LANE DEPARTURE SENSING METHOD AND APPARATUS USING IMAGES THAT SURROUND A VEHICLE
First Claim
1. A lane departure sensing method using a vehicle surrounding image, comprising:
- receiving images captured by a plurality of cameras installed to a car running, over respective channels connected to the cameras;
generating a plurality of revised images by revising the captured images into a top-view;
generating the vehicle surrounding image by synthesizing the plurality of the revised images;
extracting a lane from the vehicle surrounding image, and determining lane departure by calculating distance information between the vehicle and the extracted lane or angle information formed by a moving direction of the vehicle and the extracted vehicle; and
when determining the lane departure, issuing a warning.
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Accused Products
Abstract
A method and an apparatus for sensing a lane departure using images that surround a vehicle. The lane departure sensing method includes receiving images that are taken during driving by a plurality of cameras installed in a car, through respective channels connected to the cameras; modifying the obtained images into top-view images to generate a plurality of modified images; compositing the plurality of modified images to generate images that surround a vehicle; extracting a lane from the images that surround the vehicle, and yielding the information on a distance between the vehicle and the extracted lane or the information on an angle between the travel direction of the vehicle and the lane, so as to determine a lane departure; and giving a warning if the lane departure is determined.
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Citations
14 Claims
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1. A lane departure sensing method using a vehicle surrounding image, comprising:
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receiving images captured by a plurality of cameras installed to a car running, over respective channels connected to the cameras; generating a plurality of revised images by revising the captured images into a top-view; generating the vehicle surrounding image by synthesizing the plurality of the revised images; extracting a lane from the vehicle surrounding image, and determining lane departure by calculating distance information between the vehicle and the extracted lane or angle information formed by a moving direction of the vehicle and the extracted vehicle; and when determining the lane departure, issuing a warning. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A lane departure sensing apparatus using a vehicle surrounding image, comprising:
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an image input part for receiving images captured by a plurality of cameras installed to a car running, over respective channels connected to the cameras; an image processing part for generating a plurality of revised images by revising the captured images into a top-view; an image synthesis part for generating the vehicle surrounding image by synthesizing the plurality of the revised images; and a lane departure sensing part for extracting a lane from the vehicle surrounding image, calculating distance information of the vehicle and the extracted lane or angle information formed by a moving direction of the vehicle and the extracted vehicle, and determining lane departure based on the calculated distance information or the angle information. - View Dependent Claims (8, 9, 10, 11, 12)
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13. A lane departure sensing system using a vehicle surrounding image, comprising:
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a plurality of cameras installed to a vehicle which is moving and outputting captured images over respective channels; an image generating apparatus for generating a plurality of revised images by revising the captured input images into a top-view, and generating the vehicle surrounding image by synthesizing the plurality of the revised images; a lane departure sensing apparatus for extracting a lane from the vehicle surrounding image, calculating distance information between the vehicle and the extracted lane or angle information formed by a moving direction of the vehicle and the extracted vehicle, determining lane departure from the distance information or the angle information, and issuing a warning when determining the lane departure; and a display apparatus for displaying the surrounding image or a warning screen. - View Dependent Claims (14)
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Specification