Vehicle vision system with yaw rate determination

Patent metadata

Field	Value
Publication number	US-9346468-B2
Application number	US-201414499784-A
Country	US
Kind code	B2
Filing date	Sep 29, 2014
Priority date	Mar 1, 2012
Publication date	May 24, 2016
Grant date	May 24, 2016

Abstract

A vision system for a vehicle includes a camera having a forward field of view to the exterior of the vehicle through the vehicle windshield. 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 and receives vehicle data via a vehicle communication bus. The vehicle data includes a yaw rate sensed by a yaw rate sensor of the vehicle. 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 corrected yaw rate at least one of (i) when the vehicle is stationary and (ii) when the vehicle is moving straight. The control provides the corrected yaw rate to a driver assistance system of the vehicle.

First claim

What is claimed is:

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.

2. The vehicular vision system of claim 1 , wherein said driver assistance system comprises at least one of (i) a collision avoidance system, (ii) a collision mitigation system and (iii) a stability control system.

3. The vehicular vision system of claim 1 , wherein said camera is part of at least one of (i) a lane departure warning system of the equipped vehicle, (ii) a lane keeping system of the equipped vehicle, (iii) a vehicle detection system of the equipped vehicle, (iv) an object detection system of the equipped vehicle, (v) a traffic sign recognition system of the equipped vehicle, (vi) a distance measurement system of the equipped vehicle and (vii) a headlamp control system of the equipped vehicle.

4. The vehicular vision system of claim 1 , wherein, responsive at least in part to processing of captured image data by said image processor, the heading of the equipped vehicle is determined.

5. The vehicular vision system of claim 1 , wherein at least one brake of the equipped vehicle is controlled, at least in part, responsive to the corrected yaw rate.

6. The vehicular vision system of claim 1 , wherein the number of rows of photosensor elements of said photosensor array is at least about 480 rows and wherein the number of columns of photosensor elements of said photosensor array is at least about 640 columns.

7. The vehicular vision system of claim 1 , wherein said control determines the corrected yaw rate when the equipped vehicle is moving straight.

8. The vehicular vision system of claim 7 , wherein that the equipped vehicle is moving straight is determined, at least in part, responsive to processing of captured image data by said image processor determining that lane delimiters present in the field of view of said camera are straight.

9. The vehicular vision system of claim 1 , wherein said system, responsive at least in part to processing of captured image data by said image processor, detects colored lane markers present in the field of view of said camera.

10. The vehicular vision system of claim 1 , wherein said vehicle communication bus comprises a controller-area network.

11. The vehicular vision system of claim 1 , wherein said vehicle communication bus comprises a local interconnect network.

12. The vehicular vision system of claim 1 , wherein said image processor comprises one of (i) an EyeQ2 image processing chip and (ii) an EyeQ3 image processing chip.

13. The vehicular vision system of claim 1 , wherein said control provides the corrected yaw rate to said driver assistance system of the equipped vehicle via said vehicle communication bus.

14. 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 array of a plurality of photosensor elements is arranged in at least about 640 columns and 480 rows;
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.

15. The vehicular vision system of claim 14 , wherein said driver assistance system comprises at least one of (i) a collision avoidance system, (ii) a collision mitigation system and (iii) a stability control system.

16. The vehicular vision system of claim 15 , 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.

17. The vehicular vision system of claim 16 , wherein said vehicle communication bus comprises a controller-area network and wherein said photosensor array comprises a CMOS photosensor array.

18. 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 array of a plurality of photosensor elements is arranged in at least about 640 columns and 480 rows;
wherein said camera is

Assignees

• Magna Electronics Inc

Inventors

• Chundrlik Jr William J
• Johnson Nathaniel
• Wimmershoff Marc

Classifications

• H04N25/76

  Addressed sensors, e.g. MOS or CMOS sensors · CPC title

• H04N23/60

  Control of cameras or camera modules · CPC title

• B60W50/0098 Primary

  Details of control systems ensuring comfort, safety or stability not otherwise provided for · CPC title

• G01J2005/0077

  Imaging · CPC title

• G01J5/34

  using capacitors, e.g. pyroelectric capacitors · CPC title