Method and device of lane departure warning and automobile driving assistance system
First Claim
1. A lane departure warning method, an imaging device being arranged on a central axis of a front windshield of a vehicle, the lane departure warning method at least comprising steps of:
- collecting a road image by the imaging device;
detecting a lane marking in accordance with the road image, so as to extract a position of the lane marking and an angle of the lane marking relative to a running direction of the vehicle;
acquiring steering information and a movement speed of the vehicle by an On-Board Diagnostic (OBD) system;
judging whether or not the vehicle is unconsciously running on the lane marking in accordance with the position of the lane marking, the angle of the lane marking relative to the running direction of the vehicle and the steering information of the vehicle;
in the case that the vehicle is unconsciously running on the lane marking, recording a duration within which the vehicle is unconsciously running on the lane marking; and
judging whether or not to send a lane departure warning to the vehicle in accordance with the duration within which the vehicle is unconsciously running on the lane marking and the movement speed of the vehicle.
2 Assignments
0 Petitions
Accused Products
Abstract
A lane departure warning method includes steps of: collecting a road image by an imaging device; detecting a lane marking in accordance with the road image, so as to extract a position of the lane marking and an angle of the lane marking relative to a running direction of the vehicle; acquiring steering information and a movement speed of the vehicle by an OBD system; judging whether or not the vehicle is unconsciously running on the lane marking in accordance with the position of the lane marking, the angle of the lane marking relative to the running direction of the vehicle and the steering information of the vehicle; in the case that the vehicle is unconsciously running on the lane marking, recording a duration within which the vehicle is unconsciously running on the lane marking; and judging whether or not to send a lane departure warning to the vehicle.
20 Citations
15 Claims
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1. A lane departure warning method, an imaging device being arranged on a central axis of a front windshield of a vehicle, the lane departure warning method at least comprising steps of:
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collecting a road image by the imaging device; detecting a lane marking in accordance with the road image, so as to extract a position of the lane marking and an angle of the lane marking relative to a running direction of the vehicle; acquiring steering information and a movement speed of the vehicle by an On-Board Diagnostic (OBD) system; judging whether or not the vehicle is unconsciously running on the lane marking in accordance with the position of the lane marking, the angle of the lane marking relative to the running direction of the vehicle and the steering information of the vehicle; in the case that the vehicle is unconsciously running on the lane marking, recording a duration within which the vehicle is unconsciously running on the lane marking; and judging whether or not to send a lane departure warning to the vehicle in accordance with the duration within which the vehicle is unconsciously running on the lane marking and the movement speed of the vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A lane departure warning device, an imaging device being arranged on a central axis of a front windshield of a vehicle, the lane departure warning device at least comprising:
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a collection unit configured to collect a road image by the imaging device; an extraction unit configured to detect a lane marking in accordance with the road image, so as to extract a position of the lane marking and an angle of the lane marking relative to a running direction of the vehicle; an acquisition unit configured to acquire steering information and a movement speed of the vehicle by an On-Board Diagnostic (OBD) system; a first judgment unit configured to judge whether or not the vehicle is unconsciously running on the lane marking in accordance with the position of the lane marking, the angle of the lane marking relative to the running direction of the vehicle and the steering information of the vehicle; a recording unit configured to, in the case that the vehicle is unconsciously running on the lane marking, record a duration within which the vehicle is unconsciously running on the lane marking; and a second judgment unit configured to judge whether or not to send a lane departure warning to the vehicle in accordance with the duration within which the vehicle is unconsciously running on the lane marking and the movement speed of the vehicle. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15)
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Specification