CN104015657B - The illegal method and system overtaken other vehicles of a kind of key preventive haulage vehicle - Google Patents
The illegal method and system overtaken other vehicles of a kind of key preventive haulage vehicle Download PDFInfo
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- CN104015657B CN104015657B CN201410266282.XA CN201410266282A CN104015657B CN 104015657 B CN104015657 B CN 104015657B CN 201410266282 A CN201410266282 A CN 201410266282A CN 104015657 B CN104015657 B CN 104015657B
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Abstract
The present invention provides a kind of key preventive haulage vehicle the illegal method overtaken other vehicles, utilize a vehicle-mounted camera that the pavement image of vehicle front is acquired, and the roadmarking obtaining front is dotted line or solid line, one virtual secure region is set on the video pictures in the visual field of the collection of photographic head, during normal traveling, the roadmarking of vehicle both sides will not enter the virtual secure region arranged on video pictures, when solid line enters this virtual secure region and moves to centre position from side always, illustrate that vehicle part strides across this solid line, illegal cross-line behavior will occur, this illegal cross-line is overtaken other vehicles and is easily caused vehicle accident to occur, now send early warning, driver can be allowed to recognize act of violating regulations, correct its act of violating regulations in time.
Description
Technical field
The present invention relates to a kind of vehicle and ride line ball recognition methods, the illegal system and method overtaken other vehicles of a kind of key preventive haulage vehicle.
Background technology
In order to ensure traffic safety; can not cross or ride pressure double yellow solid line when vehicle travels on road, single yellow solid line, white solid line etc. travel; but inadvertent or the error in judgement due to driver; driver often occurs riding pressure or crossing over solid line line travelling behavior, causes vehicle accident to occur.If able to driver rides pressure and crosses over the line infringement of solid line and point out, remind driver to terminate the current infringement riding line or more line, then can significantly prevent and reduce because of illegal road occupation with overtake other vehicles the vehicle accident caused.
In order to solve the problems referred to above, in Chinese patent literature CN103057470A, disclose a kind of vehicle peccancy ride line ball pre-tip device and reminding method thereof, use the left front road image in two camera collection vehicle runnings or right front road image, then vehicle left front road image or vehicle right front road image are transmitted to microprocessor, microprocessor utilizes image processing program, is obtained the carriageway type in road ahead, lane line position by image recognition.The lane line that image recognition obtains, i.e. can get the type of front lane line after shape judges and color judges.The laterally opposed distance between vehicle and lane line can be calculated through geometrical calculation.When vehicle exists and rides line ball trend, driver can be sent and ride line ball prompting violating the regulations.Although the violating the regulations of vehicle can be ridden line ball pre-tip by the program, but the program needs be respectively provided with two photographic head in the both sides of vehicle body to gather pavement image, the photographic head quantity needed is many, and the data volume gathering and processing is big, and therefore cost is high and arithmetic speed is slow.Additionally, the program is only capable of judge riding line ball behavior, but for some vehicles, driver, in driving procedure, can overtake other vehicles by cross-line after riding line ball, and this way is not only broken rules and regulations, and abnormally dangerous, the cross-line passing behavior of driver cannot effectively be supervised by the program.
Summary of the invention
For this, the technical problem to be solved is the illegal reminding method ridden pressure or cross over solid line traveling of the prior art, need the substantial amounts of photographic head of omnidistance installation on road, big, the computationally intensive problem of the data volume that not only gathers, cannot effectively identify that cross-line is overtaken other vehicles, thus propose a kind of on emphasis haulage vehicle, it is only necessary to a photographic head and decrease the method and system that the illegal cross-line of key preventive haulage vehicle of the data volume gathered and process is overtaken other vehicles.
For solving above-mentioned technical problem, the present invention provides a kind of key preventive haulage vehicle the illegal method overtaken other vehicles, comprises the steps:
Utilizing the photographic head that front part of vehicle is arranged, the image that vehicle runs front is acquired obtaining video pictures；
In the angular field of view that described photographic head shoots, arranging a region as virtual secure region in video pictures, when normal vehicle operation, the graticule on road surface will not enter this virtual secure region；
Received the image of described camera collection by graphics processing unit, and the graticule in road ahead in this image is identified, obtain real diagram picture or the dashed line view picture of graticule；
In video pictures, the position of described real diagram image position with described virtual secure region is compared, when real diagram picture enters from the side in this virtual secure region and moves to centre position in this virtual secure region, then carry out illegal cross-line and overtake other vehicles early warning.
