METHOD FOR DETECTING LANE DEPARTURE AND APPARATUS THEREOF
First Claim
1. A method for detecting lane departure of a vehicle, comprising:
- an image recognition process which includes the following steps;
an image capturing step for capturing an image frame data of the road ahead of the vehicle by using an image capturing unit; and
a lane line recognition step for analyzing the image frame data and establishing a road geometry estimation model by using a quadratic curve fitting equation, a plurality of parameters solved by substituting a plurality of position data calculated by recognizing a plurality of lane lines in the image frame data to correct the road geometry estimation model and make the corrected road geometry estimation model approximating a practical lane line track.
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Abstract
A method for detecting the lane departure of a vehicle includes an image recognition process and a deviation estimation process. The image recognition process includes the following steps: an image capturing step for capturing image frame data by using an image capturing unit; and a lane line recognition for analyzing the image frame data for determining the lane lines. By using a quadratic curve fitting equation, a plurality of lane line being detected so as to establish a road geometry estimation model. The road geometry estimation model is inputted into the deviation estimation process to detect the lane departure of the vehicle so as to alert the driver. Furthermore, an apparatus for detecting the deviation of the vehicle, comprising: an image capturing unit, a processing unit and a signal output unit.
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Citations
15 Claims
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1. A method for detecting lane departure of a vehicle, comprising:
an image recognition process which includes the following steps; an image capturing step for capturing an image frame data of the road ahead of the vehicle by using an image capturing unit; and a lane line recognition step for analyzing the image frame data and establishing a road geometry estimation model by using a quadratic curve fitting equation, a plurality of parameters solved by substituting a plurality of position data calculated by recognizing a plurality of lane lines in the image frame data to correct the road geometry estimation model and make the corrected road geometry estimation model approximating a practical lane line track. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. An apparatus for detecting lane departure of a vehicle comprising:
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an image capturing unit for capturing a image frame data and transferring the captured image frame data to a processing unit; the processing unit analyzing the image frame data to establish a road geometry estimation model and recognizing a position data of a plurality of lane lines to correct the road geometry estimation model, the correct the road geometry estimation model used to determine whether the vehicle is deviating from the lane, the processing unit emitting signals to a signal output unit as achieving a predefined alert range; and the signal output unit for providing light source, images or audio signals as the signals from the processing unit are transferred to the signal output unit. - View Dependent Claims (15)
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Specification