Image processing method for preventing lane deviation
An image processing method comprises the steps of generating a road image by photographing a road on which a vehicle is traveling; performing a brightness averaging process of the road image; filtering the road image having undergone the brightness averaging process to detect lane markers; performing an inverse perspective process on the filtered road image; compressing the road image having undergone the inverse perspective process; determining slope in the lane markers from the compressed road image; determining a curvature in the road from the determined slope in the lane markers; and determining a drive direction and a lane deviation of the vehicle.
1. An image processing method comprising the steps of:
generating a road image by photographing a road on which a vehicle is traveling;
performing a brightness averaging process of the road image;
filtering the road image having undergone the brightness averaging process to detect lane markers;
performing an inverse perspective process on the filtered road image;
compressing the road image having undergone the inverse perspective process in a vertical direction;
determining slope in the lane markers from the compressed road image;
determining a curvature in the road from the determined slope in the lane markers; and
determining a drive direction and a lateral lane deviation of the vehicle.
2. The method of claim 1 wherein the brightness averaging process is realized by exchanging a brightness of portions having a value less than an average brightness value of a photographed road image with the average brightness value.
3. The method of claim 1 further comprising the steps of:
determining vehicle speed and driver intentions; and
controlling steering of the vehicle based on vehicle speed, driver intentions, and an amount of lane deviation of the vehicle.