Lane departure warning system and method

摘要

Provided is a lane departure warning system and method. The lane departure warning system includes an edge style classification map capture module, a road marker seed region detection module, a lane detection module, and a lane departure warning module, which can detect, by using an edge style classification map, and through road marker seed region detection and lane detection, lane edge pixels and identify real road marker edge pixels under a circumstance that there is no obvious gradient change or light is reflected or an obstacle exists, thereby determining a complete lane, and effectively finding a Region Of Interest (ROI) to simplify a procedure of lane detection.

主权项

1. A lane departure warning system, capturing multiple pixels of an image for data processing, wherein the lane departure warning system comprising:
an edge style classification map capture module, for calculating a horizontal gradient absolute value, a vertical gradient absolute value, and an edge direction value of each pixel of the image, and comparing the horizontal gradient absolute value, the vertical gradient absolute value, and the edge direction value of each pixel with multiple thresholds, so as to classify each pixel into one of edge styles; a road marker seed region detection module, for dividing the image into multiple sub-boxes, performing line feature evaluation on a pixel of the same edge style in the sub-box, so as to determine the edge styles with the line feature, and obtaining a sub-box of a road marker seed region; and a lane detection module, for determining an intensity threshold on the basis of partial pixels with the line feature in the sub-box of the road marker seed region, reserving pixels with an intensity value greater than or equal to the intensity threshold in the sub-box as multiple road marker pixels, obtaining a slope and an offset of a local lane through a straight line equation by using coordinate positions of the road marker pixels in the sub-box, and extending the local lane to other sub-boxes to obtain an extended lane.