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RADAR GUIDED VISION SYSTEM FOR VEHICLE VALIDATION AND VEHICLE MOTION CHARACTERIZATION

  • US 20090067675A1
  • Filed: 06/26/2008
  • Published: 03/12/2009
  • Est. Priority Date: 09/07/2007
  • Status: Active Grant
First Claim
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1. A method for determining whether a target vehicle in front of a host vehicle intends to change lanes using radar data and image data, comprising the steps of:

  • processing the image data to detect the boundaries of the lane of the host vehicle;

    estimating a ground plane by determining a projected vanishing point of the detected lane boundaries;

    using a camera projection matrix to map the target vehicle from the radar data to image coordinates; and

    determining lane change intentions of the target vehicle based on a moving trajectory and an appearance change of the target vehicle.

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