Vehicle vision system with cross traffic detection

A vision system of a vehicle, said vision system comprising:

• a camera disposed at a vehicle and having a field of view exterior of the vehicle;
• wherein said camera has a wide angle lens with more optical distortion at side regions of the field of view than at a center region of the field of view;
• wherein said camera is operable to capture frames of image data;
• an image processor operable to process image data captured by said camera;
• wherein said image processor, responsive to image processing of a frame of captured image data, determines intensity gradient information of the frame of captured image data, and wherein the determined intensity gradient information comprises information indicative of intensity gradients present in the scene viewed by said camera;
• wherein said image processor, responsive at least in part to the determined intensity gradient information, determines edges, using an edge detection algorithm, of intensity gradients at one of the side regions of the field of view where the captured image data has more optical distortion and lower resolution and less pixel motion as compared to the center region of the field of view;
• wherein said vision system, responsive to determined edges of intensity gradients, determines presence of a potential cross traffic object at the side region of the field of view where the captured image data has more optical distortion and lower resolution and less pixel motion as compared to the center region of the field of view;
• wherein said image processor processes multiple frames of captured image data to determine movement of an upper portion of a of a determined edge of an intensity gradient of the determined potential cross traffic object relative to a lower portion of the determined edge of the intensity gradient of the determined potential cross traffic object at the side region of the field of view where the captured image data has more optical distortion and lower resolution and less pixel motion as compared to the center region;
• and
• wherein said vision system, responsive to said image processor processing multiple frames of captured image data and determining movement of the upper portion of the determined edge of the intensity gradient of the determined potential cross traffic object relative to the lower portion of the determined edge of the intensity gradient of the determined potential cross traffic object at the side region of the field of view where the captured image data has more optical distortion and lower resolution and less pixel motion as compared to the center region, determines if the determined potential cross traffic object is a cross traffic object that is moving toward the center region of the field of view and toward a predicted path of the vehicle.

A vision system of a vehicle, said vision system comprising:

• a camera disposed at a vehicle and having a field of view exterior of the vehicle;
• wherein said camera has a wide angle lens with more optical distortion at side regions of the field of view than at a center region of the field of view;
• wherein said camera is operable to capture frames of image data;
• an image processor operable to process image data captured by said camera;
• wherein said image processor, responsive to image processing of a frame of captured image data, determines gradient information of the frame of captured image data, and wherein the determined gradient information comprises information indicative of intensity gradients present in the scene viewed by said camera;
• wherein said image processor, responsive at least in part to the determined gradient information, determines edges of intensity gradients at one of the side regions of the field of view where the captured image data has more optical distortion and lower resolution and less pixel motion as compared to the center region of the field of view;
• wherein said vision system, responsive to determined edges of intensity gradients, determines presence of a potential cross traffic object at the side region of the field of view where the captured image data has more optical distortion and lower resolution and less pixel motion as compared to the center region of the field of view;
• wherein said image processor processes multiple frames of captured image data to determine movement of an upper portion of a determined edge of an intensity gradient of the determined potential cross traffic object relative to a lower portion of the determined edge of the intensity gradient of the determined potential cross traffic object at the side region of the field of view where the captured image data has more optical distortion and lower resolution and less pixel motion as compared to the center region;
• and
• wherein said image processor processes multiple frames of captured image data and said vision system tracks relative movement of the upper portion of the determined edge of the intensity gradient of the determined potential cross traffic object and the lower portion of the determined edge of the intensity gradient at the side region of the field of view where the captured image data has more optical distortion and lower resolution and less pixel motion as compared to the center region to determine if the determined potential cross traffic object is indicative of a cross traffic object that is moving toward the center region of the field of view and toward a predicted path of the vehicle.