A VISION SYSTEM AND METHOD FOR A MOTOR VEHICLE

A vision system (10) for a motor vehicle comprises an imaging apparatus (11) adapted to capture images from a surrounding of the motor vehicle, and a processing device (14) adapted to execute an object detection code (15) to detect objects in the surrounding of the motor vehicle by processing images captured by said imaging apparatus (11), and to calculate for each detected object its longitudinal distance relative to the ego vehicle. The vision system comprises a gatekeeper code module (33) having a higher functional safety level than said object detection code (15). The gatekeeper code module (33) takes as input objects (32) detected by said object detection code (15) and evaluates if a depth or disparity image (35), in at least a part of an area covering the detected object (32), matches within given tolerances the longitudinal distance of the detected object (32) given by said object detection code (15).