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 a road ahead of the vehicle by using an image capturing unit;
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; and
a deviation estimation process which includes the following steps;
an operation processing step;
use the corrected road geometry estimation model and the quadratic curve fitting equation to calculate a transversal displacement, a traveling slope, and a lane curvature; and
a pre-alert step;
compare the transversal displacement and the corrected road geometry estimation model to determinate a distance between the vehicle and the lane line;
if the vehicle is close to the lane line, a warning is issued;
wherein the transversal displacement is calculated by the equation;
Δ
=yL−
L×
ε
L where Δ
is the transversal displacement of the vehicle;
yL is a displacement of the vehicle from a reference point;
L is a preview distance; and
ε
L is the traveling slope;
the distance between the vehicle and the lane line is calculated by the equation;
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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
10 Claims
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1. A method for detecting lane departure of a vehicle, comprising:
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an image recognition process which includes the following steps; an image capturing step for capturing an image frame data of a road ahead of the vehicle by using an image capturing unit; 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; and a deviation estimation process which includes the following steps; an operation processing step;
use the corrected road geometry estimation model and the quadratic curve fitting equation to calculate a transversal displacement, a traveling slope, and a lane curvature; anda pre-alert step;
compare the transversal displacement and the corrected road geometry estimation model to determinate a distance between the vehicle and the lane line;
if the vehicle is close to the lane line, a warning is issued;wherein the transversal displacement is calculated by the equation;
Δ
=yL−
L×
ε
Lwhere Δ
is the transversal displacement of the vehicle;
yL is a displacement of the vehicle from a reference point;
L is a preview distance; and
ε
L is the traveling slope;
the distance between the vehicle and the lane line is calculated by the equation; - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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Specification