US6823241B2
Expired / Lapsed
US
⏱️ 0.0 years remaining
Lane recognition apparatus for vehicle
Assignee: Nissan Motor Co Ltd
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Filing: 2001-09-14
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Granted: 2004-11-23
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Expires: 2021-09-14
Abstract
Abstract A lane recognition apparatus for a vehicle is comprised of an image picking-up section which picks up a road image in front of the vehicle, a lane-marker candidate-point detecting section which detects coordinate values of a plurality of lane marker candidate points from the road image, and a road model parameter calculating section which estimates a road model parameter representative of a road shape in front of the vehicle and a vehicle state quantity of the vehicle using an extended Kalman filter, on the basis of the coordinate values of the lane marker candidate points.
Inventors
- 👤 Ryota Shirato
- 👤 Hiroshi Mouri
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-25 15:55
CPC Classifications
G; G06; G06V; G06V20/00; G06V20/50; G06V20/56; G06V20/588; G06V10/00; G06V10/40; G06V10/44; G06V10/443; B; B60; B60T; B60T2201/00; B60T2201/08; B60T2201/089
Claims Analysis
Total Claims: 6
Claim 1
Independent Claim
175 words
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.
Claim 2
Dependent Claim
175 words
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.
Claim 3
Dependent Claim
45 words
The lane recognition apparatus as claimed in claim 1 , wherein the road model parameter calculating section estimates the state quantity of disturbance so as to maintain preferable properties of following up a quick behavior of the vehicle at the input of the steering angle.
Claim 4
Dependent Claim
32 words
The lane recognition apparatus as claimed in claim 1 , wherein the road model parameter estimates the state quantity of disturbance so as to prevent the steering angle from generating an error.
Claim 5
Dependent Claim
169 words
A lane recognition apparatus for a vehicle, comprising: a camera picking up a road image in front of the vehicle; a steering angle sensor for detecting a steering angle of the vehicle; and a processor coupled to the camera and the steering angle sensor, the processor being configured to, calculate coordinate values of a plurality of lane marker candidate points from the road image, identify whether a yaw angle or lateral displacement of the vehicle state quantity is caused by the steering angle from the detecting steering angle, and estimate a road model parameter representative of a road shape in front of the vehicle and a vehicle state quantity from an extended Kalman filter and the coordinate values of the lane marker candidate points, wherein a state equation of the extended Kalman filter uses a change of the vehicle state quantity caused by the steering angle when the yaw angle or lateral displacement of the vehicle state quantity is caused by the steering angle from the detecting steering angle.
Claim 6
Dependent Claim
169 words
A lane recognition apparatus for a vehicle, comprising: a camera picking up a road image in front of the vehicle; a steering angle sensor for detecting a steering angle of the vehicle; and a processor coupled to the camera and the steering angle sensor, the processor being configured to, calculate coordinate values of a plurality of lane marker candidate points from the road image, identify whether a yaw angle or lateral displacement of the vehicle state quantity is caused by the steering angle from the detecting steering angle, and estimate a road model parameter representative of a road shape in front of the vehicle and a vehicle state quantity from an extended Kalman filter and the coordinate values of the lane marker candidate points, wherein a state equation of the extended Kalman filter uses a change of the vehicle state quantity caused by the steering angle when the yaw angle or lateral displacement of the vehicle state quantity is caused by the steering angle from the detecting steering angle.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2007-11-23 | 2008-05-24 | 2008-11-23 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2011-11-23 | 2012-05-24 | 2012-11-23 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2015-11-23 | 2016-05-24 | 2016-11-23 | $7700.00 | Window Closed / Lapsed |