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.
申请公布号
WO9617279(A1)
申请公布日期
1996.06.06
申请号
WO1995AU00797
申请日期
1995.11.29
申请人
THE UNIVERSITY OF SOUTHERN QUEENSLAND;BILLINGSLEY, JOHN;SCHOENFISCH, MURRAY, KENNETH