System and method for estimating lateral position

  • US 5,675,489 A
  • Filed: 07/06/1995
  • Issued: 10/07/1997
  • Est. Priority Date: 07/06/1995
  • Status: Expired due to Fees
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First Claim
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1. A system for estimating lateral offset of a vehicle from a known position, comprising:

  • input means producing digitized input signals representative of the road ahead of the vehicle;

    means for sampling said digitized input signals to create a perspective-free image, said perspective-free image taking the form of a matrix comprised of rows and columns;

    means for determining the curvature of the road by determining an amount each row of said perspective-free image must be shifted to cause features to appear in said perspective-free image as straight lines, said means for determining including means for adding each column of said shifted perspective-free image to generate a current scanline profile representative of the vehicle'"'"'s position on the road;

    means for storing at least one template profile representative of a known vehicle position; and

    means for comparing said current scanline profile with said template profile to determine an amount by which said current scanline profile must be shifted to arrive at the best correlation with said template profile, said amount being representative of the lateral offset of the vehicle from the known vehicle position.

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