VEHICLE VISION SYSTEM WITH SITUATIONAL FUSION OF SENSOR DATA

摘要

A vision system of a vehicle includes a camera and a non-imaging sensor. With the camera and the non-imaging sensor disposed at the vehicle, the field of view of the camera at least partially overlaps the field of sensing of the non-imaging sensor at an overlapping region. A processor is operable to process image data captured by the camera and sensor data captured by the non-imaging sensor to determine a driving situation of the vehicle. Responsive to determination of the driving situation, Kalman Filter parameters associated with the determined driving situation are determined and, using the determined Kalman Filter parameters, a Kalman Filter fusion may be determined. The determined Kalman Filter fusion may be applied to captured image data and captured sensor data to determine an object present in the overlapping region.

主权项

1. A vision system of a vehicle, said vision system comprising:
a camera configured to be disposed at a vehicle equipped with said vision system so as to have a field of view exterior of the equipped vehicle; wherein said camera comprises a pixelated imaging array having a plurality of photosensing elements; a non-imaging sensor configured to be disposed at the equipped vehicle so as to have a field of sensing exterior of the equipped vehicle; wherein, with said camera and said non-imaging sensor disposed at the equipped vehicle, the field of view of said camera at least partially overlaps the field of sensing of said non-imaging sensor at an overlapping region; a processor operable to process image data captured by said camera and sensor data captured by said non-imaging sensor; wherein, with said camera and said non-imaging sensor disposed at the equipped vehicle, said processor is operable to process captured image data and captured sensor data to determine a driving situation of the equipped vehicle; and wherein, responsive to determination by said processor of the driving situation by processing of captured image data and captured sensor data, Kalman Filter parameters associated with the determined driving situation are determined, and, using the determined Kalman Filter parameters, a Kalman Filter fusion is determined, and wherein the determined Kalman Filter fusion is applied to captured image data and captured sensor data to determine an object present in the overlapping region.