, and (d) at least one of (i) a central processing unit, (ii) read-only-memory, (iii) an analog-to-digital converter, (iv) a logic circuit, (iv) a clock, (v) random access memory and (vi) a digital-to-analog converter is commonly formed with said photosensor array of light sensing photosensor elements on a semiconductor substrate. 57. The image sensing system of claim 56, wherein said photosensor array of light sensing photosensor elements comprises at least 262,144 photosensor elements. 58. The image sensing system of claim 49, wherein said control, responsive at least in part to processing of captured image data by said image processor, generates at least one control output for controlling a headlight of the equipped vehicle. 59. The image sensing system of claim 58, wherein said imager comprises a lens, and wherein light incident on said imager includes, at least in part, light output by the headlight of the equipped vehicle that is scattered by at least one of fog, snow and rain that is present in the field of view of said imager exterior and forward of the equipped vehicle, and wherein said image sensing system recognizes scattering of light output by the headlight of the equipped vehicle and wherein, responsive to recognition of scattering of light exterior and forward of the equipped vehicle, said control at least one of (a) selects an appropriate lighting configuration for the headlight of the equipped vehicle, (b) activates a fog light of the equipped vehicle, (c) adjusts a light beam emitted by the headlight of the equipped vehicle and (d) inhibits operation of the headlight of the equipped vehicle in a high beam state. 60. The image sensing system of claim 58, wherein captured image data is processed by said image processor to determine if at least one approaching or leading other vehicle is within a glare area for light emitted by the headlight of the equipped vehicle and if at least one approaching or leading other vehicle is within the glare area, the illumination range of the headlight of the equipped vehicle is reduced. 61. The image sensing system of claim 58, wherein manual operation of the headlight of the equipped vehicle remains functional. 62. The image sensing system of claim 49, wherein said image processor processes captured image data on a frame by frame basis and examines multiple frames in order to detect motion relative to the equipped vehicle of light sources that are external to the equipped vehicle. 63. The image sensing system of claim 62, wherein at least one of (a) said image processor compares multiple frames of captured data to detect vertical motion of said light sources relative to the equipped vehicle, (b) said light sources are overhead street lamps, (c) said image processor compares multiple frames of captured data to detect horizontal motion of said light sources relative to the equipped vehicle, and (d) said light sources are light reflected from reflectors. 64. The image sensing system of claim 49, wherein said imager is supported by a mounting structure that is adapted for attachment at the vehicle windshield so as to physically position said imager within the interior cabin of the equipped vehicle. 65. The image sensing system of claim 49, wherein said imager comprises a lens and wherein said lens is at least one of (i) bonded to said photosensor array and (ii) is close to said photosensor array. 66. The image sensing system of claim 49, wherein said imager is accommodated in a body at the in-cabin portion of the windshield of the equipped vehicle. 67. The image sensing system of claim 49, wherein, responsive at least in part to image processing of captured image data by said image processor, said control switches between a first lighting condition and a second lighting condition. 68. The image sensing system of claim 67, wherein said first lighting condition comprises a daytime running light beam condition and said second lighting condition comprises a different beam condition. 69. An image sensing system for a vehicle, said image sensing system comprising: an imager comprising a two-dimensional CMOS photosensor array of light sensing photosensor elements;wherein said imager is disposed at or proximate to an in-cabin portion of a windshield of a vehicle equipped with said image sensing system, and wherein said imager has a forward field of view to the exterior of the equipped vehicle through the windshield of the equipped vehicle;wherein said photosensor array is operable to capture image data;a control comprising an image processor;wherein said image sensing system identifies objects in said forward field of view of said imager via processing of captured image data by said image processor; andwherein at least one of (a) identification of objects is based at least in part on the spatial location of objects present in said forward field of view, (b) said image sensing system determines an activity level at the equipped vehicle, (c) said image sensing system determines an environment in which the equipped vehicle is being driven, (d) said image sensing system determines an environment in which the equipped vehicle is being driven and said image sensing system controls a headlight of the equipped vehicle at least in part responsive to said determination of the environment in which the equipped vehicle is being driven and (e) responsive at least in part to image processing by said image processor, said control at least one of (i) warns the driver of the equipped vehicle, (ii) decelerates the equipped vehicle and (iii) stops the equipped vehicle. 70. The image sensing system of claim 69, wherein said imager has a forward field of view to the exterior of the equipped vehicle through the windshield of the equipped vehicle at a region of the windshield that is swept by a windshield wiper of the equipped vehicle. 71. The image sensing system of claim 69, wherein, at least in part responsive to image processing of captured image data by said image processor, said image sensing system identifies at least one of (i) headlights of approaching vehicles, (ii) taillights of leading vehicles and (iii) lane markers on a road being traveled by the equipped vehicle. 