Preferably, also include comparing the position of described dashed line view image position with described virtual secure region, when the dashed line view picture described virtual secure region of entrance and persistent period reach default time threshold, then carry out riding line ball and travel alarm.
Preferably, described photographic head is arranged on the centre position of front part of vehicle.
Preferably, described solid line includes white solid line and yellow solid line, and described dotted line includes white dotted line and yellow dotted line.
Preferably, in the angular field of view that described photographic head shoots, the region process as virtual secure region is set, including:
When vehicle normal forward, revolver when the graticule of left side, on the left of this graticule described camera collection to image in position as the left hand edge in this virtual secure region；When right wheel is near right side graticule, on the right side of this graticule described camera collection to image in position as the right hand edge of this safety line, the region between this left and right edges is as virtual secure region.
The illegal system overtaken other vehicles of a kind of key preventive haulage vehicle, including:
One photographic head, is arranged on the front portion of car amount, and the image that vehicle runs front is acquired obtaining video image；
Virtual secure region setup unit: in the angular field of view that described photographic head shoots, arranges a region as virtual secure region in video pictures, and when normal vehicle operation, the graticule on road surface will not enter this virtual secure region；
Graphics processing unit, receives the image of described camera collection, and is identified the graticule in road ahead in this image, obtains real diagram picture or the dashed line view picture of this graticule；
Center processing unit, compares the position of described real diagram picture with described virtual secure region, when real diagram picture enter from the side in this virtual secure region and move in this virtual secure region centre position time, then carry out illegal cross-line and overtake other vehicles early warning.
Preferably, described center processing unit also includes comparing the position of described dashed line view image position with described virtual secure region, when the dashed line view picture described virtual secure region of entrance and persistent period reach default time threshold, then carry out riding line ball and travel alarm.
Preferably, described solid line includes white solid line and yellow solid line, and described dotted line includes white dotted line and yellow dotted line.
Preferably, described photographic head is arranged on the centre position of front part of vehicle.
The technique scheme of the present invention has the following advantages compared to existing technology,
(1) present invention provides a kind of key preventive haulage vehicle the illegal method overtaken other vehicles, utilize a vehicle-mounted camera that the pavement image of vehicle front is acquired, and the roadmarking obtaining front is dotted line or solid line, one virtual secure region is set on the video pictures in the visual field of the collection of photographic head, during normal traveling, the roadmarking of vehicle both sides will not enter the virtual secure region arranged on video pictures, when real diagram picture enters from the side in this virtual secure region and moves to centre position in this virtual secure region, then carry out illegal cross-line to overtake other vehicles early warning.Owing to the solid line on road surface is divided into yellow solid line and solid white line, any kind of solid line not may span across, when normal vehicle operation, graticule is not had in the virtual secure region that this pre-sets, when solid line enters this virtual secure region and moves to centre position from side always, illustrate that vehicle part strides across this solid line, illegal cross-line passing behavior will occur, now send alarm, driver can be allowed to recognize act of violating regulations, correct its act of violating regulations in time, solve and prior art needs the data to vehicle both sides gather respectively and process, need two photographic head, the problem that data acquisition and processing (DAP) amount is big, reduce cost.The vehicle position for graticule is judged by default virtual secure region, the method realizes simple, the position in this virtual secure region is rationally set according to different vehicles and current information of road surface, improve and judge the order of accuarcy of position between graticule and vehicle, thus improve the accuracy identifying that illegal cross-line is overtaken other vehicles.
(2) the illegal method overtaken other vehicles of key preventive haulage vehicle of the present invention, also include comparing the position of described dashed line view image position with described virtual secure region, when the dashed line view picture described virtual secure region of entrance and persistent period reach default time threshold, then carry out riding line ball and travel alarm.Owing to dotted line can be crossed over, but vehicle cannot be pushed down dotted line for a long time and travel, therefore when dotted line enters this virtual secure region, mean there is cross-line action, owing to dotted line can be crossed over, therefore need not report to the police, but when dotted line long-term image is maintained in this virtual secure region, illustrate that this vehicle is not to cross over this dotted line, but riding line ball always and travelling, therefore carry out prompting and report to the police, provide when thus travelling for vehicle pressure dotted line and report to the police, make driver recognize its act of violating regulations in time, process in time.
