| 摘要 |
A method of calculating the heading angle of a vehicle using a camera (18) associated with the vehicle (10) , the method comprising capturing at least two images with the camera (18) , calculating the lateral speed of the vehicle (10) from the images, calculating the ground speed of the vehicle and calculating, from the ground speed and the lateral speed, a first heading angle of the vehicle (10). The method may also include calculating a second heading value from the images and from that a misalignment valve indicative of the alignment of the camera from some datum. The misalignment valve may be used to correct the first heading angle and the process repeated iteratively. The method may also include fitting features that follow features that follow the direction of travel (29) of the vehicle (10). A camera system and data carrier embodying the method are also disclosed.
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