Method and system for video-based road characterization, lane detection and departure prevention
First Claim
1. A method of video-based road departure warning for a vehicle on a road, comprising the steps of:
- receiving an image of a road in front of the vehicle from a video imager;
detecting one or more road markings in the image corresponding to markings on the road;
analyzing characteristics of an image region beyond the detected markings to determine a rating for drivability of the road corresponding to said image region, wherein the characteristics of the image region beyond the detected markings comprise a median gradient spacing row variation;
detecting a lateral offset of the vehicle relative to the markings on the road based on the detected road markings;
generating a warning signal as a function of said lateral offset and said rating; and
wherein the step of analyzing characteristics of the image region beyond the detected markings to determine the rating for drivability further comprises comparing the characteristics of the image region beyond the detected markings to characteristics of an image region within the detected markings or to values in a database.
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Abstract
A method and system for video-based road departure warning for a vehicle on a road, is provided. Road departure warning involves receiving an image of a road in front of the vehicle from a video imager, and detecting one or more road markings in the image corresponding to markings on the road. Then, analyzing the characteristics of an image region beyond the detected markings to determine a rating for drivability of the road corresponding to said image region, and detecting the lateral offset of the vehicle relative to the markings on the road based on the detected road markings. A warning signal is generated as function of said lateral offset and said rating.
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Citations
31 Claims
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1. A method of video-based road departure warning for a vehicle on a road, comprising the steps of:
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receiving an image of a road in front of the vehicle from a video imager; detecting one or more road markings in the image corresponding to markings on the road; analyzing characteristics of an image region beyond the detected markings to determine a rating for drivability of the road corresponding to said image region, wherein the characteristics of the image region beyond the detected markings comprise a median gradient spacing row variation; detecting a lateral offset of the vehicle relative to the markings on the road based on the detected road markings; generating a warning signal as a function of said lateral offset and said rating; and wherein the step of analyzing characteristics of the image region beyond the detected markings to determine the rating for drivability further comprises comparing the characteristics of the image region beyond the detected markings to characteristics of an image region within the detected markings or to values in a database. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 26, 29)
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10. An apparatus for video-based road departure warning for a vehicle on a road, comprising:
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an image processing function configured for receiving an image of a road in front of a vehicle from a video imager; a road marking detector configured for detecting one or more road markings in the image corresponding to markings on the road using an image processing device; a characterization module configured for analyzing characteristics of an image region beyond the detected markings to determine a rating for drivability of the road corresponding to said image region, wherein the characteristics of the image region beyond the detected markings comprise a median gradient spacing row variation; an offset detection function configured for detecting a lateral offset of the vehicle relative to the markings on the road based on the detected road markings, a lane departure detector configured for generating a warning signal as a function of said lateral offset and said rating; a controller configured for controlling operation of one or more of the image processing function, road marking detector, characterization module, offset detection function and lane departure detector; and wherein the characterization module configured for analyzing characteristics of the image region beyond the detected markings to determine the rating for drivability is further configured for comparing the characteristics of the image region beyond the detected markings to characteristics of an image region within the detected markings or to values in a database. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 27, 30)
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21. A system for video-based road departure warning for a vehicle on a road, comprising:
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a video imager configured for generating an image of a road in front of a vehicle; an image processing function configured for determining a region of interest in the image using an image processing device, a road marking detector configured for detecting one or more road markings in the image corresponding to markings on the road; a characterization module configured for analyzing characteristics of a image region beyond the detected markings, to determine a rating for drivability of the road corresponding to said image region, wherein the characteristics of the image region beyond the detected markings comprise a median gradient spacing row variation; an offset detection function configured for detecting a lateral offset of the vehicle relative to the markings on the road based on the detected road markings; a lane departure detector configured for generating a warning signal as a function of said lateral offset and said rating; a controller configured for controlling operation of one or more of the imager, image processing function, road marking detector, characterization module, offset detection function and lane departure detector; and wherein the characterization module configured for analyzing characteristics of the image region beyond the detected markings to determine the rating for drivability is further configured for comparing the characteristics of the image region beyond the detected markings to characteristics of an image region within the detected markings or to values in a database. - View Dependent Claims (22, 23, 24, 25, 28, 31)
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Specification