Patent ID: 10490082

Abstract:
Method for generating a lane departure warning in a vehicle, comprising acquiring a plurality of frames of a digital image of a road on which the vehicle is running, the digital image of a road including the image of a lane within which the vehicle is running and of marking lines of the lane, for each of the acquired frames, extracting edge points of the frame, analyzing the edge points to evaluate a lane departure status, the evaluation including performing a lane departure verification procedure including identifying in the frame points representative of the position of the lane marking lines, generating a lane departure alert if a lane departure status is detected by the lane departure verification procedure. In the described method, the lane departure verification procedure includes comparing the position of the points to reference positions of the lane, the reference positions of the lane being obtained by a lane calibration procedure performed on a set of acquired frames, the lane calibration procedure including filtering edge points of the image frame belonging to an area of a horizontal stripe of the frame including a plurality of rows of the frame.