CN103847736B - Lane detection system - Google Patents
Lane detection system Download PDFInfo
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- CN103847736B CN103847736B CN201310430573.3A CN201310430573A CN103847736B CN 103847736 B CN103847736 B CN 103847736B CN 201310430573 A CN201310430573 A CN 201310430573A CN 103847736 B CN103847736 B CN 103847736B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2300/00—Purposes or special features of road vehicle drive control systems
- B60Y2300/10—Path keeping
- B60Y2300/12—Lane keeping
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
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Abstract
Lane detection system includes: test section, and it identifies and obtain the information of road that vehicle travels；And image processing portion, it processes the road information utilizing test section to obtain.Image processing portion includes: Lane detection module, and it identifies and detects the road information by utilizing test section to obtain；Lane line tracing module, it follows the trail of the savings lane line information detecting from Lane detection module and accumulating, and obtains the lane line tracked information inferred；And Lane detection record management module, its interpolation result by the lane line information obtained from Lane detection module with from the lane line tracked information of lane line tracing module acquirement judges the effectiveness of lane line information.The present invention utilizes the lane line information inference following the trail of accumulation to go out lane line tracked information, makes the lane line information detected obtain interpolation result, thus improving stability and the reliability of the lane line information detected.
Description
Technical field
The present invention relates to Lane detection system.Particularly relate to a kind of tracking lane line based on the record information of the lane line drawn according to Lane detection result, and to follow the trail of based on result when judging the effectiveness of lane line information, improve the Lane detection system of the reliability of the lane line information recognized.
Background technology
Lane line keeps control system (LaneKeepingAssistSystem, hereinafter referred to as LKAS) for guaranteeing system necessary to driver safety.Generally, this system detects lane line, the transport condition of perception vehicle, and the lane line detected for making vehicle not necessarily depart from and performs lane line and keep controlling, or lane line deviation is warned.
The image of road ahead is obtained by the camera sensing device being arranged between the windshield of vehicle and rearview mirror, keep the road image obtained is carried out image processing by the camera system of control system (LKAS) at lane line such that it is able to detect lane line.Further, can the transport condition of perception vehicle by the information that obtains from the various sensors and electronic control unit (ECU:ElectronicControlUnit) that are arranged on vehicle.
Simultaneously, lane line for carrying out vehicle keeps controlling, it is possible to use vehicle is relative to information such as the transversal displacement (lateraloffset) of the lane line detected, the curvature (curvature) of road, course angles (headingangle).
Vehicle will run-off-road line when, lane line keeps control system (LKAS) to control to turn to by the electric boosting steering system (MDPS:MotorDrivenPowerSystem) of vehicle, is controlled for making corresponding vehicle keep lane line to travel.
Additionally, lane line deviation warning system (LDWS:LaneDepartureWarningSystem, hereinafter referred to as LDWS) it is lane line can be deviateed the safety device given a warning, it is by being arranged on the photographic head perception road image of vehicle, grasp the lane line in current driving, when driver is not because noting or when driving of dozing off will detach diatom, send alarm tone.
And, in the Lane detection of described road, Gauss (GAUSSIAN) detection method (3) the equal pitch contour tracking method (4) that method (2) binaryzation (binarization) in region that (1) detection has particular value corresponding to lane line shading value detects specific shading value afterwards can be used to compare the lane line pattern image pre-entered and the lane line image being currently entered, according to pattern consistent degree judge lane line with or without etc. method.
It may be said that these algorithms, for utilizing the lane line deviation of the image information transmitted from photographic head to judge or lane line location tracking system, it is able to carry out, according to lane line information, the key element that judges.
On the one hand, ' method that the lane line warning line for improving lane line deviation warning devices extracts ' of existing Korean Patent Laid the 10-2001-0069603rd is related to the Lane detection carrying out lane line deviation warning devices, extracts the algorithm of the warning line in lane line region in the road driving image inputted by photographic head.
