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Method, device and system for determining lane departure

A lane departure and lane technology, applied in the field of lane departure decision-making methods, devices and systems, can solve problems such as high cost, errors, and inability to accurately determine lane departure, and achieve cost-saving effects

Active Publication Date: 2010-08-18
CENNAVI TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] When the lane departure warning system of the prior art determines whether lane departure occurs, in addition to the need for cameras, it also needs to additionally set a variety of sensors, such as speed sensors, angle sensors, etc., resulting in high cost; To estimate the parameters, it is necessary to obtain accurate camera calibration results, but in the actual camera calibration operation, there are often errors, so that it is impossible to accurately determine the deviation of the lane

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  • Method, device and system for determining lane departure
  • Method, device and system for determining lane departure
  • Method, device and system for determining lane departure

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Embodiment Construction

[0030] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0031] Embodiment 1 of the present invention provides a method for determining lane departure, such as figure 1 As shown, the method includes:

[0032] Step S1: Perform edge detection on the lane image to obtain the gradient magnitude and gradient direction of each pixel in the lane image;

[0033] Step S2: Determine the gradient direction of the lane boundary according to the gradient magnitude and gradient direction of each pixel;

[0034] Step S3: using the gr...

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Abstract

The invention discloses a method, a device and a system for determining lane departure, which relates to the technical field of intelligent vehicles, can accurately judge whether lane departure occurs under the conditions of no a plurality of types of sensors and no need of camera calibration results, and saves the system cost. The method provided by the embodiment of the invention is as follows that: edge detection is carried out to a lane image, to obtain the gradient size and the gradient direction of all pixels in the lane image; the gradient direction of the lane boundary is determined according to the gradient size and the gradient direction of all the pixels; the lane boundary is fitted by a straight line with the gradient size and the gradient direction of all the pixels as well as the gradient direction of the lane boundary to obtain the lane boundary straight line; and whether the lane departure occurs is determined according to the inclination angle of the lane boundary straight line. The invention is applicable to occasions on which lane departure needs to be determined.

Description

technical field [0001] The invention relates to the technology in the field of intelligent vehicles, in particular to a lane departure decision method, device and system. Background technique [0002] In road traffic accidents, a considerable part of the accidents are traffic accidents caused by the driver turning the steering wheel unintentionally and causing lane departure. Therefore, the development of lane departure warning system is of great significance to reduce the occurrence of such accidents and save people's lives and property losses. [0003] The prior art provides a lane departure warning system. In this system, the image sensor is used to perceive the geometric structure parameters of the lane in front of the vehicle, and the speed sensor and angle sensor are used to perceive the vehicle's speed and steering wheel angle. Then the corresponding algorithm is used to estimate the time to lane departure (Time to Lane Crossing, TLC) with the geometric structure pa...

Claims

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Application Information

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IPC IPC(8): B60W30/12B60Q9/00
CPCG08G1/167G01C21/3602B60W30/12
Inventor 杨承继胡健
Owner CENNAVI TECH
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