Vehicle vision system with yaw rate determination

  • US 9,346,468 B2
  • Filed: 09/29/2014
  • Issued: 05/24/2016
  • Est. Priority Date: 03/01/2012
  • Status: Active Grant
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First Claim
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1. A vision system for a vehicle, said vision system comprising:

  • a camera comprising a lens and a 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 said vehicle data comprises a yaw rate sensed by a yaw rate 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 corrected yaw rate at least one of (i) when the equipped vehicle is stationary and (ii) when the equipped vehicle is moving straight; and

    wherein said control provides the corrected yaw rate to a driver assistance system of the equipped vehicle.

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