| 摘要 |
The present invention provides a reliability calculation method of lane detection on the basis of an image acquired from an imaging apparatus including the steps of: a) detecting an edge from a frame of an image; b) recognizing a lane with the detected edge; c) calculating feature point of the lane; d) generating a motion vector by calculating the difference between the feature point of a current frame of the image and the feature point of at least one stored prior frame, when the frame is not an initial frame of the image; and e) calculating lane detection reliability on the basis of the motion vector on the basis of the motion vector and the edge intensity of the edge showing a lane of the edge of the current frame. The present invention provides advantageous effect capable of calculating reliability of lane detection more accurately. [Reference numerals] (2) Road information extraction part; (AA) Driver input information; (BB) Vehicle behavior; (CC) Camera; (DD) Lane information road information; (EE) Control torque |
