The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
May. 04, 1993
Filed:
Jun. 15, 1988
Kunihiko Kurami, Kawasaki, JP;
Norimasa Kishi, Yokohama, JP;
Kazunori Noso, Yokohama, JP;
Akira Hattori, Yokohama, JP;
Nissan Motor Co., Ltd., Yokohama, JP;
Abstract
Stereo image data depicting the lane on which the vehicle is running is rectified into a planar image on which one or more level lines can be generated in a manner to intersect one or both of the edges of the lane. Angles are measured between lines which extend from these the points if intersection in directions normal to the level line or lines and lines which extend tangentially to any curvature which occurs in the road edges at the point of intersection. These angles are recorded, the difference therebetween determined and compared in a manner which determines the attitude of the vehicle on the road. The curvature of the road and the vehicle speed are determined and the best steering angle for the road wheels determined in accordance With a schedule which is recorded in terms of attitude and a parameter variable with the vehicle speed and road curvature.