Lane recognition apparatus for vehicle
First Claim
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1. A lane recognition apparatus for a vehicle, comprising:
- an image picking-up section picking up a road image in front of the vehicle;
a lane-marker candidate-point detecting section detecting coordinate values of a plurality of lane marker candidate points from the road image;
a steering angle detecting section detecting a steering angle of the vehicle, wherein a state equation of an extended Kalman filter uses a change of the vehicle state quantity caused by the steering angle and a vehicle speed; and
a road model parameter calculating section estimating a road model parameter representative of a road shape in front of the vehicle and a vehicle state quantity of the vehicle using the extended Kalman filter, on the basis of the coordinate values of the lane marker candidate points, the road model parameter calculating section identifying whether a yaw angle or lateral displacement of the vehicle state quantity is caused by the steering angle, wherein a state equation of the extended Kalman filter uses a change of the vehicle state quantity caused by the steering angle.
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Abstract
A lane recognition apparatus for a vehicle is comprised of an image picking-up section which picks up a road image in front of the vehicle, a lane-marker candidate-point detecting section which detects coordinate values of a plurality of lane marker candidate points from the road image, and a road model parameter calculating section which estimates a road model parameter representative of a road shape in front of the vehicle and a vehicle state quantity of the vehicle using an extended Kalman filter, on the basis of the coordinate values of the lane marker candidate points.
438 Citations
4 Claims
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1. A lane recognition apparatus for a vehicle, comprising:
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an image picking-up section picking up a road image in front of the vehicle;
a lane-marker candidate-point detecting section detecting coordinate values of a plurality of lane marker candidate points from the road image;
a steering angle detecting section detecting a steering angle of the vehicle, wherein a state equation of an extended Kalman filter uses a change of the vehicle state quantity caused by the steering angle and a vehicle speed; and
a road model parameter calculating section estimating a road model parameter representative of a road shape in front of the vehicle and a vehicle state quantity of the vehicle using the extended Kalman filter, on the basis of the coordinate values of the lane marker candidate points, the road model parameter calculating section identifying whether a yaw angle or lateral displacement of the vehicle state quantity is caused by the steering angle, wherein a state equation of the extended Kalman filter uses a change of the vehicle state quantity caused by the steering angle. - View Dependent Claims (2, 3)
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4. A lane recognition apparatus for a vehicle, comprising:
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a camera picking up a road image in front of the vehicle;
a steering angle sensor for detecting a steering angle of the vehicle; and
a processor coupled to the camera and the steering angle sensor, the processor being configured to, calculate coordinate values of a plurality of lane marker candidate points from the road image, identify whether a yaw angle or lateral displacement of the vehicle state quantity is caused by the steering angle from the detecting steering angle, and estimate a road model parameter representative of a road shape in front of the vehicle and a vehicle state quantity from an extended Kalman filter and the coordinate values of the lane marker candidate points, wherein a state equation of the extended Kalman filter uses a change of the vehicle state quantity caused by the steering angle when the yaw angle or lateral displacement of the vehicle state quantity is caused by the steering angle from the detecting steering angle.
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Specification