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Curved lane recognizing method in road modeling system

  • US 6,925,194 B2
  • Filed: 12/06/2001
  • Issued: 08/02/2005
  • Est. Priority Date: 12/27/2000
  • Status: Expired due to Fees
First Claim
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1. A method for recognizing a curved lane in a road modeling system, the method comprising:

  • (a) dividing an image processing range into an upper range and a lower range if photographs of lane images are supplied;

    (b) modeling straight lines in the two divided image processing ranges respectively, and obtaining a curvature of the lane using the modeled straight lines by;

    (i) modeling straight lines in the two ranges respectively;

    (ii) obtaining a triangle, two sides of which are two modeled lines; and

    (iii) calculating a radius of a circumcircle of the triangle and estimating therewith a curvature of the lane; and

    wherein the straight line of the upper range is obtained by connecting a road image disappearing point and a point centered between two points at which lane edges intersect a line dividing the image processing range and the straight line of the lower range is obtained by connecting the point centered between the two points at which the lane edges intersect the line dividing the image processing range and a point centered between two points at which lane edges intersect a bottom line of the lower range, and the triangle is obtained by connecting the road image disappearing point and the two centered points.

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