But, when utilizing image sensor identification objects in front (lane line, vehicle etc.), the normal condition that very difficult differentiation identifies owing to there is object identifies the misrecognized situation of object with even if there be no object.
Moreover, lane line is fuzzy or by such environmental effects such as rain/snow weather, Lane detection can be unstable, and Lane detection system also can become unstable in this case.
Therefore, for preventing from identifying the unstability that the unstability of the sensor of lane line causes Lane detection system, i.e. even if sensor obtains the information of lane line astatically, Lane detection system also is able to stably operate, it is proposed that the bumper of logic form.
In this case, will being stably driven with Lane detection system, still make Lane detection system tackle surrounding enviroment change delicately, the balance (trade-off) between the mutual afoul problem of both needs to solve naturally.
Therefore, as shown in Figure 1, it is provided that sequential chart (TimingDiagram), and observe display whether to identify ' Lane detection (RECOGNITIONOFLANEMARKING) ' of lane line.
Wherein, "Yes" represents the situation identifying lane line, and "No" represents the situation not identifying lane line.Further, the cycle t1 that observes of Lane detection system observes from recognizing lane line information to identifying the cycle of situation (representing, mean from the moment affirming to the change negating) less than lane line information with drop edge.
When drop edge occurring in observation cycle t1, as shown in Figure 1, enumerator (COUNTER) parameter (contravariant) increases, if drop edge occurrence number exceedes particular value (for 3 times in Fig. 1), then close the automatic steering control (AUTOMATEDSTEERINGCONTROL) whether representing Lane detection system drive.
Even if again detecting lane line, but the unstability due to Lane detection, the driving of Lane detection system stopped, therefore likely become again premised on instability by system, not drive system immediately, but postpone to drive to drive a delay period t0, after, when showing stable lane detection performance in observation cycle t1, start automatic steering control (AUTOMATEDSTEERINGCONTROL).Even if this bumper is when the sensor identifying lane line haves no alternative but to work astatically, it also is able to stably close automatic steering control (AUTOMATEDSTEERINGCONTROL), even if thus when there is concussion jump (chattering) in sensor aspect, not allowing the image that concussion jump produces feed through to yet and turn to vehicle.
But, in existing many control fields, in drive system, requiring periodic trend, and there is periodically work can produce stable control performance, one of the most important key element of system drive aspect hence with Lane detection be exactly periodicity.But such as aforementioned existing technology, utilizing the system of image sensor, for it, its problem points is difficult to ensure this periodicity.
Therefore, if not judging the reliability of Lane detection, whether will identify the lane line drive condition as Lane detection system merely, then utilizing image sensor to the misrecognized of generation in the process identify lane line etc., the misoperation of Lane detection system can be directly resulted in.
Certainly, independently lane line recognition performance and Lane detection system drive, prior art has the advantage that can constitute Lane detection system logic compactly.But, post processing logic (logic) various the feature of image sensor can reduce the viewpoint of image sensor inherent instability, adaptibility to response deficiency during prior art image application sensor, to boundary situation.
Summary of the invention
Technical problem
For solving described problem of the prior art, it is an object of the invention to provide a kind of under the road conditions obtaining Lane detection astatically, the image framework of road is obtained by such as imaging first-class image input pickup, and follow the trail of (tracking) and infer the lane line information thus obtained, thus improving the stability of the recognition result of lane line information and the Lane detection system of reliability.
Another object of the present invention is to provide a kind of system sent by the Effective judgement according to lane line information to activate based on (systemactivation) signal, judge for keeping the lane line of lane line to keep control signal whether effective in vehicle travels, and keep control system or lane line deviation warning system to send final lane line and keep the Lane detection system of control signal to lane line accordingly.
