An apparatus for road profile prediction comprises digitization and storage
means operable to digitize and store video image data relating to the road
ahead of the vehicle and processor means operable to process the video
image data to identify lane markings in the road, characterized in that
the processor means includes estimator means operable to simultaneously
analyze pairs of lines considered to constitute lane markings by a single
recursive estimation procedure by finding the best fit to an expression
involving left and right offsets, heading angle, lane curvature and
horizon offset. A system embodying the invention has the purpose of
overriding normal vehicle cruise control when another vehicle is detected
in front of the vehicle.
