Vehicle vision system with yaw rate determination

摘要

A vision system for a vehicle includes a camera disposed at or proximate to an in-cabin portion of a windshield of the vehicle. The camera has a forward field of view to the exterior of the vehicle through the windshield of the vehicle. The camera is operable to capture image data. A control includes an image processor that is operable to process captured image data to determine lane delimiters present in the field of view of the camera. The control connects to a vehicle communication bus of the vehicle and receives vehicle data via the vehicle communication bus. Responsive at least in part to processing of captured image data by the image processor and to vehicle data received via the vehicle communication bus, the control determines a yaw rate. The control provides the determined yaw rate to a driver assistance system of the vehicle.

主权项

1. A vision system for a vehicle, said vision system comprising:
a camera comprising a lens and a CMOS photosensor array; said photosensor array comprising a plurality of photosensor elements arranged in a matrix that comprises multiple columns of photosensor elements and multiple rows of photosensor elements; wherein said camera is disposed at or proximate to an in-cabin portion of a windshield of a vehicle equipped with said vision system; wherein said camera has a forward field of view to the exterior of the equipped vehicle through the windshield of the equipped vehicle; wherein said camera is operable to capture image data; a control comprising an image processor; wherein said image processor is operable to process captured image data to determine lane delimiters present in the field of view of said camera; said control connecting to a vehicle communication bus of the equipped vehicle; said control receiving vehicle data via said vehicle communication bus; wherein said vehicle data is provided by at least one of (i) an accelerometer of the equipped vehicle, (ii) a transmission sensor of the equipped vehicle, (iii) a steering angle sensor of the equipped vehicle, (iv) a speed sensor of the equipped vehicle and (v) a brake sensor of the equipped vehicle; wherein, responsive at least in part to processing of captured image data by said image processor and to vehicle data received via said vehicle communication bus, said control determines a yaw rate; and wherein said control provides the determined yaw rate to a driver assistance system of the equipped vehicle.