| 摘要 |
<p>A method of guiding a vehicle in which an image of a scene containing rows of objects is acquired and stored. A portion of the image within an applied parallelogram is analysed to identify objects having a brightness that exceeds an adaptive threshold. A regression calculation is performed on the objects to locate a position of the row in terms of a lateral displacement value compared to a previously identified row. The lateral displacement value is converted to a steering correction signal which is applied to a steering means of the vehicle to effect vehicle guidance. A number of portions can be analysed simultaneously to identify a number of rows thereby improving the robustness of the method. A vehicle guidance system embodying the method is also disclosed.</p> |
