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Lane keeping system using rear camera

  • US 8,494,716 B1
  • Filed: 06/04/2012
  • Issued: 07/23/2013
  • Est. Priority Date: 06/04/2012
  • Status: Active Grant
First Claim
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1. Method for controlling a vehicle to maintain a desired position on a roadway, comprising:

  • monitoring roadway information behind the vehicle using a rearward detection device;

    monitoring vehicle sensor information;

    projecting frontward positional information employing a frontward positional information module and based on rearward positional information obtained from the monitored roadway information behind the vehicle, wherein projecting the frontward positional information based on rearward positional information obtained from the monitored roadway information behind the vehicle comprises;

    obtaining a vehicle rearward lateral offset from the monitored roadway information and a vehicle rearward heading angle with respect to the monitored roadway information,applying geometric relationships to the obtained vehicle rearward lateral offset and the vehicle rearward heading angle to compensate for geometric delay, andprojecting a vehicle frontward lateral offset from frontward roadway information and a vehicle frontward heading angle with respect to frontward roadway information based on the geometric relationships applied to the obtained vehicle rearward lateral offset and the vehicle rearward heading angle;

    estimating forward roadway curvature based on the monitored vehicle sensor information;

    modeling roadway information ahead of the vehicle based on the projected frontward positional information and the estimated forward roadway curvature to determine desired vehicle positional information with respect to the modeled roadway information;

    predicting future vehicle positional information with respect to the modeled roadway information based on the monitored vehicle sensor information and the estimated forward roadway curvature;

    comparing the desired vehicle positional information to the predicted future vehicle positional information; and

    generating a steering command based on a deviation in the predicted future vehicle positional information from the desired vehicle positional information to converge the predicted future vehicle positional information toward the desired vehicle positional information.

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