Patent ID: 9401028
Filing Date: 2016-07-26
CPC Classification: G06K,G06T

Claim Text:
1. A method of video-based road departure warning for a vehicle on a road, comprising the steps of: receiving an image of a road in front of the vehicle from a video imager; detecting one or more road markings in the image corresponding to markings on the road; analyzing characteristics of an image region beyond the detected markings to determine a rating for drivability of the road corresponding to said image region, wherein the characteristics of the image region beyond the detected markings comprise a median gradient spacing row variation; detecting a lateral offset of the vehicle relative to the markings on the road based on the detected road markings; generating a warning signal as a function of said lateral offset and said rating; and wherein the step of analyzing characteristics of the image region beyond the detected markings to determine the rating for drivability further comprises comparing the characteristics of the image region beyond the detected markings to characteristics of an image region within the detected markings or to values in a database.