Patent Document ID: 9342747
Application ID: 14251762
Patent Status: 1

Claim One:
1. A vehicle driver assistance apparatus for a vehicle, the vehicle driver assistance apparatus comprising: an image capture device arranged to capture image data which is representative of an object in vicinity of the vehicle; and an electronic controller arranged to (i) process the captured image data to identify an edge line associated with the object, (ii) process the captured image data further based upon the identified edge line to identify a distance between the vehicle and the edge line of the object, (iii) determine a first angle which is defined between an optical axis line extending from the image capture device and a first sight line extending from the image capture device to the identified edge line, (iv) determine a second angle which is defined between the optical axis line of the image capture device and a second sight line extending from the image capture device to the identified edge line after the vehicle has moved a distance towards the identified edge line of the object, (v) determine an angular difference between the first and second angles, and (vi) determine a remaining distance the vehicle is away from the identified edge line of the object based upon the calculated angular difference and the distance the vehicle has moved towards the identified edge line of the object.