Lane recognition apparatus for vehicle

  • US 6,823,241 B2
  • Filed: 09/14/2001
  • Issued: 11/23/2004
  • Est. Priority Date: 10/02/2000
  • Status: Expired due to Fees
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First Claim
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1. A lane recognition apparatus for a vehicle, comprising:

  • an image picking-up section picking up a road image in front of the vehicle;

    a lane-marker candidate-point detecting section detecting coordinate values of a plurality of lane marker candidate points from the road image;

    a steering angle detecting section detecting a steering angle of the vehicle, wherein a state equation of an extended Kalman filter uses a change of the vehicle state quantity caused by the steering angle and a vehicle speed; and

    a road model parameter calculating section estimating a road model parameter representative of a road shape in front of the vehicle and a vehicle state quantity of the vehicle using the extended Kalman filter, on the basis of the coordinate values of the lane marker candidate points, the road model parameter calculating section identifying whether a yaw angle or lateral displacement of the vehicle state quantity is caused by the steering angle, wherein a state equation of the extended Kalman filter uses a change of the vehicle state quantity caused by the steering angle.

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