LANE DETECTION APPARATUS AND OPERATING METHOD FOR THE SAME

摘要

Disclosed are a lane detection apparatus and an operating method for the same, and the operating method for the lane detection apparatus includes: detecting a plurality of edges in a driving image of a vehicle expressed by Cartesian coordinates; detecting a pattern of the plurality of edges; estimating a horizontal location of the vehicle in a driving lane based on the detected pattern; setting two regions of interest in the driving image based on the horizontal location; generating two Hough spaces corresponding two regions of interest, respectively, including a plurality of counting regions, and expressed by polar coordinates; calculating a polar coordinate value of each pixel included in the edge shown in each of two regions of interest among the plurality of edges by using Hough transform that transforms the Cartesian coordinates into the polar coordinates; accumulating the count of the counting region to which the polar coordinate value belongs, with respect to two respective Hough spaces; selecting a counting region having the highest count number among the plurality of counting regions with respect to two respective Hough spaces; transforming the counting region having the highest count number into two straight lines expressed by the Cartesian coordinates, with respect to two respective Hough spaces; and detecting two transformed straight lines as a left lane and a right lane of the driving lane.

主权项

1. An operating method for a lane detection apparatus comprising:
detecting a plurality of edges in a driving image of a vehicle expressed by Cartesian coordinates; detecting a pattern of the plurality of edges; estimating a horizontal location of the vehicle in a driving lane based on the detected pattern; setting two regions of interest in the driving image based on the horizontal location; generating two Hough spaces corresponding to two regions of interest, respectively, including a plurality of counting regions, and expressed by polar coordinates; calculating a polar coordinate value of each pixel included in the edge shown in each of two regions of interest among the plurality of edges by using Hough transform that transforms the Cartesian coordinates into the polar coordinates; accumulating the count of the counting region to which the polar coordinate value belongs, with respect to two respective Hough spaces; selecting a counting region having the highest count number is selected among the plurality of counting regions with respect to two respective Hough spaces; transforming the counting region having the highest count number into two straight lines expressed by the Cartesian coordinates, with respect to two respective Hough spaces; and detecting two transformed straight lines as a left lane and a right lane of the driving lane.