Radar guided vision system for vehicle validation and vehicle motion characterization
US8355539B2 · kind B2 · utility
Assignees
Inventors
Key dates
| Filing date | Jun 26, 2008 |
| Grant date | Jan 15, 2013 |
| Priority date | — |
| Expiry date | Nov 16, 2031 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01S2013/93271
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
A method for determining whether a target vehicle in front of a host vehicle intends to change lanes using radar data and image data is disclosed, comprising the steps of processing the image data to detect the boundaries of the lane of the host vehicle; estimating a ground plane by determining a projected vanishing point of the detected lane boundaries; using a camera projection matrix to map the target vehicle from the radar data to image coordinates; and determining lane change intentions of the target vehicle based on a moving trajectory and an appearance change of the target vehicle. Determining lane change intentions based on a moving trajectory of the target vehicle is based on vehicle motion trajectory relative to the center of the lane such that the relative distance of the target vehicle from the center of the lane follows a predetermined trend. Determining lane change intentions based on an appearance change of the target vehicle is based on a template that tracks changes to the appearance of the rear part of the target vehicle due to rotation.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.