公开(公告)号：US07876926B2

公开(公告)日：2011-01-25

申请号：US11592824

申请日：2006-11-03

Applicant: David A. Schwartz ,  Jan K. Schiffmann ,  Lisa R. Hamilton

Inventor： David A. Schwartz ,  Jan K. Schiffmann ,  Lisa R. Hamilton

IPC: G05D1/00 ,  G06K9/00

CPC classification number: G06K9/4609 ,  G06K9/00798

Abstract: A method of lane marker detection and detection fitting is provided for lane tracking. A lane marker is modeled and split into left and right steps. A filter response is calculated from a cumulative row sum, and normalized for filter pixel size, lane marker brightness and road brightness. A lane marker response is peak detected for positive and negative peaks and checked for having a magnitude above a threshold and being a local peak in a five point neighborhood. A Hough transform is extended to multiple planes to use lane marker features to determine a best line. Lane marker features include a mean and variance of lane marker brightness, lane marker width, lane marker parallelism to a host vehicle direction of travel, and consistence with a predicted lane marker characteristic. A closest lane marker line to a host vehicle is identified, and refitted to account for any curvature.

Abstract translation: 提供车道跟踪检测和检测配合方法。 车道标记被建模并分为左右步骤。 从累积行和计算滤波器响应，并对滤波器像素大小，车道标记亮度和道路亮度进行归一化。 车道标记响应是正峰值和负峰值的峰值，并且检查幅度高于阈值，并且是五点邻域中的局部峰值。 霍夫变换扩展到多个平面以使用车道标记功能来确定最佳线。 车道标记特征包括道路标记亮度的平均值和方差，车道标记宽度，与主车辆行驶方向的车道标记平行度，以及预测车道标记特征的一致性。 识别到主车辆的最近的车道标记线，并且重新设计以考虑任何曲率。

公开(公告)号：US20080109118A1

公开(公告)日：2008-05-08

申请号：US11592824

申请日：2006-11-03

Applicant: David A. Schwartz ,  Jan K. Schiffmann ,  Lisa R. Hamilton

Inventor： David A. Schwartz ,  Jan K. Schiffmann ,  Lisa R. Hamilton

IPC: G06F17/00

CPC classification number: G06K9/4609 ,  G06K9/00798

Abstract: A method of lane marker detection and lane fitting is provided for lane tracking. A lane marker is modeled and split into left and right steps. A filter response is calculated from a cumulative row sum, and normalized for filter pixel size, lane marker brightness and road brightness. A lane marker response is peak detected for positive and negative peaks and checked for having a magnitude above a threshold and being a local peak in a five point neighborhood. A Hough transform is extended to multiple planes to use lane marker features to determine a best line. Lane marker features include a mean and variance of lane marker brightness, lane marker width, lane marker parallelism to a host vehicle direction of travel, and consistence with a predicted lane marker characteristic. A closest lane marker line to a host vehicle is identified, and refitted to account for any curvature.

Abstract translation: 提供车道跟踪检测方法和车道配合。 车道标记被建模并分为左右步骤。 从累积行和计算滤波器响应，并对滤波器像素大小，车道标记亮度和道路亮度进行归一化。 车道标记响应是正峰值和负峰值的峰值，并且检查幅度高于阈值，并且是五点邻域中的局部峰值。 霍夫变换扩展到多个平面以使用车道标记功能来确定最佳线。 车道标记特征包括道路标记亮度的平均值和方差，车道标记宽度，与主车辆行驶方向的车道标记平行度，以及预测车道标记特征的一致性。 识别到主车辆的最近的车道标记线，并且重新设计以考虑任何曲率。

公开(公告)号：US07050908B1

公开(公告)日：2006-05-23

申请号：US11087041

申请日：2005-03-22

Applicant: David A. Schwartz ,  Lisa R. Hamilton

Inventor： David A. Schwartz ,  Lisa R. Hamilton

IPC: G06G7/78 ,  G06F15/50

CPC classification number: G06K9/00798 ,  B60T2201/08 ,  B60T2201/089 ,  G06T7/246 ,  G06T7/73

Abstract: Lane marker coordinate data obtained from a previous frame of a vehicle vision system is projected into the current video frame based on measured translation and rotation of the host vehicle. The projected lane marker coordinate data is consolidated with lane marker coordinate data from the current video frame for lane detection or display applications.

Abstract translation: 基于本车辆的测量平移和旋转将从车辆视觉系统的先前帧获得的车道标记坐标数据投影到当前视频帧中。 投影车道标记坐标数据与来自当前视频帧的车道标记坐标数据合并，用于车道检测或显示应用。