Data processing: vehicles – navigation – and relative location – Navigation – Determination of along-track or cross-track deviations
Patent
1995-07-19
1998-11-10
Nguyen, Tan Q.
Data processing: vehicles, navigation, and relative location
Navigation
Determination of along-track or cross-track deviations
701300, 701301, 340903, 382154, 382199, G06K 900, G08G 1017
Patent
active
058358803
ABSTRACT:
In an apparatus and method for automatic vehicle following, a pair of video cameras are mounted on the front portion of a following vehicle, and each camera generates image data indicative of a respective image of a distinctive mark located on a rearward portion of a lead vehicle. An image processor generates two one-dimensional image-intensity distributions for each mark image based on the image data, and in turn generates a respective edge-intensity distribution based on each image-intensity distribution. The edge-intensity distributions are each generated by taking the first derivative of the respective image-intensity distribution. The image processor in turn generates a respective feature vector based on each edge-intensity distribution, wherein the vector components of each feature vector define select characteristics of the respective mark image. The center points of the two corresponding mark images are determined based on the feature vectors, and a signal processor generates signals indicative of the following distance and the heading angle of the lead vehicle based on the image center points. A window enclosing each mark image is moved upon generating a new mark image to the approximate center point of the preceding image, to substantially follow image movements from one camera image frame to the next, and thereby suppress noise and enhance the image-processing speed of the apparatus.
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Gan Zhongxue
Moh John
Tang Oing
Wang Wei-Ping
Zhang Ruiming
Nguyen Tan Q.
VI & T Group, Inc.
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