Technical scheme
For reaching described purpose, including according to the Lane detection system of the present invention: test section, it identifies and obtains the information of road that vehicle travels；And image processing portion, it processes the road information utilizing described test section to obtain.Wherein, described image processing portion includes: Lane detection module, and it identifies and detects the described road information by utilizing described test section to obtain；Lane line tracing module, it is before detecting described lane line information, follows the trail of the savings lane line information that (tracking) detects from described Lane detection module and accumulate, and obtains the lane line tracked information inferred；And Lane detection record management module, it is when identifying the described lane line information obtained from described Lane detection module and being aperiodicity labile state, and the interpolation result (interpolatedresult) of lane line tracked information by the described lane line information obtained from described Lane detection module with from the acquirement of described lane line tracing module judges the effectiveness of described lane line information.
Wherein, described Lane detection record management module, accumulates the interpolation result (interpolatedresult) by the described lane line information obtained from described Lane detection module with from the lane line tracked information of described lane line tracing module acquirement and accumulates the lane line record information of acquirement.
Wherein, it is a feature of the present invention that, described lane line information in described Lane detection module is only detected in region set in advance (hereinafter referred to as region-of-interest), and the described lane line tracked information that described region-of-interest is by described lane line tracing module is determined.
Additionally, it is a feature of the present invention that, described lane line tracing module is based on the described lane line information detected from described Lane detection module and the described lane line tracked information corresponding with described lane line information, distance when between described lane line information and described vehicle enters in distance set in advance, send for making the described vehicle in traveling keep the lane line of lane line to keep control signal.
Additionally, it is a feature of the present invention that, described Lane detection system also includes: control portion, it is to keep control system to activate based on (LaneKeepingAssistSystemActivation) signal according to the Effective judgement of the described lane line information of described Lane detection record management module, the lane line that receives from described Lane detection record management module, judge that the described lane line received from described lane line tracing module keeps control signal whether effective, and send final lane line maintenance control signal.
Technique effect
There is the Lane detection system of the present invention of described composition, with the frequency measuring unstable lane line information, and lane line keeps control system to adopt the prior art difference of time delay, it utilizes the lane line information inference following the trail of accumulation to go out lane line tracked information, the lane line information detected is made to obtain interpolation result (interpolatedresult), thus improving stability and the reliability of the lane line information detected.
Accompanying drawing explanation
Fig. 1 is the sequential chart (TimingDiagram) of display prior art；
Fig. 2 is the block diagram showing the Lane detection system according to the present invention.
Description of reference numerals
1: the Lane detection system according to the present invention
100: test section 200: image processing portion
300: control portion
Detailed description of the invention
For making the solution of the technical task about the present invention definitely, below with reference to accompanying drawing, illustrate the preferred embodiments of the present invention.Simply, when the present invention will be described, it is believed that for related known composition or function illustrate impair idea of the invention time, illustrating it will be omitted.It addition, aftermentioned term is consider the term that function of the present invention defines, can be different according to the intention of designer, maker etc. or convention etc..Therefore should be defined according to based on the whole content of this specification.It addition, when the element of each accompanying drawing is added accompanying drawing labelling, same or similar element is employed same accompanying drawing labelling by whole accompanying drawing as far as possible.
Hereinafter, will be explained in detail the Lane detection system 1 according to the present invention.
With reference to Fig. 2, include test section 100, image processing portion 200 and control portion 300 according to the Lane detection system 1 of the present invention.
Test section 100 identifies and obtains the information of road that vehicle travels.
Illustrating as an example, test section 100 can utilize the image input pickup of the camera sensing device between the rearview mirror in the windshield by being arranged on vehicle and car etc to obtain the lane mark identification algorithm of road ahead image that vehicle travels.Herein, the wide dynamic range (WideDynamicRange with the visual angle being capable of identify that front situation and more than 120dB can be used as image input pickup;WDR) sensor.
The road information that place of image processing portion 200 reason test section 100 obtains.Further, image processing portion 200 can use the signal processing application specific processor including supporting the chipset of floating-point (floatingpoint) computing.
As in figure 2 it is shown, image processing portion 200 can include Lane detection module 210, lane line tracing module 230 and Lane detection record management module 250.
Road information identification that Lane detection module 210 obtains from test section 100 also detects lane line information.
