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Method for detecting lane departure and apparatus thereof

  • US 8,311,283 B2
  • Filed: 07/06/2008
  • Issued: 11/13/2012
  • Est. Priority Date: 07/06/2008
  • Status: Active Grant
First Claim
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1. A method for detecting lane departure of a vehicle, comprising:

  • an image recognition process which includes the following steps;

    an image capturing step for capturing an image frame data of a road ahead of the vehicle by using an image capturing unit;

    a lane line recognition step for analyzing the image frame data and establishing a road geometry estimation model by using a quadratic curve fitting equation, a plurality of parameters solved by substituting a plurality of position data calculated by recognizing a plurality of lane lines in the image frame data to correct the road geometry estimation model and make the corrected road geometry estimation model approximating a practical lane line track; and

    a deviation estimation process which includes the following steps;

    an operation processing step;

    use the corrected road geometry estimation model and the quadratic curve fitting equation to calculate a transversal displacement, a traveling slope, and a lane curvature; and

    a pre-alert step;

    compare the transversal displacement and the corrected road geometry estimation model to determinate a distance between the vehicle and the lane line;

    if the vehicle is close to the lane line, a warning is issued;

    wherein the transversal displacement is calculated by the equation;


    Δ

    =yL



    ε

    L where Δ

    is the transversal displacement of the vehicle;

    yL is a displacement of the vehicle from a reference point;

    L is a preview distance; and

    ε

    L is the traveling slope;

    the distance between the vehicle and the lane line is calculated by the equation;

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