Patent ID: 8849495

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