| 摘要 |
The present invention relates to a lane departure warning system of vehicles and, more especially, to a device for selecting a lane relative to multi-lane road and a method thereof capable of improving reliability of the lane departure warning system by selecting an inner lane close to the vehicle on the multi-lane road formed with two or more lanes as a lane of a current frame. The device for selecting the lane relative to the multi-lane road according to the present invention comprises: a lane information extracting member extracting lane information by using a top hat filter from filmed images provided from a camera installed in the vehicle; an interesting area setting member setting an interesting area including the lane from the filmed images; a candidate lane detection member determining one among linear components extracted through hough transformation based on the lane information existing within the interesting area in which is set in the interesting area setting member; a multi-lane determination member calculating the lane width of a candidate lane relative to the current frame detected from the candidate lane detection member and providing multi-lane information including the information displaying a multi-lane state and the lane information of a frame in which the lane width is narrow to a lane determination member by determining a current lane to the multi-lane if the change of the lane width relative to the calculated candidate lane and the lane determined in a previous lane is repeated over the predetermined times; and a lane determination member determining the candidate lane of the current frame applied from the candidate lane detection member as the lane of the current frame and determining the lane information included in the multi-lane information as the lane of the current frame if the multi-lane information is applied from the multi-lane determination member. [Reference numerals] (100) Lane information extracting member;(200) Interested area setting member;(300) Candidate lane detection member;(400) Multi-lane judging member;(500) Lane determination member |
