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 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.

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 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 (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.