Described lane line information in Lane detection module 210 be likely to only in region set in advance (hereinafter referred to as region-of-interest (ROI;RegionOfInterest) it is detected in).
Here, region-of-interest (ROI) refers to the region that probability that in the image of next section of road obtained by test section 100, lane line occurs is big.Additionally, by setting region-of-interest, Lane detection module 210 is preferential to described area-of-interest-detection to lane line information, namely the identification range of lane line information is limited, therefore affected little by ambient environmental factors when identifying described lane line information, it is possible to the lane line information that promptly efficient detection reliability is high.
Further, Lane detection module 210 can utilize the lane mark identification algorithm of the lane line existed in region-of-interest described in identified/detected at identification lane line message context.
On the one hand, lane line tracing module 230, before being detected lane line information by Lane detection module 210, is followed the trail of the savings lane line information detecting from Lane detection module 210 and accumulating, is obtained the lane line tracked information inferred.
Further, lane line tracing module 230 can utilize lane line tracing algorithm for obtaining described lane line tracked information.
Namely, lane line tracing module 230 utilizes lane line tracing algorithm, before present road image inputs based on the lane line information of the road image of savings, the moving direction of presumption lane line, i.e. mobile vector (movingvector), and determine the displacement of the lane line that will export in next section of road image.It addition, infer other than with mobile vector (movingvector), it is determined that the displacement aspect of described lane line can also utilize Kalman filtering (kalmanfilter) etc..
And, lane line tracing module 230 is based on the displacement of lane line, specifying the region that in next section of road image, the lane line frequency of occurrences is high is region-of-interest, and provides the information of region-of-interest to Lane detection module 210 so that Lane detection module 210 can utilize region-of-interest.Further, in specifying described region-of-interest, except the described algorithm based on moving direction, it is also possible to utilize the skill and technique such as prediction (prediction).
Further, the described lane line tracing algorithm of lane line tracing module 230 is when the lane line information that current detection goes out departs from effective displacement of lane line tracked information, it is provided that can interpolate that the foundation into the misoperation because of external noises.
Additionally, lane line tracing module 230 is based on the lane line tracked information of the lane line information detected from Lane detection module 210 and lane line tracing module 230 corresponding with described lane line information, distance when between lane line and vehicle enters in distance set in advance, for making the vehicle in traveling keep lane line to send lane line and keep control signal.Further, control signal is kept to send relevant judgement to lane line, it is possible to be constituted by the lane line deviation alarm algorithm utilized in lane line tracing module 230.
It addition, described lane line information is the value extracted with pixel (pixel) unit, for determining the physical distance between actual vehicle and lane line, described lane line runout information algorithm can define photographic head coordinate system and the relation of path coordinate system.
The determination of described relation can based on the intrinsic element information (factor) such as the positional information of photographic head to be arranged on vehicle, cam lens and sensor, and this process is called camera calibration (calibration).
The photographic head coordinate system determined by described camera calibration and path coordinate system determine that the lane line detected in road image is present in actual vehicle on which kind of direction, the position deviateed with which kind of degree, judge vehicle whether run-off-road line based on this.
Additionally, Lane detection record management module when identify from Lane detection module 210 obtain lane line information be aperiodicity labile state, utilizing lane line tracked information, the lane line information for Lane detection module 210 obtains interpolation result (interpolatedresult).
Herein, lane line information aperiodicity labile state refers to that lane line is thickened by surrounding environment influence or disappears and aperiodically identify the state of lane line, aperiodically identified the state of lane line by the environmental effect such as rain or snow, unexpected abnormality detection (Impulsivefalsedetection) occur due to ambient noise or adverse circumstances etc. and aperiodically identifies the state of lane line or cannot clearly be identified the state etc. of lane line by the impact of shadow etc. of other vehicles.
Therefore, identify that when lane line information is local instability's state, first lane line tracing module 230 follows the trail of the lane line information of accumulation, and calculates the lane line tracked information inferred.And, Lane detection record management module 250 utilizes described lane line tracked information to obtain the interpolation result (interpolatedresult) of the lane line information detected by Lane detection module 210 such that it is able to improve stability and the reliability of the lane line information detected.
