×

Lane tracking system

  • US 9,139,203 B2
  • Filed: 11/04/2011
  • Issued: 09/22/2015
  • Est. Priority Date: 11/04/2011
  • Status: Expired due to Fees
First Claim
Patent Images

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.

View all claims
  • 3 Assignments
Timeline View
Assignment View
    ×
    ×