Abstract: The invention relates to a method for the calibration of yaw rate measurement in a motor vehicle, wherein the motor vehicle features at least one device for determining the yaw rate, a camera system which is in the forward-position, and, if applicable, a steering angle sensor. At least one initial calibration is carried out at a standstill and at least one second calibration is carried out when the motor vehicle is moving.

Abstract: Camera for identifying soiling on a protective screen. The camera is focused on a scene behind the protective screen and can be used to identify soiling and for other applications, e.g. to identify driving lanes and/or to identify objects. Soiling is identified merely by evaluating frames recorded in succession, artificial reference frames or reference objects are not required. A prerequisite for a successful measurement is that the relative speed vrel of the camera and of at least one recorded object in the surroundings is not equal to zero and its trajectory is predicted in the depiction. By comparing the relevant frame sections, possible soiling on subregions of the protective screen is identified.