Additionally, Lane detection record management module 250 identifies the lane line information obtained from Lane detection module 210 is local instability's state, is finally judged the effectiveness of lane line information by the interpolation result (interpolatedresult) of the described lane line information that obtains from Lane detection module 210 with the lane line tracked information from lane line tracing module 230 acquirement.
Further, Lane detection record management module 250 accumulates the lane line tracked information of lane line information and the lane line tracing module 230 detected from Lane detection module 210.
Lane detection record management module 250 can utilize lane line record management algorithm.
The lane line information of Lane detection module 210 that the described lane line record management algorithm accumulation of Lane detection resume module 250 detects in real time and the lane line tracked information of lane line tracing module 230 gone out by trace detection.
The described lane line information of accumulation is in predictable scope, i.e. can as displacement unit set in advance.But, make a mistake due to external noises or adverse circumstances etc. detection when, the lane line information of Lane detection module 210 can depart from described displacement set in advance.In this case, Lane detection record management module 250 judges that the lane line information detected in real time is invalid.
And, it is judged that when the lane line information detected in real time is invalid, the lane line tracked information of lane line tracing module 230 will be utilized.Herein, the degree of accuracy of the lane line tracked information of lane line tracing module 230 according to input effective lane line information amount of savings number and different.
Therefore, the described lane line record management algorithm of Lane detection record management module 250, utilize as discussed above the lane line tracked information of lane line tracing module 230, judge the effectiveness of the lane line information determined, if judging described lane line information effectively, sending lane line and keeping control system to activate (LaneKeepingAssistSystemActivation) signal.It addition, the Lane detection system 1 of the present invention is mutually related in situation with lane line deviation warning system, it is possible to deviate warning system for lane line and send system activation (SystemActivation) signal.
If it is invalid to be judged as, then stops using the lane line tracked information of lane line tracing module 230, and initialize.And in certain time, lane line information is normally detected by Lane detection module 210, the lane line tracked information of the lane line tracing module 230 thus obtained is utilized to rejudge the effectiveness of lane line information.
Herein, if carrying out described initialization, then the information of the relevant lane line detected before removing, as Lane detection system 1 initial driving according to the present invention, update (reset) region-of-interest and lane line initial position.
Control portion 300 is according to the Effective judgement of the lane line information of Lane detection record management module 250, control system is kept to activate based on (LaneKeepingAssistSystemActivation) signal by the lane line received from Lane detection record management module 250, judge that the lane line received from lane line tracing module 230 keeps control signal whether effective, and send final lane line maintenance control signal.
Therefore, lane line keeps control system (LKAS) or lane line deviation warning system to receive final lane line and keep control signal, controls vehicle or sends lane line deviation alarm signal.
Wherein, control portion 300 can use system drive to control module 310, and system drive controls module 310 and can utilize the control processor including the externally input output port such as controller local area network (CAN:ControllerAreaNetwork), universal asynchronous receiving-transmitting transmitter (UART:UniversalAsynchronousReceiver/Transmitter) (I/O:Input/Output) and intervalometer (timer) etc..
In general, Lane detection according to the present invention controls system 1 and compares lane line information and frame number set in advance (being 5 in the method/system of this setting), in described frame number set in advance (being 5 in the method/system of this setting), detect the frame number of lane line exceedes predetermined limiting frame number (being 3 in the method/system of this setting), drive lane line to keep control system (LKAS).And, when being not above predetermined limiting frame number (being 3 in the method/system of this setting), during described framework set in advance, lane line tracing module 230 performs above-mentioned functions such that it is able to improve stability and the reliability of the Lane detection system 1 according to the present invention.
Various embodiment according to the present invention, also is able to solve other multiple technologies problems except relating to content except this specification in the art and correlative technology field.
