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  • Us 20100014714

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    Khisbullah Hudha
    11 просмотров12 страниц
    A method is provided for detecting road lane markers in a vehicle road using an imaging device. Road input data is captured using the imaging device. Lighting normalization is applied to the road input data. Candidate lane markers are selected in response to the edgebased filter response and line-based filter response in each main orientation.

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    A method is provided for detecting road lane markers in a vehicle road using an imaging device. Road input data is captured using the imaging device. Lighting normalization is applied to the road input data. Candidate lane markers are selected in response to the edgebased filter response and line-based filter response in each main orientation.

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    11 просмотров12 страниц

    Us 20100014714

    Загружено:

    Khisbullah Hudha
    A method is provided for detecting road lane markers in a vehicle road using an imaging device. Road input data is captured using the imaging device. Lighting normalization is applied to the road input data. Candidate lane markers are selected in response to the edgebased filter response and line-based filter response in each main orientation.

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    Attribution Non-Commercial (BY-NC)
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    из 12
    1 cu») United States c2) Patent Application Publica Zhang et al. (a) CAMERA-BAS DETECTION Wende (73) Inventors MI(US); Varsha Sadekar, String Heights, MI ( CComespondenee Address 43604 (US) GM GLOBAL TECHNOLOGY OPERATIONS, INC., Detroit, MI ws) (03) Assignee: (21) Appl.Nos — 120175,631 (22) Filed Jul 18,2008, Publication Classification (1) neck G6K 9/78 (2006.01) G06K 9700 (2006.01), US 20100014714. (10) Pub. No.: US 2010/0014714 Al (43) Pub, Date Jan. 21, 2010 Gosp 102 GOOF 1700 GOK 946 200501) (2006.01), (200501), (2) US.CL ‘382/104; 382/190; 701/28, on ABSTRACT A method is provided for devcting road lane markers in a vehicle road using an imaging device. Road input data is captured using the imaging device. Lighting normalization is ‘applied to the road inpnt data, The method detec the road Jane markers in a few main orientations in the normalized input data In each main orientation, the normalized input data is convolved with an oriented edge detection filter for ‘genersting an oriented edge-based filter response. The nor ‘malized input data is convolved with an oriented line detee- tion filter forgeneratingan oriented line-ased filter response Candidate lane markers are selected in response tothe edge- based filter response and line-based filter response in each ‘main orientation. transformation techaigue is applied tothe candidate lane markers for identifying the lane markings in cach main orientation, Patent Application Publication Jan, 21, 2010 Sheet 1 of 7 US 2010/0014714 AI OUTPUT DEVICE a 12 t \ Cf roao sense”, —Faocesson 18 DEVICE t MEMORY Wy HG. 1 a=0 FALSE LINE HOUGH LI bo} ALARM 20 DETECTION ["] TRANSFORM |" ntiGaTiON CAPTURE eae FALSE IMAGE UNE J.J HOUGH [| Alaa =< DETECTION [| TRANSFORM || satiGaTiOn DETECTED LANE ° . . =" : MARKERS NORMALIZATION : . v e : 25 a , : * FALSE LINE HOUGH LI be} ALARM DETECTION [| TRANSFORM | sairiGation a= 150 ‘ 2 23 24 FIG. 2 Patent Application Publication Jan. 21,2010 Sheet 2 of 7 ‘US 2010/0014714 AL LINE DETECTION FILTERS: a=0 30 60 90 120 150 ORIENTED FILTERS FIG. 4 Patent Application Publication Jan. 21, 2010 Sheet 3 of 7 US 2010/0014714 AI jvewarner Z| L oo pLOlIvity FILTER RESPONSE FIG. 5A FILTER (UNE) INTENSITY INTENSITY \ + ; * RESPONSE ;, i 5 ; 5 i Jt > > 4 > CENTER CENTER FIG. 5B LANE-MARKER | <———' &) EDGE veTEcTION == FIG. 6A ites (EDGE) ' |NTENSITY INTENSITY 7 ' & ' ; . CENTER CENTER