Driver assisting method for vehicle, involves performing edge detection by horizontal and vertical sobel-edge operator, determining gray value gradient, generating binary signal by evaluation of gray value gradients

摘要

The method involves detecting a traffic lane change when a difference between spatial areas of front and rear right vehicle edges and/or front and rear left vehicle edges is determined. The spatial areas are sensed by infrared sensors. An edge detection is performed by a horizontal and vertical sobel-edge operator, and a gray value gradient is determined. A binary signal is generated by evaluation of the gray value gradients, and is compared with a threshold.