Patent Document ID: 9165468
Application ID: 12758394
Patent Status: 1

Claim One:
1. A system for longitudinal and lateral control of a vehicle, the system comprising: a camera generating a plurality of images representative of a field of view in front of the vehicle; a human-machine interface including a video display and configured to receive an input; and a controller receiving the plurality of images and detecting an object in the plurality of images, extracting a plurality of features from the plurality of images, generating a plurality of edges connecting pairs of the plurality of features, a length of the edges representing a spatial distance between the plurality of features; generating a reference feature depiction based on the plurality of features and the plurality of edges from one or more of the plurality of images, generating a comparison feature depiction based on the plurality of features and the plurality of edges from one of the plurality of images, comparing the reference feature depiction and the comparison feature depiction, determining a longitudinal position of the vehicle relative to the object based on differences between the reference feature depiction and the comparison feature depiction, adjusting a scale of the reference feature depiction based on the input received by the human-machine interface, and modifying a distance the vehicle maintains from the detected object such that a scale of the comparison feature depiction is about equal to the adjusted scale of the reference feature depiction.