Patent ID: 9152866
Filing Date: 2015-10-06
Classification: G06K

Abstract:
1. A lane departure warning system, capturing multiple pixels of an image for data processing, wherein the lane departure warning system comprising: an edge style classification map capture module, for calculating a horizontal gradient absolute value, a vertical gradient absolute value, and an edge direction value of each pixel of the image, and comparing the horizontal gradient absolute value, the vertical gradient absolute value, and the edge direction value of each pixel with multiple thresholds, so as to classify each pixel into one of edge styles; a road marker seed region detection module, for dividing the image into multiple sub-boxes, performing line feature evaluation on a pixel of the same edge style in the sub-box, so as to determine the edge styles with the line feature, and obtaining a sub-box of a road marker seed region; and a lane detection module, for determining an intensity threshold on the basis of partial pixels with the line feature in the sub-box of the road marker seed region, reserving pixels with an intensity value greater than or equal to the intensity threshold in the sub-box as multiple road marker pixels, obtaining a slope and an offset of a local lane through a straight line equation by using coordinate positions of the road marker pixels in the sub-box, and extending the local lane to other sub-boxes to obtain an extended lane.