Road profile prediction

  • US 6,807,287 B1
  • Filed: 08/25/2000
  • Issued: 10/19/2004
  • Est. Priority Date: 02/27/1998
  • Status: Expired due to Term
First Claim
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1. Apparatus for road profile prediction ahead of a vehicle comprising:

  • a digitizer operable to digitize successive frames of video image data each containing feature points, including a screen image horizon, relating to the road profile ahead of the vehicle;

    an inverse perspective transform operable to process a frame of digitized video image data with reference to a horizon position on the screen to generate representations of said feature points in real coordinates;

    a mathematical lane marking model characterizing real geometrical constraints of the road by relating said real coordinates to a horizon error and road profile parameters including left and right lane offset values, lane heading, and lane curvature in terms of radius of curvature, said horizon error representing the difference between a position of the horizon on the screen obtained during calibration and the horizon position on the screen when processing said digitized video image data; and

    an estimator, taking into account current and previous video frames, operable for estimating the best fit of said real coordinates to said mathematical lane marking model to derive said horizon error, and correct estimates for lane parameters including left and right lane offset values, heading angle, and lane curvature in terms of radius of curvature.

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