# US 2014/0192195 A1 · Lane departure warning system, lane identification apparatus and related method thereof > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2014/0192195 A1 - Document ID: US20140192195A1 - Status: Published application - Kind: A1 - Application number: 13/951,483 - Filed: 2013-07-26 - Published: 2014-07-10 - Earliest claimed: 2013-01-08 - Assignees: Pixart Imaging Inc. - Applicants: PixArt Imaging Inc. - Inventors: Tse-Chung Su; Ming-Tsan Kao - Web page: https://patentgrep.com/patent/US20140192195A1 ## CPC - G08G 1/167: {Driving aids for lane monitoring, lane changing, e.g. blind spot detection} - G06V 20/588: {Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road} - G06T 2207/30256: Lane; Road marking - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL ## Abstract The present invention provides a lane departure warning system including an image sensing device, an identification module and a determination module. The image sensing device generates a video. The identification module identifies a plurality of lane lines of at least one lane on which a vehicle is currently driven from the video, to generate an identification result, wherein the identification result is generated based on specific borderlines of the lane lines. The determination module determines a determination strategy according to vehicle speed information, and generates a determination result according to the determination strategy and the identification result. The lane departure warning system determines whether to issue a warning according to the determination result. ## Claims ### Claim 1 A lane departure warning system, comprising: an image sensing device, arranged for generating a video; an identification module, coupled to the image sensing device, arranged for referring to the video to identify a plurality of lane lines corresponding to at least one lane and accordingly generating an identification result, wherein the identification result is generated based on specific borderlines of the lane lines; and a determination module, coupled to the identification module, arranged for determining a determination strategy according to vehicle speed information, and generates a determination result according to the determination strategy and the identification result; wherein the lane departure warning system determines whether to issue a warning according to the determination result. ### Claim 2 (depends on 1) The lane departure warning system of claim 1, wherein when the vehicle speed information indicates that a speed of a vehicle is within a first speed range, the determination module selects an aggressive determination strategy; and when the vehicle speed information indicates that the speed of the vehicle is within a second speed range which is different from the first speed range, the determination module selects a defensive determination strategy. ### Claim 3 (depends on 1) The lane departure warning system of claim 1, wherein compared with the defensive determination strategy, the aggressive determination strategy makes the determination module generate the determination result which indicates the vehicle has departed from lane when the identification module identifies fewer lanes. ### Claim 4 (depends on 1) The lane departure warning system of claim 1, wherein the vehicle speed information is provided by one of a vehicle body signal and a satellite navigation system. ### Claim 5 (depends on 1) The lane departure warning system of claim 1, wherein the lane departure warning system does not issue the warning during a braking process. ### Claim 6 (depends on 1) The lane departure warning system of claim 1, wherein a specific borderline is an inside borderline of a lane whereon a vehicle is traveling. ### Claim 7 (depends on 1) The lane departure warning system of claim 1, wherein the determination strategy is determined according to driver-defined information. ### Claim 8 A lane departure warning method, comprising: referring to a drive video to identify a plurality of lane lines corresponding to one lane and accordingly generating an identification result, wherein the identification result is generated based on specific borderlines of the lane lines; determining a determination strategy according to vehicle speed information, and generating a determination result, which indicates whether lane departure occurs, according to the determination strategy and the identification result; and determining whether to issue a warning according to the determination result. ### Claim 9 (depends on 8) The lane departure warning method of claim 8, wherein the step of determining the determination strategy according to the vehicle speed information comprises: when the vehicle speed information indicates that a speed of a vehicle is within a first speed range, selecting an aggressive determination strategy; and when the vehicle speed information indicates that the speed of the vehicle is within a second speed range which is different from the first speed range, selecting a defensive determination strategy. ### Claim 10 (depends on 8) The lane departure warning method of claim 8, wherein compared with the defensive determination strategy, the aggressive determination strategy makes the determination result which indicates the vehicle has departed from lane generated when the identification result indicates fewer identified lanes. ### Claim 11 (depends on 8) The lane departure warning method of claim 8, wherein the vehicle speed information is provided by one of a vehicle body signal and a satellite navigation system. ### Claim 12 (depends on 8) The lane departure warning method of claim 8, wherein the lane departure warning system does not issue the warning during a braking process. ### Claim 13 (depends on 8) The lane departure warning method of claim 8, wherein a specific borderline is an inside borderline of a lane whereon a vehicle is traveling. ### Claim 14 (depends on 8) The lane departure warning method of claim 8, further comprising: determining the determination strategy according to driver-defined information. ### Claim 15 A lane departure warning method, comprising: referring to a video to identify at least one lane line corresponding to one lane and accordingly generating an identification result, wherein the identification result is generated based on specific borderlines of the at least one lane line; determining a determination strategy according to vehicle speed information, and generating a determination result, which indicates whether lane departure occurs, according to the determination strategy and the identification result; and determining whether to issue a warning according to the determination result. ### Claim 16 (depends on 15) The lane departure warning method of claim 15, wherein the step of determining the determination strategy according to the vehicle speed information comprises: when the vehicle speed information indicates that a speed of a vehicle is within a first speed range, selecting an aggressive determination strategy; and when the vehicle speed information indicates that the speed of the vehicle is within a second speed range which is different from the first speed range, selecting a defensive determination strategy. ### Claim 17 (depends on 16) The lane departure warning method of claim 16, wherein compared with the defensive determination strategy, the aggressive determination strategy makes the determination result which indicates the vehicle has departed from lane generated when the identification result indicates fewer identified lanes. ### Claim 18 (depends on 15) The lane departure warning method of claim 15, wherein the vehicle speed information is provided by one of a vehicle body signal and a satellite navigation system. ### Claim 19 (depends on 15) The lane departure warning method of claim 15, wherein the lane departure warning system does not issue the warning during a braking process. ### Claim 20 (depends on 15) The lane departure warning method of claim 15, wherein a specific borderline is an inside borderline of a lane whereon a vehicle is traveling.