Lane detection method and system using photographing unit
View Patent ↗A lane detection method includes acquiring an image in front of a vehicle using a photographing unit provided in the vehicle, detecting, from the acquired image, a positive edge (P.E.) in which a right pixel has a higher brightness value than a brightness value of a left pixel, detecting, from the acquired image, a negative edge (N.E.) in which a left pixel has a higher brightness value than a brightness value of a right pixel, generating a first expansion image by expanding a pixel by a length corresponding to a width of a lane on a right side of the positive edge (P.E.), generating a second expansion image by expanding the pixel by the length corresponding to the width of the lane on a left side of the negative edge (N.E.), and detecting the lane by combining the first expansion image and the second expansion image. In addition, a lane detection system includes a photographing unit that is provided in a vehicle to acquire an image in front of the vehicle, an edge detection unit that detects, from the image in front of the vehicle, a positive edge (P.E.) in which a right pixel has a higher brightness value than a brightness value of a left pixel and a negative edge (N.E.) in which a left pixel has a higher brightness value than a brightness value of a right pixel, an edge expansion unit that generates a first expansion image by expanding a pixel by a length corresponding to a width of a lane on a right side of the positive edge (P.E.) and generates a second expansion image by expanding the pixel by the length corresponding to the width of the lane on a left side of the negative edge (N.E.), and a lane detection unit that detects the lane by combining the first expansion image and the second expansion image.
1. A lane detection method comprising:
acquiring an image in front of a vehicle using a photographing device provided in the vehicle;
detecting, from the acquired image, a positive edge (P.E.) a lane in which a right pixel has a higher brightness value than a brightness value of a left pixel;
detecting, from the acquired image, a negative edge (N.E.) of the lane in which a left pixel has a higher brightness value than a brightness value of a right pixel;
calculating the number of pixels corresponding to a width of the lane;
generating a first expansion image of the lane by expanding a pixel from the P.E. by a length corresponding to the calculated number of pixels on a right side of the P.E., so that the first expansion image has the width of the lane;
generating a second expansion image of the lane by expanding a pixel from the N.E. by the length corresponding to the calculated number of pixels on a left side of the N.E., so that the second expansion image has the width of the lane; and
detecting the lane by performing an AND operation from the first expansion image and the second expansion image.
2. The lane detection method of claim 1 , wherein the calculating of the number of pixels corresponding to the width of a lane uses a height of the photographing device provided in the vehicle and an inclination of the photographing device to a horizontal plane.
3. A lane detection system comprising:
a photographing device that is provided in a vehicle to acquire an image in front of the vehicle;
an edge detection device that detects, from the image in front of the vehicle, a P.E. of a lane in which a right pixel has a higher brightness value than a brightness value of a left pixel and a N.E. of the lane in which a left pixel has a higher brightness value than a brightness value of a right pixel;
a pixel calculation device that calculates the number of pixels corresponding to a width of a lane;
an edge expansion device that generates a first expansion image of the lane by expanding a pixel from the P.E. by a length corresponding to the calculated number of pixels on a right side of the P.E. and generates a second expansion image of the lane by expanding the pixel from the N.E. by the length corresponding to the calculated number of pixels on a left side of the N.E.; and
a lane detection device that detects the lane by performing an AND operation from the first expansion image and the second expansion image,
wherein both of the first expansion image and the second expansion image have the width of the lane.