LANE SENSING THROUGH LANE MARKER IDENTIFICATION FOR LANE CENTERING/KEEPING
First Claim
Patent Images
1. A method for correcting a position of a vehicle in a roadway lane, said method comprising:
- generating a reference image of the lane using a camera mounted on the vehicle;
identifying a reference lane-center line in the reference image;
generating a current image of the lane using the camera;
identifying a current lane-center line in the current image;
calculating an error between the current lane-center line and the reference lane-center line; and
adjusting the position of the vehicle so that the error is reduced.
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Accused Products
Abstract
A method for adjusting a vehicle'"'"'s position in a roadway lane. A camera mounted on the vehicle generates a current image of the lane and the method identifies a current lane-center line in the current image. A reference image is generated and the method identifies a reference lane-center line in the reference image. The method then calculates an error between the current lane-center line and the reference lane-center line and provide steering commands to adjust the position of the vehicle so that the error is reduced.
38 Citations
20 Claims
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1. A method for correcting a position of a vehicle in a roadway lane, said method comprising:
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generating a reference image of the lane using a camera mounted on the vehicle; identifying a reference lane-center line in the reference image; generating a current image of the lane using the camera; identifying a current lane-center line in the current image; calculating an error between the current lane-center line and the reference lane-center line; and adjusting the position of the vehicle so that the error is reduced. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A lane centering system for centering a vehicle in a roadway lane that the vehicle is traveling in, said system comprising:
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a camera that generates images of the roadway lane; a reference image processor that identifies a reference lane-center line in a reference image selected from the camera; a current image processor that identifies a current lane-center line in a current image from the camera; a comparator that compares the reference lane-center line and the current lane-center line and provides an error therebetween; and a lane-centering controller that receives the error and calculates a steering command that centers the vehicle in the lane by reducing the error. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19)
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20. A system for centering a vehicle in a lane, said system comprising:
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means for generating a set of reference lane-center line parameters; means for generating a current lane image; means for identifying a current set of lane-center line parameters from the current lane image; means for calculating an error from the current lane-center line parameters and the reference lane-center line parameters; and means for adjusting the position of the vehicle so that the error is reduced.
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Specification