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Method for monitoring a position of vehicle in a lane of a roadway

  • US 6,434,256 B1
  • Filed: 07/30/1999
  • Issued: 08/13/2002
  • Est. Priority Date: 03/11/1999
  • Status: Expired due to Fees
First Claim
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1. A method for monitoring a position of a vehicle in a lane of a roadway, comprising the steps of:

  • inputting an image signal of a lane from a camera;

    eliminating noise of the image signal;

    dividing the image signal into a plurality of image frames having different resolutions;

    extracting a lane border by processing the image frames;

    modeling a road using the lane border;

    calculating an actual road width according to a distance between pixels on an image coordinate using a camera parameter calculated in accordance with a position of a camera;

    determining if the vehicle is moving out of the lane or not; and

    producing an alarm when the vehicle is moving out of the lane.

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