| 摘要 |
The present invention provides a lane departure warning system including: an image photographing part which is attached to the front of a vehicle and photographs the front of the vehicle; a driving part which receives image data from the image photographing part, and finds a pair of lanes by filtering, and calculates side distance and side speed to the vehicle from the pair of lanes by converting the image coordinate of the image data into real coordinate, and generates a warning generation signal according to a lane departure time by obtaining the lane departure time; and a warning part which generates a lane departure warning signal by receiving the warning generation signal. Therefore, the lane departure warning system can improve reliability by reducing error, by obtaining the lane departure time by calculating the side distance between the vehicle and the lane by converting the image coordinate into the real coordinate. Also, the system can reduce error by performing calculation through classification according to the state of a lane. [Reference numerals] (AA) END; (S100) Image receiving; (S200) Image preprocessing; (S300) Does lane pair exist?; (S400) Lane searching; (S500) Lane tracing; (S600) Does tracking succeed?; (S700) Is alarm generated according to TCL? |
