Patent ID: 9090263
Filing Date: 2015-07-28
Classification: B60W,G06K

Abstract:
1. A method for determining a vehicle's position in a lane, said method comprising: providing data from a forward-view camera module onboard the vehicle; providing data from a rear-view camera module onboard the vehicle; providing data from vehicle dynamics sensors onboard the vehicle; and fusing the data from the forward-view camera module, the rear-view camera module, and the vehicle dynamics sensors into a combined set of lane geometry information to determine the vehicle's position in the lane, including using a Kalman filter routine to jointly estimate the lane geometry information and misalignment angles of the forward-view camera module and the rear-view camera module, where the Kalman filter routine includes lane curvature, vehicle tangent angle to the lane, front bumper displacement to a lane boundary, and azimuth misalignment angles of the forward-view camera module and the rear-view camera module as state vector variables and simultaneously solves for all of the state vector variables.