Lane departure warning system and method of controlling the same

• US 9,367,750 B2
• Filed: 11/26/2014
• Issued: 06/14/2016
• Est. Priority Date: 11/29/2013
• Status: Active Grant

• Current Assignee: Hyundai Mobis Co., Ltd.
• Original Assignee: Hyundai Mobis Co., Ltd.
• Inventors: Park, Sang Jun
• Primary Examiner(s): Liew, Alex
• Application Number:
  US14/554,150
• Publication Number:
  US 20150154459A1
• Time in Patent Office: 566 Days
• Field of Search: 382103-107
• US Class Current: 1/1
• CPC Class Codes: G06V 10/60 relating to illumination properties, e.g. using a reflectance or lighting model
• 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

Disclosed is a lane departure warning system. According to an exemplary embodiment of the present invention, the lane departure warning system includes: an image obtaining unit configured to obtain a travelling image; a region of interest setting unit configured to set a predetermined region of the travelling image as a region of interest; and a controller configured to remove a shadow component included in the region of interest when brightness of the region of interest satisfies a predetermined condition, and detect a line in the region of interest in which the shadow component is removed.

Claims

1. A lane departure warning system mounted in a vehicle, comprising:

one or more central processing unit having circuitry configured to;

obtain a travelling image;

set a predetermined region of the travelling image as a region of interest;

classify each pixel of a plurality of pixels included in the region of interest into a brightness section of a plurality of predetermined brightness sections corresponding to pixel illumination, calculate a number of pixels in the region of interest included in each brightness section, and generate a histogram with the calculated number of pixels for each brightness section; and

remove a shadow component included in the region of interest when a ratio of a number of pixels classified into brightness sections having pixel illumination of a predetermined value or smaller to a total number of the plurality of pixels is greater than or equal to a predetermined ratio, and detect a line in the region of interest in which the shadow component is removed.

2. The lane departure warning system of claim 1, wherein the circuitry is configured to set one or more regions of interest, each one of the regions of interest having a predetermined width and length.

3. The lane departure warning system of claim 2, wherein the circuitry is configured to set the region of interest at each of a left side and a right side based on a center axis of a travelling direction.

4. The lane departure warning system of claim 1, wherein the circuitry is configured to adjust an inclination of the region of interest based on a travelling direction.

5. The lane departure warning system of claim 1, wherein the circuitry is further configured to calculate a distance between the detected line and the vehicle, and generate a warning signal when the calculated distance is smaller than a predetermined value.

6. The lane departure warning system of claim 5,

wherein the circuitry is further configured to receive the generated warning signal, and generate a warning output comprising at least one effect selected from a group consisting of a visual effect, an audible effect, and a tactile effect.

7. A non-transitory computer-readable storage medium having embodied thereon a program, which when executed by a computer causes the computer to execute a method of controlling a lane departure warning system mounted in a vehicle, the method comprising:

obtaining a travelling image;

setting a predetermined region of the travelling image as a region of interest;

classifying each pixel of a plurality of pixels included in the region of interest into a brightness section of a plurality of predetermined brightness sections corresponding to pixel illumination, calculating a number of pixels in the region of interest included in each brightness section, and generating a histogram with the calculated number of pixels for each brightness section;

determining whether a ratio of a number of pixels classified into brightness sections having pixel illumination of a predetermined value or smaller to a total number of the plurality of pixels is greater than or equal to a predetermined ratio;

removing a shadow component included in the region of interest when it is determined that a ratio of the number of pixels classified into the brightness sections having pixel illumination of the predetermined value or smaller to the total number of the plurality of pixels is greater than or equal to the predetermined ratio; and

detecting a line in the region of interest in which the shadow component is removed.

8. The non-transitory computer-readable storage medium of claim 7, wherein the setting of the predetermined region of the travelling image as the region of interest includes setting one or more regions of interest having a predetermined width and length.

9. The non-transitory computer-readable storage medium of claim 8, wherein the setting of the predetermined region of the travelling image as the region of interest includes setting the region of interest at each of a left side and a right side based on a center axis of a travelling direction.

10. The non-transitory computer-readable storage medium of claim 7, wherein the setting of the predetermined region of the travelling image as the region of interest includes adjusting an inclination of the region of interest based on a travelling direction of a vehicle.

11. The non-transitory computer-readable storage medium of claim 7, the method further comprising:

calculating a distance between the detected line and the vehicle, and generating a warning signal when the calculated distance is smaller than a predetermined value.

12. The non-transitory computer-readable storage medium of claim 11, the method further comprising:

receiving the warning signal, and generating at least one effect selected from a group consisting of a visual effect, an audible effect, and a tactile effect.