FIG. 6B Patent Application Publication Jan, 21,2010 Sheet 4of7 US 2010/0014714 AL \ INTENSITY ee i a ———— CENTER INTENSITY f t RESPONSE ; on 1 JS > + > CENTER FIG. 7A | LANE-MARKER &} LARGE NEGATIVE RESPONSE [Ze A |= EDGE DETECTION SO LTER RESPONSE FILTER (EDGE) FIG. 7B g LINE DETECTION FILTER FILTER RESPONSE (LINE) Patent Application Publication Jan, 21, 2010 Sheet 5 of 7 US 2010/0014714 AI LINE DETECTION FILTER FILTER RESPONSE (LINE) FIG. 8 FIG. 9 Patent Application Publication Jan, 21, 2010 Sheet 6 of 7 US 2010/0014714 AI CAPTURING ROAD INPUT DATA }-~ 90 1 APPLYING LIGHTING NORMALIZATION TO THE INPUT DATA }~31 M CONVOLVING THE NORMALIZED INPUT DATA WITH THE 32 ‘ORIENTED EDGE DETECTION FILTERS M CONVOLVING THE NORMALIZED INPUT DATA WITHTHE |_—33 ORIENTED LINE DETECTION FILTERS 1 SELECTING CANDIDATE LINE MARKERS FROMTHE |_-~34 FILTERED RESPONSES 1 APPLYING THE HOUGH TRANSFORMATION TECHNIQUE _}-~25 APPLYING A FALSE ALARM MITIGATION ANALYSIS. |-36 IS THE FALSE ALARM MITIGATION 38 ANALYSIS SATISFIED? \ IDENTIFYING THE LOCATION OF THE MARKERS IN AN 39 OUTPUT DEVICE FIG. 10 Patent Application Publication Jan, 21, 2010 Sheet 7 of 7 US 2010/0014714 AI DETERMINING A LENGTH (1) OF THE IDENTIFIED |_—50 LANE MARKERS Y COMPARING THE LENGTH (2) TO A PREDETERMINED. LENGTH LENGTH (2) > PREDETERMINED HIGHLIGHTING THE LANE MARKERS IN THE IMAGE 39 DISPLAY DEVICE FIG. 11 DETERMINING A DISTANCE (d) BETWEEN A PAIR OF |_—60 PARALLEL LANE MARKERS Y 61 COMPARING THE DISTANCE (c) TO A }~ PREDETERMINED WIDTH HIGHLIGHTING THE LANE MARKERS IN THE IMAGE 39 DISPLAY DEVICE FIG. 12 US 2010/0014714 AI CAMERA-BASED LANE MARKER DETECTION BACKGROUND OF INVENTION [0001] An embodiment relates generally t0 lane marker detection of a road using a image-ased capture device. [0002] Camers-based lane marker detection systems are used to detect roads or road sepments ofa vehicle oad. Most systems work reasonably wel in highway seenatos and can not handle the complex environmen ia local scenarios. Suck ‘camers-based systems are ssceptible to incoretly distin= [Bishing rad objects scl as carbs and lane markers fom shadows of trees, buildings, and other environmental condi tions. Furthermore, camera-based systems are typically chal- Jenged by certain conditions such as sharp curves inthe road ‘or the weatherilow sun angle. Since curves in roads are more «dificult to detect in comparison to straight Fines, such sys- tems have the disadvantage of running slower processing times wo accurately detet the lane markers. SUMMARY OF INVENTION, 10003} An advantage ofthe invention provides for a tw ‘ost and reliable detection of lane markers in a oad using an Sage caparedevie. The invention provides forthe se of Jow-costimage capture device soch a camera for detecting Jane markers relialy along curved reads or straight roads “The lane markers ofthe sharp curves are distinguished ra strcting factors sich os variooe shadows from buildings and eosin ition to poorly painted lane markers 0004} An embodiment contemplates a method of dtet- dng oad lane markers ia a vehicle rad sng a imaging device. Roa input image daa is captured using the imaging ‘device. Lighting sonmaliation is applied to the road it image data. The metho detects the road lane markers ina few ‘ain oriotations in the input image. hn each min orienta tion, the normalized input data is convolved with an oriented ‘edge detection filter for generating sn oriented edge based filer response, The normalized input deta isconveved with ‘an ovcnted Tine detection filer for generating an oriented lineshsed filter response. Candidate lane markers ate selected in response to the edge-based filter response and lineshase filter response inthe neighboring angles of each ‘ain orientation A tsformation technique i applied tthe ‘eanddat lane markers for identifying the lane markings in the neighboring angles ofeach main orientation {0005} As cmbovinent contemplates lane marker detec Sionsystem. An imaging devices provided foreaptring road nut data. A processor receives the captred rod ip data rovcived by the imaging devi. The processor apples High ing normalization t the oad input data. The processor pr ‘esses the normalized input data na few main orientations. 