Vision method of detecting lane boundaries and obstacles

  • US 4,970,653 A
  • Filed: 04/06/1989
  • Issued: 11/13/1990
  • Est. Priority Date: 04/06/1989
  • Status: Expired due to Term
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First Claim
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1. In an automotive vehicle having a computer vision system and an associated camera for viewing a scene ahead of the vehicle, a method of detecting lane markers on a roadway comprising the steps of:

  • obtaining an image of the scene and digitizing the image,normalizing the image,defining a search area in the image,searching for lane markers in the search area of the image to locate lane marker positions,estimating the position of any missing lane marker from said located lane marker positions, anddefining lane boundaries from the said located lane marker positions and the estimated position of the missing lane marker.

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