Method for preventing lane departure for use with vehicle
First Claim
1. A method for preventing lane departure for use in a vehicle, comprising the steps of;
- (a) extracting lane markings from left and right-images of the rear side inputted by cameras mounted on both side mirrors and calculating the real coordinate of the lane markings with the equation of a straight line by three-dimensional mapping of the extracted lane markings;
(b) calculating direction angles between the direction line of the vehicle and the real coordinate lines of the lane markings by using the real coordinates of the lane markings calculated in step (a) and calculating side distances between the real coordinate lines of the lane markings and the vehicle;
(c) calculating a lane departure distance from the direction angle and side distance calculated in step (b); and
(d) warning the driver of the possibility of lane departure depending on the lane departure distance calculated in step (c).
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Accused Products
Abstract
Disclosed is a method for preventing lane departure for use in a vehicle. The method determines whether the vehicle is moving out of its lane by extracting lane markings from an image inputted by using rear side cameras mounted on both side mirrors, calculating a lane departure distance from the directional angle and side distance calculated by three-dimensional mapping of the extracted lane markings, and estimating a lane departure time through the calculated lane departure distance and a vehicle speed sensed by a vehicle speed sensor, thereby preventing vehicle accidents caused by the driver'"'"'s lane departure.
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Citations
6 Claims
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1. A method for preventing lane departure for use in a vehicle, comprising the steps of;
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(a) extracting lane markings from left and right-images of the rear side inputted by cameras mounted on both side mirrors and calculating the real coordinate of the lane markings with the equation of a straight line by three-dimensional mapping of the extracted lane markings; (b) calculating direction angles between the direction line of the vehicle and the real coordinate lines of the lane markings by using the real coordinates of the lane markings calculated in step (a) and calculating side distances between the real coordinate lines of the lane markings and the vehicle; (c) calculating a lane departure distance from the direction angle and side distance calculated in step (b); and (d) warning the driver of the possibility of lane departure depending on the lane departure distance calculated in step (c). - View Dependent Claims (2, 3, 4, 5, 6)
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Specification