LANE FUSION SYSTEM USING FORWARD-VIEW AND REAR-VIEW CAMERAS
First Claim
1. A method for determining a vehicle'"'"'s position in a lane, said method comprising:
- providing data from a forward-view camera module onboard the vehicle;
providing data from a rear-view camera module onboard the vehicle;
providing data from vehicle dynamics sensors onboard the vehicle; and
fusing the data from the forward-view camera module, the rear-view camera module, and the vehicle dynamics sensors into a combined set of lane geometry information to determine the vehicle'"'"'s position in the lane.
4 Assignments
0 Petitions
Accused Products
Abstract
A method and system for computing lane curvature and a host vehicle'"'"'s position and orientation relative to lane boundaries, using image data from forward-view and rear-view cameras and vehicle dynamics sensors as input. A host vehicle includes cameras at the front and rear, which can be used to detect lane boundaries such as curbs and lane stripes, among other purposes. The host vehicle also includes vehicle dynamics sensors including vehicle speed and yaw rate. A method is developed which computes lane curvature and the host vehicle'"'"'s position relative to a lane reference path, where the lane reference path is derived from the lane boundaries extracted from a fusion of the front and rear camera images. Mathematical models provided in the disclosure include a Kalman filter tracking routine and a particle filter tracking routine.
54 Citations
20 Claims
-
1. A method for determining a vehicle'"'"'s position in a lane, said method comprising:
-
providing data from a forward-view camera module onboard the vehicle; providing data from a rear-view camera module onboard the vehicle; providing data from vehicle dynamics sensors onboard the vehicle; and fusing the data from the forward-view camera module, the rear-view camera module, and the vehicle dynamics sensors into a combined set of lane geometry information to determine the vehicle'"'"'s position in the lane. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
-
-
15. A method for determining a vehicle'"'"'s position in a lane, said method comprising:
-
providing image data from a forward-view camera onboard the vehicle; providing image data from a rear-view camera onboard the vehicle; and fusing the image data from the forward-view camera and the rear-view camera into a combined set of lane geometry information to determine the vehicle'"'"'s position in the lane. - View Dependent Claims (16, 17)
-
-
18. A system for determining a vehicle'"'"'s position in a lane, said system comprising:
-
a first camera for capturing images of a forward view from the vehicle; a second camera for capturing images of a rear view from the vehicle; and a processor configured to receive the images from the first and second cameras and compute lane geometry information using a fusion of the images from the first and second cameras. - View Dependent Claims (19, 20)
-
Specification