VEHICLE VISION SYSTEM USING KINEMATIC MODEL OF VEHICLE MOTION

摘要

A vision system for a vehicle includes a plurality of cameras disposed at the vehicle and respective fields of view exterior of the vehicle. An electronic control unit includes an image processor operable to process image data captured by any or all of the cameras. Responsive to image processing of captured image data, the electronic control unit is operable to determine objects present in the field of view of at least one of the cameras. Responsive to vehicle data, the electronic control unit determines a vehicle motion vector during driving of the vehicle by a driver of the vehicle. The electronic control unit compares the determined relative movement of a determined object to the determined vehicle motion vector and, responsive to a difference between the determined relative movement of the object and the determined vehicle motion vector, the electronic control unit determines a misalignment of the at least one camera.

主权项

1. A vision system for a vehicle, said vision system comprising:
a plurality of cameras disposed at a vehicle equipped with said vision system; said plurality of cameras comprising at least (i) a first camera disposed at a rear portion of the equipped vehicle, (ii) a second camera disposed at a driver side portion of the equipped vehicle and (iii) a third camera disposed at a passenger side of the equipped vehicle; wherein each of said first, second and third cameras has a respective field of view exterior of the equipped vehicle; wherein each of said first, second and third cameras is operable to capture frames of image data; an electronic control unit, said electronic control unit comprising an image processor operable to process image data captured by any or all of said first, second and third cameras; wherein, responsive to image processing by said image processor of captured image data, said electronic control unit is operable to determine objects present in the field of view of at least one of said first, second and third cameras; wherein, responsive to vehicle data, said electronic control unit determines a vehicle motion vector during driving of the equipped vehicle by a driver of the equipped vehicle; wherein the vehicle data includes steering information of the equipped vehicle and at least one of (i) speed of the equipped vehicle and (ii) distance traveled by the equipped vehicle; wherein, during driving of the equipped vehicle by the driver of the equipped vehicle, said electronic control unit determines movement of an object relative to the equipped vehicle via image processing by said image processor of at least two frames of image data captured by said at least one of said first, second and third cameras; wherein said electronic control unit compares the determined relative movement of the object to the determined vehicle motion vector; wherein, responsive to a difference between the determined relative movement of the object and the determined vehicle motion vector, said electronic control unit determines a misalignment of said at least one of said first, second and third cameras; and wherein image data captured by cameras of said plurality of cameras is used by a surround view system of the equipped vehicle.