Abstract: A method of calculating the heading angle of a vehicle using a camera associated with the vehicle, the method comprising capturing at least two images with the camera, calculating the lateral speed of the vehicle 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. The method may also include calculating a second heading value from the images and from that a misalignment value indicative of the alignment of the camera from some datum. The misalignment value 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 of the vehicle. A camera system and data carrier embodying the method are also disclosed.

Abstract: A signal apparatus for a vehicle having at least one input at which signals are received from components associated with the vehicle. The received signals comprise an indication demand signal initiated by a driver of the vehicle and a lane detection signal produced by a lane detection apparatus indicative of the position of the vehicle relative to a lane of a highway. A processing means is arranged to produce an indication signal that is dependent upon both the indication demand signal and the lane detection signal.

Abstract: A target object position sensing apparatus for a host vehicle, comprises a lane detection apparatus provided on the host vehicle which includes an image acquisition means adapted to capture an image of at least a part of the road ahead of the host vehicle, a vehicle path estimation means adapted to estimate a projected path for the host vehicle, and a target vehicle detection apparatus which is adapted to identify the position of any target objects located on the road ahead of the host vehicle, the position including data representing the distance of the target vehicle from the host vehicle. A first data processing means determines a target lane in which the host vehicle will be located when it has travelled along the projected path by the distance to the target object and a second processing means compares the position of the target vehicle determined by the target vehicle detection means with the position of the target lane to provide a processed estimate of the actual position of the target object.