06823241 is referenced by 209 patents and cites 10 patents.

A lane recognition apparatus for a vehicle is comprised of an image picking-up section which picks up a road image in front of the vehicle, a lane-marker candidate-point detecting section which detects coordinate values of a plurality of lane marker candidate points from the road image, and a road model parameter calculating section which estimates a road model parameter representative of a road shape in front of the vehicle and a vehicle state quantity of the vehicle using an extended Kalman filter, on the basis of the coordinate values of the lane marker candidate points.

Title
Lane recognition apparatus for vehicle
Application Number
9/951499
Publication Number
6823241 (B2)
Application Date
September 14, 2001
Publication Date
November 23, 2004
Inventor
Hiroshi Mouri
Yokohama
US
Ryota Shirato
Yokohama
US
Agent
Foley & Lardner
US
Assignee
Nissan Motor
US
IPC
G06G 7/78
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