1a ‘ech main orientation, the processor comvlves the normal ized input data with an oriented edge deteton filter for penerting an oriented ege-basa filer response. The poe ‘cessor convoles the noma input data with an oriented Tine detection iter fr generating an oriented line based fier response. The processor selects candidate lane markers fom the edge-bosed filter response and the Tine-based ter response. In cach man orenation, the processor applies transformation eelnigue tothe selected candidate lane mark- Jan. 21, 2010 ers for identifying the line segments of lane markings. An ‘uit device is provided for identifying location of each of the fane marker, BRIEP DESCRIPTION OF DRAWINGS [0006] FIG. 1 isa schematic view of an image-based lane ‘marker detection system, [007] FIG. 2 isa block diagram of a method for detecting Jane markers ina oad, 0008] FIG. 3 is display of captured image, [0009] FIG. 4 is an image representation of orientation Setecton fiers, [010] FIG. Sa is an image representation of an oriented line filtering process [0011] FIG. 8bisa graphical representation ofthe oriented line filtering process. [012] FIG. 6a is an image representation of an oriented cdg filtering process [013] FIG. 66s a graphical representation ofthe oriented cede fering process [0014] FIG. 7a isa praphical representation of a combined ‘oriented edge and lie filtering process. [0015] FIG. 7b isan image represen ‘oriented edge and lie filtering process. [0016] FIG. 8 is an imaye representation ofa false alarm mitigation process [0017] FIG. 9isa display highlighted lane markers in the ‘captured image [0018] FIG. 10isa flowchart of a method for detecting ane ‘markers in the road [0019] FIG. 11 isa flowehat ofa method fora false alarm ‘itgation analysis according ta frst embodiment [0020] FIG. 12 isa fowehurt ofa method fora false alarm ‘mitigation analysis aeeording toa second embodiment. 12 of @ combines DETAILED DESCRIPTION [0021] There is shown in FIG. 1 a lane marker detection system 10 for detecting lane markers in a road of the driven vehicle. The lane marker detection system 10 may be used in ‘an autonomous steering system for rod detection or the lane ‘marker detection system 10 may be used for driver awareness {oravehicle driven by a driverto enhance visibility during the daytime or nighttime when road or lane marker visibility is oor orduring other instances when visibility enhancement is ‘wareante. [0022] The lane marker detection system 10 includes an mage cupture device 12 including, bu not limited, acam- cera. The image capture device 12 captures an image of the oa typically thearea drectedin the frontof the vehicle. The captured image is processed for identifying both edges of a Jane marker as well as @ line (i.e, main body) of the lane marker [0023] The lane marker dewetion system 10. further includes a processor 16 for receiving and processing the captured image data by the image capture device 12. A ‘memory storage device 18 may also be provided for storing And retieving the captured data 0024} ‘The processor 16 exceutes a program that filters the ‘captured image data in realtime for determining the presence fant location ofone or more lane markers inthe vehicle roa. ‘The detected lane markersare provided to an output device 14 stich as an aslonomots steering module or an image display device. The autonomous steering module may use the pro- US 2010/0014714 AI ‘cess information for autonomously maintaining vebicle Postion within the road betwoon the detected lane markers ‘The image display device which may inlode, but is 01 limite, nontorsype displys, a projevton-ype imaging holograp

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