Vehicle vision system using kinematic model of vehicle motion

摘要

A vision system of a vehicle includes a camera disposed at the vehicle and having a field of view exterior of the vehicle. The camera is operable to capture frames of image data. Responsive to image processing by an image processor of captured image data, a control is operable to determine objects present in the field of view of the camera. Responsive to vehicle data, the control determines a vehicle motion vector during driving of the vehicle by a driver of the vehicle. The control determines movement of an object relative to the vehicle via image processing of at least two frames of captured image data during driving of the vehicle by the driver of the vehicle. The control compares the determined relative movement of the object to the determined vehicle motion vector, and responsive to the comparison, the control may determine a misalignment of the camera.

主权项

1. A vision system of a vehicle comprising:
a camera disposed at a vehicle and having a field of view exterior of the vehicle; wherein said camera comprises a two dimensional array of a plurality of photosensing elements; wherein said camera is operable to capture frames of image data; a control, said control comprising an image processor operable to process image data captured by said camera; wherein, responsive to image processing of captured image data, said control is operable to determine objects present in the field of view of said camera; wherein, responsive to vehicle data, said control determines a vehicle motion vector during driving of the vehicle by a driver of the vehicle; wherein the vehicle data includes at least two of (i) steering information of the vehicle, (ii) speed of the vehicle and (iii) distance traveled by the vehicle; wherein said control determines movement of an object relative to the vehicle via image processing of at least two frames of captured image data during driving of the vehicle by the driver of the vehicle; wherein said control compares the determined relative movement of the object to the determined vehicle motion vector; and wherein, responsive to a difference between the determined relative movement of the object and the determined vehicle motion vector, said control determines a misalignment of said camera.