Method for detecting lane deviation of vehicle

• US 6,317,057 B1
• Filed: 12/29/2000
• Issued: 11/13/2001
• Est. Priority Date: 04/03/2000
• Status: Expired due to Fees

• Current Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Original Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Inventors: Lee, Dong-Min
• Primary Examiner(s): Wu, Daniel J.
• Assistant Examiner(s): Nguyen, Tai T.
• Application Number:
  US09/750,736
• Time in Patent Office: 319 Days
• Field of Search: 340/901, 340/937, 340/988, 340/435, 340/436, 340/439, 340/907, 340/903, 340/904
• US Class Current: 340/901
• CPC Class Codes: B60T 2201/08 Lane monitoring; Lane Keeping Systems
• CPC Class Codes: B60T 2201/089 using optical detection
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G08G 1/22 Platooning, i.e. convoy of communicating vehicles

Abstract

In a method for detecting lane deviation of a vehicle, a difference between a center point of lane markers and a center point of the vehicle is first determined. Then a difference between a screen center x-coordinate and a vehicle center point x-coordinate is subtracted from the determined difference between the center point of lane markers and the center point of the vehicle. And it is determined that the vehicle is deviating from the lane if the result of the subtraction is less than a predetermined value.

Claims

1. A method for detecting lane deviation of a vehicle comprising the steps of:

determining a difference between a center point of lane markers and a center point of the vehicle;

subtracting a difference between a screen center x-coordinate and a vehicle center point x-coordinate from the determined difference between the center point of lane markers and the center point of the vehicle; and

determining that the vehicle is deviating from the lane if the result of the subtraction is less than a predetermined value.

2. The method of claim 1 wherein the center point of the lane markers is determined by, in an image with 256×

256 pixels (x,y), setting points corresponding to equations of left and right lane markers as the lane markers using a y=|a| position as a basis, then setting a center of the left and right lane markers as the center point of the lane markers.

3. The method of claim 1 wherein, after the center point of the lane markers is obtained and with consideration of a direction the vehicle is travelling, the center point of the vehicle is determined by obtaining a straight line equation passing through the lane marker center point and perpendicular to a straight line passing through an end off frame and the lane marker center point, reversing signs of slopes in the straight line equation, then setting a point of intersection of a left lane marker and a right lane marker as the center point of the vehicle.