A vehicular sensing system has been invented that includes a single vision sensor positioned to detect an object. A controller coupled to the sensor generates a safety system signal in response to the object detection signal and to the position of the sensor.Applications: Object detection for performing collision warning; countermeasure systems operation (detection, classification, tracking and relative distance and velocity estimation of objects).Assignee: Ford Global Technologies LLC (Dearborn, Mich.)Inventor: J. RuppFiling/Publication Date: 12-22-03/06-17-08