Full speed lane sensing using multiple cameras
First Claim
1. A method for sensing a travel lane in a roadway that a vehicle is traveling along, said vehicle including a plurality of cameras, said roadway including a left-side roadway boundary line at a left side of the lane and a right-side roadway boundary line at a right side of the lane, said method comprising:
- providing images for each of the plurality of cameras from consecutive image frames;
detecting a representation of one or both of the left-side boundary line and the right-side boundary line in each of the images;
calibrating an orientation of each of the plurality of cameras using the representation of the left-side roadway boundary line, the right-side roadway boundary line, or a combination thereof, in the image;
performing a camera diagnosis process for each of the plurality of cameras to provide temporal constraint analysis and spatial constraint analysis, where the temporal constraint analysis determines whether consecutive image frames are co-linear, are at the same angle and are at the same offset within a temporal constraint threshold and where the spatial constraint analysis determines that the representation of the boundary lines that extend across boundaries for one image from one camera to another image from another camera are straight and have the same angle within a spatial constraint threshold;
re-calibrating the orientation of each of the plurality of cameras if the temporal constraint threshold and the spatial constraint threshold are not met; and
using a model fitting process to identify the boundary lines in each image if the temporal constraint threshold and the spatial constraint threshold are met.
3 Assignments
0 Petitions
Accused Products
Abstract
A system and method for providing lane sensing on a vehicle by detecting roadway lane-markers, where the system employs multiple cameras providing images around the vehicle. The method includes detecting left-side and right-side lane boundary lines in the camera images, and then determining whether the lane boundary lines in the images are aligned from one image frame to a next image frame and are aligned from image to image. If the boundary lines are not aligned, then calibration of one or more of the cameras is performed, and if the lines are aligned, then a model fitting process is used to specifically identify the location of the boundary lines on the roadway.
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Citations
20 Claims
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1. A method for sensing a travel lane in a roadway that a vehicle is traveling along, said vehicle including a plurality of cameras, said roadway including a left-side roadway boundary line at a left side of the lane and a right-side roadway boundary line at a right side of the lane, said method comprising:
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providing images for each of the plurality of cameras from consecutive image frames; detecting a representation of one or both of the left-side boundary line and the right-side boundary line in each of the images; calibrating an orientation of each of the plurality of cameras using the representation of the left-side roadway boundary line, the right-side roadway boundary line, or a combination thereof, in the image; performing a camera diagnosis process for each of the plurality of cameras to provide temporal constraint analysis and spatial constraint analysis, where the temporal constraint analysis determines whether consecutive image frames are co-linear, are at the same angle and are at the same offset within a temporal constraint threshold and where the spatial constraint analysis determines that the representation of the boundary lines that extend across boundaries for one image from one camera to another image from another camera are straight and have the same angle within a spatial constraint threshold; re-calibrating the orientation of each of the plurality of cameras if the temporal constraint threshold and the spatial constraint threshold are not met; and using a model fitting process to identify the boundary lines in each image if the temporal constraint threshold and the spatial constraint threshold are met. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method for sensing a travel lane in a roadway that a vehicle is traveling along, said vehicle including a front-view camera mounted to a front of the vehicle, a left-side view camera mounted to a left side of the vehicle, a right-side view camera mounted to a right side of the vehicle and a rear-view camera mounted to a rear of the vehicle, said roadway including a left-side roadway boundary line at a left side of the lane and a right-side roadway boundary line at a right side of the lane, said method comprising:
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providing separate images from the front-view camera, the left-side view camera, the right-side view camera and the rear-view camera from consecutive image frames of the front of the vehicle, the left side of the vehicle, the right side of the vehicle and the rear of the vehicle; detecting a representation of the left-side boundary line and the right-side boundary line for each separate image from at least the front-view camera and the rear-view camera; calibrating an orientation of each of the front-view camera, the left-side view camera, the right-side view camera and the rear-view camera using either the representation of the left-side roadway boundary line or the right-side roadway boundary line in the images from the cameras; performing a camera diagnosis process for each of the cameras to provide temporal constraint analysis and spatial constraint analysis of each image, where the temporal constraint analysis determines whether consecutive image frames are co-linear, are at the same angle and are at the same offset within a temporal constraint threshold and where the spatial constraint analysis determines that the representation of the lane lines in the images that extend across boundaries for one image from one camera to another image from another camera are straight and have the same angle within a spatial constraint threshold; recalibrating the orientation of one or more of the front-view camera, the left-side view camera, the right-side view camera and the rear-view camera if the temporal constraint threshold and the spatial constraint threshold are not met; and model fitting the representation of the left-side boundary line and the right-side boundary line in each image to the left-side and right-side boundary lines if the temporal constraint threshold and the spatial constraint threshold are met. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19)
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20. A method for sensing a travel lane in a roadway that a vehicle is traveling along, said vehicle including at least one camera, said roadway including one or both of a left-side roadway boundary line at a left side of the lane and a right-side roadway boundary line at a right side of the lane, said method comprising:
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providing image data from the at least one camera; detecting a representation of the left-side boundary line or the right-side boundary line in the image data; calibrating an orientation of the at least one camera using the representation of the left-side roadway boundary line or the right-side roadway boundary line in the image data; performing a camera diagnosis process for the at least one camera to provide temporal constraint analysis and spatial constraint analysis, where the temporal constraint analysis determines whether consecutive image frames are co-linear, are at the same angle and are at the same offset within a temporal constraint threshold and where the spatial constraint analysis determines that the representation of the lane lines that extend across boundaries are straight and have the same angle within a spatial constraint threshold; re-calibrating the orientation of the at least one camera if the temporal constraint threshold and the spatial constraint threshold are not met; and using a model fitting process to identify the boundary lines in the image data if the temporal constraint threshold and the spatial constraint threshold are met.
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Specification