Lane tracking system
First Claim
1. A lane tracking system for tracking the position of a vehicle within a lane, the system comprising:
- a camera configured to provide a video feed representative of a field of view;
a video processor configured to receive the video feed and generate latent video-based position data, the video-based position data indicative of the position of the vehicle within the lane;
a vehicle motion sensor configured to generate vehicle motion data indicative of the motion of a vehicle, wherein the generated latent video-based position data has a greater latency than the generated vehicle motion data; and
a lane tracking processor configured to maintain a real-time position of the vehicle within the lane using the vehicle motion data and the latent video-based position data, and wherein maintaining the real-time position includes;
receiving the video-based position data, updated at a first frequency;
receiving the sensed vehicle motion data, updated at a second frequency that is faster than the first frequency;
estimating the real-time position of the vehicle within the lane from the sensed vehicle motion data;
rolling back the real-time position estimate by a predefined number of increments upon receipt of the latent video-based position data;
fusing the latent video-based position data with the rolled-back estimate of the vehicle position within the lane using Kalman filtering techniques to generate an updated latent vehicle position; and
recomputing the real-time position estimate using previously received vehicle motion data and the updated latent vehicle position.
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Accused Products
Abstract
A lane tracking system for tracking the position of a vehicle within a lane includes a camera configured to provide a video feed representative of a field of view and a video processor configured to receive the video feed from the camera and to generate latent video-based position data indicative of the position of the vehicle within the lane. The system further includes a vehicle motion sensor configured to generate vehicle motion data indicative of the motion of the vehicle, and a lane tracking processor. The lane tracking processor is configured to receive the video-based position data, updated at a first frequency; receive the sensed vehicle motion data, updated at a second frequency; estimate the position of the vehicle within the lane from the sensed vehicle motion data; and fuse the video-based position data with the estimate of the vehicle position within the lane using a Kalman filter.
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Citations
7 Claims
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1. A lane tracking system for tracking the position of a vehicle within a lane, the system comprising:
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a camera configured to provide a video feed representative of a field of view; a video processor configured to receive the video feed and generate latent video-based position data, the video-based position data indicative of the position of the vehicle within the lane; a vehicle motion sensor configured to generate vehicle motion data indicative of the motion of a vehicle, wherein the generated latent video-based position data has a greater latency than the generated vehicle motion data; and a lane tracking processor configured to maintain a real-time position of the vehicle within the lane using the vehicle motion data and the latent video-based position data, and wherein maintaining the real-time position includes; receiving the video-based position data, updated at a first frequency; receiving the sensed vehicle motion data, updated at a second frequency that is faster than the first frequency; estimating the real-time position of the vehicle within the lane from the sensed vehicle motion data; rolling back the real-time position estimate by a predefined number of increments upon receipt of the latent video-based position data; fusing the latent video-based position data with the rolled-back estimate of the vehicle position within the lane using Kalman filtering techniques to generate an updated latent vehicle position; and recomputing the real-time position estimate using previously received vehicle motion data and the updated latent vehicle position. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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Specification