Although the present invention being described in detail with reference to foregoing embodiments, it will be understood by those within the art that: the technical scheme described in foregoing embodiments still can be modified by it, or wherein some or all of technical characteristic is carried out equivalent replacement；And these amendments or replacement, do not make the essence of appropriate technical solution depart from the scope of various embodiments of the present invention technical scheme.
Claims (4)
1. a Lane detection system, it is characterised in that including:
Test section, it identifies and obtains the information of road that vehicle travels；And
Image processing portion, it processes the road information utilizing described test section to obtain,
Wherein, described image processing portion includes:
Lane detection module, its from test section obtain road information identification and detect lane line information；
Lane line tracing module, it is before detecting described lane line information, follows the trail of the savings lane line information detecting from described Lane detection module and accumulating, and obtains the lane line tracked information inferred；And
Lane detection record management module, its when identify from described Lane detection module obtain described lane line information be aperiodicity labile state, interpolation result by the described lane line information obtained from described Lane detection module with from the lane line tracked information of described lane line tracing module acquirement judges the effectiveness of described lane line information
Wherein, the described lane line information in described Lane detection module is only in region set in advance, and namely detected in region-of-interest, the described lane line tracked information that described region-of-interest is by described lane line tracing module is determined.
2. Lane detection system according to claim 1, it is characterised in that:
Described Lane detection record management module, accumulates the lane line record information that the interpolation result by the described lane line information obtained from described Lane detection module with from the lane line tracked information of described lane line tracing module acquirement obtains.
3. Lane detection system according to claim 1, it is characterised in that:
Described lane line tracing module is based on the described lane line information detected from described Lane detection module and the described lane line tracked information corresponding with described lane line information, distance when between described lane line information and described vehicle enters in distance set in advance, send for making the described vehicle in traveling keep the lane line of lane line to keep control signal.
4. Lane detection system according to claim 3, it is characterised in that also include:
Control portion, it is to keep controlling based on system activation signal according to the Effective judgement of the described lane line information of described Lane detection record management module, the lane line that receives from described Lane detection record management module, judge that the described lane line received from described lane line tracing module keeps control signal whether effective, and send final lane line maintenance control signal.
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| Application Number | Priority Date | Filing Date | Title |
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| KR10-2012-0136006 | 2012-11-28 | ||
| KR1020120136006A KR101976392B1 (en) | 2012-11-28 | 2012-11-28 | System by detection of lane marking |
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| Publication Number | Publication Date |
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| CN103847736A CN103847736A (en) | 2014-06-11 |
| CN103847736B true CN103847736B (en) | 2016-07-06 |
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| CN103991449B (en) * | 2014-06-12 | 2017-01-18 | 北京联合大学 | Vehicle travelling control method and system |
| CN104036279B (en) * | 2014-06-12 | 2017-04-05 | 北京联合大学 | A kind of intelligent vehicle traveling control method and system |
| EP3596271A1 (en) * | 2017-03-15 | 2020-01-22 | 3M Innovative Properties Company | Pavement marking system for lane identification |
| KR102043089B1 (en) | 2018-02-12 | 2019-11-11 | 경북대학교 산학협력단 | Method for extracting driving lane, device and computer readable medium for performing the method |
| CN114475434B (en) * | 2020-11-11 | 2023-08-04 | 广州汽车集团股份有限公司 | Control and adjustment method for reversing outside rearview mirror, system and storage medium thereof |
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| US5359666A (en) * | 1988-09-28 | 1994-10-25 | Honda Giken Kogyo Kabushiki Kaisha | Driving way judging device and method |
| CN101837780A (en) * | 2009-03-18 | 2010-09-22 | 现代自动车株式会社 | A lane departure warning system using a virtual lane and a system according to the same |
| CN102201056A (en) * | 2010-03-26 | 2011-09-28 | 日产自动车株式会社 | Vehicle environment recognizing apparatus and method |
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| KR101976392B1 (en) | 2019-05-09 |
| CN103847736A (en) | 2014-06-11 |
| KR20140068475A (en) | 2014-06-09 |
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