72. The image sensing system of claim 69, wherein at least one of (a) a spectral filter is disposed at some of said light sensing photosensor elements and that spectral filter is not disposed at others of said light sensing photosensor elements, (b) said photosensor array of light sensing photosensor elements comprises at least 262,144 photosensor elements, (c) a red spectral filter is disposed at some of said light sensing photosensor elements and a red spectral filter is not disposed at others of said light sensing photosensor elements, (d) a red spectral filter is disposed at some of said light sensing photosensor elements and a red spectral filter is not disposed at others of said light sensing photosensor elements and said others of said light sensing photosensor elements are neighbors of said red filtered light sensing photosensor elements, and (e) a red spectral filter is disposed at some of said light sensing photosensor elements and a red spectral filter is not disposed at others of said light sensing photosensor elements and said others of said light sensing photosensor elements are immediately adjacent to said red filtered light sensing photosensor elements. 73. The image sensing system of claim 69, wherein, at least in part responsive to image processing of captured image data by said image processor, at least one of (i) said image sensing system is operable to identify lane markers on a road being traveled by the equipped vehicle in order to at least one of (a) assist the driver in steering the equipped vehicle and (b) provide a warning to the driver of the equipped vehicle and (ii) said image sensing system is operable to identify lane markers on a road being traveled by the equipped vehicle and wherein identification of lane markers comprises identification of lane markers by a spectral characteristic. 74. The image sensing system of claim 69, wherein said image sensing system includes an exposure control which determines an accumulation period of time that said photosensor array senses light when capturing a frame of image data and wherein at least one of (a) said exposure control determines a plurality of accumulation periods of time that said photosensor array senses light when capturing frames of image data, (b) said exposure control determines a plurality of accumulation periods of time that said photosensor array senses light when capturing frames of image data and wherein said plurality of accumulation periods comprises a first accumulation period for a first frame of captured image data and a second accumulation period for a second frame of captured image data and wherein said first accumulation period is a longer time period than said second accumulation period, (c) said exposure control determines a plurality of accumulation periods of time that said photosensor array senses light when capturing frames of image data and wherein said plurality of accumulation periods comprises a first accumulation period for a first frame of captured image data and a second accumulation period for a second frame of captured image data and wherein said first accumulation period is a longer time period than said second accumulation period and wherein said first frame is used when detecting leading vehicle taillights and said second frame is used when detecting approaching vehicle headlights, (d) said exposure control is adaptive and wherein at least one of (i) an accumulation period for a frame of captured image data is set on a priority basis and (ii) an accumulation period for a frame of captured image data is determined in response to what said image sensing system is sensing to be present in the forward field of view of said imager, and (e) said exposure control maintains an accumulation period until an object of interest is at least tentatively detected and wherein said exposure control changes to a different accumulation period when an object of interest is at least tentatively detected. 75. The image sensing system of claim 69, wherein at least one of (a) at least a portion of said control is commonly formed with said photosensor array of light sensing photosensor elements on a semiconductor substrate, (b) said control comprises a logic circuit and at least a portion of said logic circuit is commonly formed with said photosensor array of light sensing photosensor elements on a semiconductor substrate, (c) said control comprises a logic circuit and at least a portion of said logic circuit comprises digital logic elements commonly formed with said photosensor array of light sensing photosensor elements on a semiconductor substrate, and (d) at least one of (i) a central processing unit, (ii) read-only-memory, (iii) an analog-to-digital converter, (iv) a logic circuit, (iv) a clock, (v) random access memory and (vi) a digital-to-analog converter is commonly formed with said photosensor array of light sensing photosensor elements on a semiconductor substrate. 76. The image sensing system of claim 69, wherein said photosensor array of light sensing photosensor elements comprises an array of rows and columns and wherein at least one of (i) the number of columns exceeds 512, (ii) the number of rows exceeds 512 and (iii) said photosensor array of light sensing photosensor elements comprises at least 262,144 photosensor elements. 77. The image sensing system of claim 69, wherein said imager comprises a lens and wherein said photosensor array of light sensing photosensor elements, said lens and a spectral filter are housed within an imager module, and wherein said imager module is housed in a housing that mounts via a bracket to the vehicle windshield. 78. The image sensing system of claim 69, wherein, at least in part responsive to image processing of captured image data by said image processor, at least one of (a) objects present in said forward field of view are qualified based, at least in part, on object motion in said forward field of view of said imager, (b) objects present in said forward field of view are disqualified based, at least in part, on object motion in said forward field of view of said imager, (c) said image sensing system determines an activity level at the equipped vehicle, and (d) said image sensing system determines an environment in which the equipped vehicle is being driven and controls a headlight of the equipped vehicle at least in part responsive to said determination of the environment in which the equipped vehicle is being driven. 79. The image sensing system of claim 69, wherein at least one of (a) image processing of captured image data by said image processor comprises determination that an object present forward of the equipped vehicle is a stop sign based upon at least one of (i) the object comprising an octagon shape, (ii) the object comprising a red color and (iii) the spatial location of the object in the field of view of said imager, and (b) image processing of captured image data by said image processor comprises determination that an object present forward of the equipped vehicle is a caution sign based upon at least one of (i) the object comprising a triangular shape, (ii) the object comprising a yellow color and (iii) the spatial location of the object in the field of view of said imager. 