Vehicle vision system with yaw rate determination

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, 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;
• wherein said control provides the determined yaw rate to a driver assistance system of the equipped vehicle;
• and
• 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.

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 the number of rows of photosensor elements of said photosensor array is less than the number of columns;
• 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;
• wherein said control provides the determined yaw rate to a driver assistance system of the equipped vehicle;
• wherein said driver system comprises at least one of (i) a collision avoidance system, (ii) a collision mitigation system and (iii) a stability control system;
• and
• wherein said camera is part of a lane departure warning system of the equipped vehicle.