Method and apparatus providing information for driving vehicle
AssigneeSamsung Electronics Co., Ltd.
InventorsWonju Lee, Jahoo Koo, Dong Wook Lee, Jaewoo Lee
Life of this patent
Estimating the term…
Abstract
Disclosed is a method and apparatus for providing information for driving of a vehicle, the method includes detecting a lane region including lane demarcation lines from a driving image, determining curvature information of a road on which a vehicle is driving based on map information, estimating a lateral offset of the vehicle based on the detected lane region and a reference line having the curvature information, and outputting a signal including information for driving the vehicle based on the curvature information and the lateral offset.
Claims23
A method comprising:
- detecting a lane region including lane demarcation lines from a driving image;
- determining curvature information of a road on which a vehicle is driving based on map information;
- estimating a lateral offset of the vehicle based on the lane region and a reference line having the curvature information;
- and
- outputting a signal including information for driving the vehicle based on the curvature information and the lateral offset,
- wherein the determining curvature information comprises:
- performing a linear regression analysis on a plurality of waypoints located on an edge of the road, wherein the plurality of waypoints are located within a point adjacent to a current location of the vehicle and another point away from the point adjacent to the current location of the vehicle by a look-ahead distance;
- obtaining a regression function corresponding to a shape of the road based on the linear regression analysis;
- and
- determining the curvature information corresponding to coefficients of the regression function, using the regression function.
An apparatus comprising:
- a processor configured to:
- detect a lane region including lane demarcation lines from a driving image,
- perform a linear regression analysis on a plurality of waypoints located on an edge of a road, wherein the plurality of waypoints are located within a point adjacent to a current location of a vehicle and another point away from the point adjacent to the current location of the vehicle by a look-ahead distance,
- obtain a regression function corresponding to a shape of the road based on the linear regression analysis,
- determine curvature information corresponding to coefficients of the regression function, using the regression function,
- estimate a lateral offset of the vehicle based on the lane region and a reference line having the curvature information, and
- output a signal including information for driving the vehicle based on the curvature information and the lateral offset.
A method comprising:
- detecting a lane region on a road with a camera sensor;
- determining a current location of the vehicle with a GPS sensor;
- performing a linear regression analysis on a plurality of waypoints located on an edge of the road, wherein the plurality of waypoints are located within a point adjacent to the current location of a vehicle and another point away from the point adjacent to the current location of the vehicle by a look-ahead distance;
- obtaining a regression function corresponding to a shape of the road based on the linear regression analysis;
- determining curvature information corresponding to coefficients of the regression function, using the regression function;
- determining an offset of the vehicle from a center of the lane region based on the curvature information;
- and
- controlling driving of the vehicle based on the determined offset and the curvature information.
Dependencies are inferred from the claim text.