80. The image sensing system of claim 69, wherein said imager is accommodated in a body that is attached at an in-cabin surface of a windshield of a vehicle. 81. An image sensing system for a vehicle, said image sensing system comprising: an imager comprising a two-dimensional CMOS photosensor array of light sensing photosensor elements;wherein said imager is disposed at or proximate to an in-cabin portion of a windshield of a vehicle equipped with said image sensing system, and wherein said imager has a forward field of view to the exterior of the equipped vehicle through the windshield of the equipped vehicle;wherein said photosensor array is operable to capture image data;a control comprising an image processor;wherein said image sensing system identifies objects in said forward field of view of said imager via processing of captured image data by said image processor;wherein said photosensor array is operable to capture frames of image data;wherein said photosensor array of light sensing photosensor elements comprises at least 262,144 photosensor elements; andwherein said imager comprises a lens. 82. The image sensing system of claim 81, wherein said imager has a forward field of view to the exterior of the equipped vehicle through the windshield of the equipped vehicle at a region of the windshield that is swept by a windshield wiper of the equipped vehicle. 83. The image sensing system of claim 81, wherein, at least in part responsive to image processing of captured image data by said image processor, said image sensing system is operable to identify at least one of (i) approaching headlights, (ii) leading taillights, (iii) lane markers, (iv) traffic signs, (v) traffic lights, (vi) stop signs and (vii) caution signs. 84. The image sensing system of claim 81, wherein said image sensing system includes an exposure control which determines an accumulation period of time that said photosensor array senses light when capturing a frame of image data. 85. The image sensing system of claim 81, comprising a spectral filter, wherein light emitted by sources external of the equipped vehicle and/or reflected by objects external of the equipped vehicle passes through, and is filtered by, said spectral filter to be incident on at least some of said light sensing photosensor elements of said photosensor array. 86. The image sensing system of claim 85, wherein said spectral filter substantially attenuates light having a wavelength greater than about 830 nanometers. 87. The image sensing system of claim 85, wherein said spectral filter comprises a red filter that passes visible light of wavelength generally in the red portion of the visible spectrum and that substantially attenuates light having wavelengths generally outside the red portion of the visible spectrum. 88. The image sensing system of claim 85, wherein said spectral filter comprises a red complement filter that substantially passes wavelengths generally outside the red portion of the visible spectrum and that substantially attenuates wavelengths generally in the red portion of the visible spectrum. 89. The image sensing system of claim 85, wherein said photosensor array of light sensing photosensor elements, said lens and said spectral filter are housed within an imager module. 90. The image sensing system of claim 85, wherein said spectral filter is disposed between said lens and said photosensor array of light sensing photosensor elements. 91. An image sensing system for a vehicle, said image sensing system comprising: an imager comprising a two-dimensional CMOS photosensor array of light sensing photosensor elements;wherein said imager is disposed at or proximate to an in-cabin portion of a windshield of a vehicle equipped with said image sensing system, and wherein said imager has a forward field of view to the exterior of the equipped vehicle through the windshield of the equipped vehicle;wherein said imager has a forward field of view to the exterior of the equipped vehicle through the windshield of the equipped vehicle at a region of the windshield that is swept by a windshield wiper of the equipped vehicle;wherein said photosensor array is operable to capture image data;a control comprising an image processor;wherein said image sensing system identifies objects in said forward field of view of said imager via processing of captured image data by said image processor;wherein said photosensor array is operable to capture frames of image data;wherein said photosensor array of light sensing photosensor elements comprises at least 262,144 photosensor elements;wherein said imager comprises a lens and a spectral filter; andwherein light emitted by sources external of the equipped vehicle and/or reflected by objects external of the equipped vehicle passes through, and is filtered by, said spectral filter to be incident on at least some of said light sensing photosensor elements of said photosensor array. 92. The image sensing system of claim 91, wherein, at least in part responsive to image processing of captured image data by said image processor, said image sensing system is operable to identify at least one of (i) approaching headlights, (ii) leading taillights, (iii) lane markers, (iv) traffic signs, (v) traffic lights, (vi) stop signs and (vii) caution signs. 93. The image sensing system of claim 91, wherein said image sensing system includes an exposure control which determines an accumulation period of time that said photosensor array senses light when capturing a frame of image data. 94. The image sensing system of claim 91, wherein said spectral filter substantially attenuates light having a wavelength greater than about 830 nanometers. 95. The image sensing system of claim 91, wherein said spectral filter comprises a red filter that passes visible light of wavelength generally in the red portion of the visible spectrum and that substantially attenuates light having wavelengths generally outside the red portion of the visible spectrum. 96. The image sensing system of claim 91, wherein said spectral filter comprises a red complement filter that substantially passes wavelengths generally outside the red portion of the visible spectrum and that substantially attenuates wavelengths generally in the red portion of the visible spectrum. 97. The image sensing system of claim 91, wherein said photosensor array of light sensing photosensor elements, said lens and said spectral filter are housed within an imager module. 98. The image sensing system of claim 97, wherein said spectral filter is disposed between said lens and said photosensor array of light sensing photosensor elements.
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