System and method of compensating for position of vehicle using determined road-line offsets

A system of compensating for a position of a vehicle, the system comprising:

• one or more camera modules disposed on the vehicle so as to have fields of view of the front area, the rear area, or the side area of the vehicle, respectively, and
• configured to capture image data and process the captured image data;
• one or more non-image sensor modules disposed on the vehicle so as to have a field of sensing the exterior of the vehicle and configured to capture sensing data and process the captured sensing data;
• and
• a controller comprising one or more processors configured to, based at least in part on the processing of the image data and the sensing data, perform control,
• wherein the controller is configured to:
• detect a front road-line and a rear road-line of a driving lane of the vehicle based on at least one piece of the image data on the front and rear areas of the vehicle, which is processed by the one or more camera modules, or the sensing data on the vehicle, which is processed by the one or more non-image sensor modules;
• calculate an offset of the front road-line and an offset of the rear road-line;
• compare the offset of the front road-line with the offset of the rear road-line;
• and
• determine a final road-line offset of the vehicle according to the result of the comparison, and
• wherein the controller is further configured to:
• when a difference between the offset of the front road-line and the offset of the rear road-line is greater than a predetermined threshold value, set the offset of the rear road-line as the final road-line offset of the vehicle;
• and
• when the difference between the offset of the front road-line and the offset of the rear road-line is not greater than the predetermined threshold value, set the offset of the front road-line as the final road-line offset of the vehicle.

A system of compensating for a position of a vehicle, the system comprising:

• one or more camera modules disposed on the vehicle so as to have fields of view of the front area, the rear area, or the side area of the vehicle, respectively, and configured to capture image data;
• one or more non-image sensor modules disposed on the vehicle so as to have a field of sensing the exterior of the vehicle and configured to capture sensing data;
• and
• a domain controller configured to process the image data captured by the one or more camera modules and the sensing data captured by the one or more non-image sensor modules,
• wherein the domain controller is configured to:
• detect a front road-line and a rear road-line of a driving lane of the vehicle based on at least one piece of the image data on the front and rear areas of the vehicle and the sensing data on the vehicle;
• calculate an offset of the front road-line and an offset of the rear road-line;
• compare the offset of the front road-line with the offset of the rear road-line;
• when a difference between the offset of the front road-line and the offset of the rear road-line is greater than a predetermined threshold value, set the offset of the rear road-line as the final road-line offset of the vehicle;
• and
• when the difference between the offset of the front road-line and the offset of the rear road-line is not greater than the predetermined threshold value, set the offset of the front road-line as the final road-line offset of the vehicle.

A method of compensating for a position of a vehicle,

• the method comprising:
• detecting a front road-line and a rear road-line of a driving lane of the vehicle;
• calculating an offset of the front road-line and an offset of the rear road-line;
• comparing the offset of the front road-line with the offset of the rear road-line;
• and
• determining a final road-line offset of the vehicle according to a result of the comparison, and
• wherein the determining of the final road-line offset comprises:
• when a difference between the offset of the front road-line and the offset of the rear road-line is greater than a predetermined threshold value, setting the offset of the rear road-line as the final road-line offset of the vehicle;
• and
• when the difference between the offset of the front road-line and the offset of the rear road-line is not greater than the predetermined threshold value, setting the offset of the front road-line as the final road-line offset of the vehicle.

A camera module comprising:

• an image sensor disposed on a vehicle so as to have a field of view of the exterior of the vehicle and configured to capture image data;
• and
• a processor configured to process the image data captured by the image sensor,
• wherein the image data is used to detect a front road-line and a rear road-line of a driving lane of the vehicle, and
• wherein an offset of the front road-line and an offset of the rear road-line are calculated, the front road-line offset and the rear road-line offset are compared with each other, and
• when a difference between the offset of the front road-line and the offset of the rear road-line is greater than a predetermined threshold value, the offset of the rear road-line is set as a final road-line offset of the vehicle, and
• when the difference between the offset of the front road-line and the offset of the rear road-line is not greater than the predetermined threshold value, the offset of the front road-line is set as the final road-line offset of the vehicle.