System and method for periodic lane marker identification and tracking

• US 9,098,751 B2
• Filed: 07/27/2012
• Issued: 08/04/2015
• Est. Priority Date: 07/27/2011
• Status: Active Grant

• Current Assignee: HL Klemove Corporation
• Original Assignee: Gentex Corporation
• Inventors: Hilldore, Benjamin B., Rycenga, Brock R., TerHaar, Micah W.
• Primary Examiner(s): BELLA, MATTHEW C
• Assistant Examiner(s): Torres, Jose M
• Application Number:
  US13/559,994
• Publication Number:
  US 20130028473A1
• Time in Patent Office: 1,103 Days
• Field of Search: None
• US Class Current: 1/1
• CPC Class Codes: G06T 5/40 using histogram techniques
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road

Abstract

A system and method are disclosed for determining the presence and period of dashed line lane markers in a roadway. The system includes an imager configured to capture a plurality of high dynamic range images exterior of the vehicle and a processor, in communication with the at least one imager such that the processor is configured to process at least one high dynamic range image. The period of the dashed lane markers in the image is calculated for detecting the presence of the dashed lane marker and for tracking the vehicle within the markers. The processor communicates an output for use by the vehicle for use in lane departure warning (LDW) and/or other driver assist features.

Claims

1. A system for periodic lane marker identification comprising:

at least one imager configured to capture a plurality of images exterior of a vehicle;

a processor in communication with the at least one imager where the processor is configured to process at least one image such that a period of dashed lane markers in the image is calculated for tracking the vehicle within the detected dashed lane markers; and

wherein the processor is operable to;

identify a plurality of leading edges and trailing edges of the plurality of dashed lane markers;

calculate a plurality of edge differences among the plurality of leading edges and the plurality of trailing edges;

calculate the period of the dashed lane markers from the plurality of edge differences; and

communicate an output based upon the detected dashed lane markers for use by the vehicle.

2. A system for periodic lane marker identification as in claim 1, wherein the edge differences comprise a plurality of first edge differences computed based on distances between leading edges of the dashed lane markers.

3. A system for periodic lane maker identification as in claim 2, wherein the edge differences comprise a plurality of second edge differences computed based on distances between trailing edges of the dashed lane markers.

4. The system according to claim 3, wherein the processor is further operable to:

compare the first edge differences with the second edge differences to determine an accuracy of the period of the dashed lane markers.

5. A system for periodic lane marker identification as in claim 1, wherein the processor is further operable to compare values among the plurality of edge differences.

6. A system for periodic lane marker identification as in claim 5, wherein the processor is further operable to refine the edge differences by classifying the edge differences in a plurality of period ranges.

7. A system for periodic lane marker identification as in claim 6, wherein the processor is further operable to refine the edge differences by calculating a maximum frequency of the edge differences corresponding to a selected period range.

8. A system for periodic lane marker identification as in claim 7, wherein the processor is further operable to utilize the edge differences corresponding to the selected period range to calculate the period of the of the dashed lane markers.

9. A system for periodic roadway lane marker identification comprising:

at least one image sensor configured to capture a plurality of high dynamic range images exterior of a vehicle;

an image controller for communication data from the at least one imager;

a processor in communication with the image controller such that the processor is configured to process at least one high dynamic range image such that a period of a plurality of dashed lane markers is determined based on points in the image; and

wherein the processor is operable to;

calculate the period by comparing a plurality of distances between the dashed lane markers, wherein the plurality of distances correspond to distances among a plurality of leading edges and trailing edges of the dashed lane markers;

refine the period by grouping the distances into a plurality of ranges; and

communicate an output based upon the determined period of the plurality of dashed lane markers for assisting a driver.

10. A system for periodic lane marker identification as in claim 9, wherein a period of the plurality of dashed lane markers is determined by identifying an edge location in a world coordinate system and storing a plurality of edge locations in at least one buffer.

11. A system for periodic lane marker identification as in claim 9, wherein the period of the plurality of dashed lane markers are computed based on distances between leading edges of the dashed lane markers.

12. A system for periodic lane maker identification as in claim 9, wherein the plurality of dashed lane markers are computed based on distances between trailing edges of the dashed lane markers.

13. The system according to claim 9, wherein the plurality of distances is calculated based on a first plurality of distances between the leading edges of the periodic lane marker.

14. The system according to claim 9, wherein the plurality of distances is calculated based on a second plurality of distances between the trailing edges of the periodic lane marker.

15. A method of detecting a periodic lane marker located on a roadway comprising the steps of:

capturing at least one high dynamic range image;

detecting a periodic lane marker in the image for identifying a roadway lane;

calculating a period of the periodic lane marker, wherein the period is calculated by the steps of;

calculating a plurality of distances between each of a plurality of edges of the periodic lane marker, wherein the plurality of distances is calculated based on a first plurality of distances between leading edges of the periodic lane marker and a second plurality of distances between trailing edges of the periodic lane marker;

comparing the distances to identify a plurality of substantially similar distances; and

determining if a vehicle will remain within the roadway lane such that an output is communicated for use by a vehicle.

16. A method for detecting a periodic lane marker as in claim 15, further comprising the step of:

computing the period of the periodic lane marker based on a distance between leading edges of the periodic lane markers.

17. A method for detecting a periodic lane marker as in claim 15, further comprising the step of:

computing the period of the periodic lane marker based on a distance between trailing edges of the periodic lane markers.

18. A method for detecting a periodic lane marker as in claim 15, wherein the period is calculated by the step of utilizing the substantially similar distances to calculate the period.