Patent ID: 9487235
Filing Date: 2016-11-08
CPC Classification: B60R,B62D,G06K,H04N

Claim Text:
1. A control system of a vehicle, said control system comprising: an image sensor disposed at a vehicle and having a field of view exterior and forward of the vehicle; a control comprising an image processor operable to process image data captured by said image sensor to determine a curvature of a road being traveled by the vehicle; wherein, responsive at least in part to processing by said image processor of captured image data, said control is operable to determine tangents at locations along the determined curvature; wherein, responsive to determination of the tangents, said control is operable generate an output to adjust a vehicle steering to guide the vehicle in a direction that generally corresponds to determined tangents at respective locations of the vehicle's path of travel along the curvature of the road; and wherein said control compares the determined curvature and a vehicle heading estimation with a vehicle position estimation to determine a lateral error and a vehicle wheel angle estimation to steer the vehicle along the curvature of the road.