Vehicle vision system using kinematic model of vehicle motion

  • US 9,205,776 B2
  • Filed: 05/20/2014
  • Issued: 12/08/2015
  • Est. Priority Date: 05/21/2013
  • Status: Active Grant
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First Claim
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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.

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