Abstract:
A road surface includes lane marking that store digital information. Images of the road surface and lane markings are acquired by a camera. The digital information is decoded from the images, analyzed so that a feedback signal can be generated according to the decoded digital information.

Description:
FIELD OF THE INVENTION 
       [0001]    This invention relates generally to lane markings on roads, and more particularly to coding digital information in lane markings. 
       BACKGROUND OF THE INVENTION 
       [0002]    Different colors, lengths, and of lane markings guide users of roads, e.g., drivers and pedestrians. When a vehicle is equipped with a camera and processor, the markings can be analyzed using computer vision techniques, U.S. Patents and Publications: U.S. Pat. Nos.. 7,421,095, 7,421,095, 7,140,803, 2008-0255724, 2007-0225913, and 2007-0198146, 2006-0177265, and 2006-0132295. 
       SUMMARY OF THE INVENTION 
       [0003]    The embodiments of the invention provide a method and system for coding (encoding and decoding) digital information in lane markings. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0004]      FIG. 1A  is a schematic of a system for coding lane markings according to embodiments of the invention. 
           [0005]      FIG. 1B  is a schematic of a system for coding lane markings according to embodiments of the invention. 
           [0006]      FIG. 2  is a schematic of encoded digital information using Bott&#39;s dots according to embodiments of the invention; 
           [0007]      FIG. 3  is a schematic of encoded digital information using one-dimensional bar codes according to embodiments of the invention; 
           [0008]      FIG. 4  is a schematic of encoded digital information using varying widths according to embodiments of the invention; and 
           [0009]      FIG. 5  is a schematic of encoded digital information using varying lengths and gaps; and 
           [0010]      FIG. 6  is a schematic of encoded digital information using two-dimensional matrices in an urban environment according to embodiments of the invention. 
       
    
    
     DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT 
       [0011]      FIGS. 1A-1B  shows a system and method for coding digital information  102  stored in lane markings  101 . By coding, we mean encoding and decoding. The markings as described herein can be in the visible portion of the spectrum or infrared, including near and far (thermal) infrared bands. The encoded digital information is embedded in a substrate, e.g., the road surface, similar to the way that digital information is stored in the substrate of compact discs (CD) by physically altering the substrate. The digital information can be rewritten by repainting as the associated information changes over time. Hence, the road surface and markings can be considered a read/write memory for storing the encoded digital information. Normal paint or near infrared reflector paint and materials, as well as other paints and materials that have different emissivity can be used to embed the digital information into the substrate. An infrared source illuminating the road markings may be used to improve the visibility of the infrared camera. 
         [0012]    Digital information on a CD is read by an optical sensor. Likewise, we use an optical sensor  110 , e.g., a camera. The scene can be illuminated from ambient light from the sun or street lights. The vehicle can also illuminate the road marking using a visible or infrared light source. The camera can be for visible or infrared light. The output of the camera is connected to a processor  120  for performing the steps of the method as shown in  FIG. 1B . 
         [0013]    The camera acquires images  111 . The digital information in the images is decoded  150  to produce decoded digital information  151 . The decoded digital information is analyzed  160  to generate  170  feedback signals  122  to a user  101  of the road, or a controller  130  used during operation of the vehicle  102 . The decoding can use a likelihood function. 
         [0014]    Encoding Digital Information in Lane Markings 
         [0015]    The following constraints are observed for the encoding of digital information. First, the lane marking should be unobtrusive even when storing the digital information. To resist wear and tear, the digital information includes error correcting codes (ECC). 
         [0016]    One standardized code that can be used is a QR code. The QR code is a two-dimensional matrix code where the white and black colors of the digital information represent 0 and 1 bits. The QR code can be used with the Reed Solomon ECC. QR codes are used in numerous commercial tracking applications, and convenience-oriented applications aimed at mobile users. The QR code can store addresses and Uniform Resource Locators (URLs). Cameras equipped with the appropriate reader software can scan the image  111  of the QR code and launch a browser. The act of linking from physical world objects, e.g., lane markings, is known as a hardlink or physical world hyperlinks. 
         [0017]    As another advantage, QR codes can incorporate eye-catching images or characters  105  as a visual aid to the user. 
         [0018]    Another possible encoding is the public domain PDF417 code, which is a stacked linearbar code. Open Source decoders are readily available and can be user modified. 
         [0019]    If a resolution of the camera is 640×480 pixels, then a typical portion of the marking near the camera covers 16×144 pixels. Each bit should cover about 2×2 pixels. To ensure visibility to human, we enforce the ratio of white and black modules to at least 2 to 1. 
         [0020]    Therefore, a typical lane marking is about 12 cm wide, and 110 cm long. Three consecutive bits are combined into a group such that each group contains at least two white bits to obey the above stated constraint. Therefore, each group can store one of four possible symbols (WWW, BWW, WBW, WWB). Thus, a marking can store 48 symbols, or 96 bits of information without the ECC. If the ECC is ⅓, then the marking can store 32 bits. 
         [0021]    To encode the 32 information bits to store in a lane marking, we first apply a rate ⅓ ECC to obtain 96 bits. Then, every two consecutive bits are combined to form 48 symbols. An interleaver can be used to scramble the 48 symbols, and the 48 interleaved symbols are mapped sequentially to each group. 
         [0022]    Because the camera is elevated above the substrate, the relative length between the length and the width of the lane marking is smaller than in reality. Hence, the bits can be elongated to 6 cm×3 cm. This decreases the total number of information bits in a lane marking, but ensures sufficient resolution for lane marking that is about 2 meters away from the camera. Other size variations are possible, for example, lane markings  105  that are orthogonal to the direction of travel. 
         [0023]    To help identify starting and ending location of a lane marking, additional marks  107  and preambles  108  can delineate the digital information. 
         [0024]    Encoding with Bott&#39;s Dots 
         [0025]    As shown in  FIG. 2 , Botts&#39; dots  201  are round raised lane markers that provide tactile feedback to drivers when the vehicle crosses the marking. Botts&#39; dots can be various colors. The distance  202  between two consecutive Bott&#39;s dots typically does not exceed 2 meters. To ensure readability of the digital information, we set the distance between the Bott&#39;s dots to be multiple of 10 cm. The presence of a Bott&#39;s dot represents the 1 bit, and the absence a o bit. If the digital data contain more than 19 consecutive zeros, a Bott&#39;s dot is inserted without carrying any information. This ensures that spacing between the Bott&#39;s dots does not exceed 200 cm. For a field of view of 20 m, at least 190 bits of information can be communicated, when no ECC is used. 
         [0026]      FIG. 3  shows a one-dimensional bar code  301 . 
         [0027]      FIG. 4  shows lane markings  401  that vary the width. This is similar to the two-dimensional matrix code, except that the code is only applied at the edge. 
         [0028]      FIG. 5  shows lane markings  501  by varying the lengths and gaps between the markings. 
         [0029]    It should be understood that markings described above can be combined in various forms. 
         [0030]    All the above digital patterns are also applied using a near infrared reflector paint and material as well as other paints and materials that have different emissivity that make them distinguishable in a thermal infrared camera. Using different colors in a lane marking is another way of including the digital information. 
         [0031]    Applications 
         [0032]    The digital information can encode road curvature, points of interest, speed restrictions, upcoming hazards, exit numbers, and cross road names. Road curvature and speed information can help vehicle to control steering and speed to achieve lane keeping support functionality. 
         [0033]    Special digital information can be added to temporary lanes during road construction. Another application embeds location information, including geospatial coordinates, longitude, latitude, relative position and other coordinate system information, using the digital codes within the lane markings. Such an enhanced lane marking gives location information to the vehicle without depending on a GPS system. 
         [0034]    As an advantage, the lane markings  601  can store positional information that can be decoded inside tunnels, or urban canyons as shown in  FIG. 6 , where conventional positioning systems, such GPS, fail.