(3) the illegal method overtaken other vehicles of key preventive haulage vehicle of the present invention, described photographic head is arranged on the centre position of front part of vehicle, it is easy to this photographic head the image of vehicle front both sides is gathered simultaneously, it is also convenient for this virtual secure region design in the visual angle of photographic head, improves this order of accuarcy riding line ball identification.
(4) the illegal method overtaken other vehicles of key preventive haulage vehicle of the present invention, when vehicle normal forward, revolver when the graticule of left side, on the left of this graticule described camera collection to image in position as the left hand edge in this virtual secure region；When right wheel is near right side graticule, on the right side of this graticule described camera collection to image in position as the right hand edge of this safety line, the region between this left and right edges is as virtual secure region.After setting up virtual secure region according to which, in normal vehicle operation, the graticule of both sides is all without entering this virtual secure region, but, when the amesiality traveling of vehicle, when especially riding line ball behavior, graticule has then occurred in this virtual secure region, judges to provide basis for estimation for follow-up line ball of riding.
Accompanying drawing explanation
In order to make present disclosure be more likely to be clearly understood, below according to the specific embodiment of the present invention and combine accompanying drawing, the present invention is further detailed explanation, wherein
Fig. 1 is the flow chart of an embodiment of the illegal method overtaken other vehicles of key preventive haulage vehicle of the present invention；
Fig. 2 is the flow chart of another embodiment of the illegal method overtaken other vehicles of key preventive haulage vehicle of the present invention；
Fig. 3 Fig. 6 is that the vehicle road of the illegal method overtaken other vehicles of key preventive haulage vehicle of the present invention runs schematic diagram；
Fig. 7 is the structured flowchart of the illegal system overtaken other vehicles of key preventive haulage vehicle of the present invention.
Detailed description of the invention
Embodiment
1
:
Thering is provided a kind of key preventive haulage vehicle the illegal method overtaken other vehicles in the present embodiment, flow chart is as it is shown in figure 1, comprise the steps:
(1) utilizing the photographic head that front part of vehicle is arranged, the image that vehicle runs front is acquired, and obtains video image.Described photographic head is arranged on certain position of front part of vehicle, and when vehicle travels on road, the surface conditions in photographic head shooting front, including the graticule of vehicle both sides, all by this camera collection to its image information.Graticule on road surface generally comprises solid line and dotted line, and solid line is not allow to cross over, and dotted line allows to cross over.
Graticule on road surface is divided into yellow line and white line.Yellow line is used for distinguishing the track of different directions, is typically drawn in road center, as an isolation strip, road is divided into both direction.No matter single yellow line or double amber lines, as long as solid line, just forbids to cross over, such as overtakes other vehicles, turns, turns around.Do not have particular case the most should not get over line during driving.The most single yellow line or double amber lines, as long as dotted line, then allow cross-domain, it is possible to overtakes other vehicles in the case of ensureing safety or turns around.Single yellow line is generally used within two-way 4 tracks on the road of (including cycle track), and double amber lines is generally used for relatively broad way face.White line is used for distinguishing equidirectional different track, and dotted line is can to exchange track with doubling, and solid line is cannot doubling, it is impossible to arbitrarily exchange track.Sum it up, any solid line all cannot be crossed over, dotted line can be crossed over.
(2) in the angular field of view that described photographic head shoots, arranging a region as virtual secure region in video image, when normal vehicle operation, the graticule on road surface will not enter this virtual secure region.As shown in figure (3)-figure (5), this virtual secure region is provided in a fixed area in the angular field of view of photographic head shooting, when vehicle travels in different positions, belongs to the scene in this virtual secure region different.As it is shown on figure 3, when vehicle normally travels in the position in the middle of track, be positioned at the graticule of both sides, track all without entering this virtual secure region.When vehicle secundly travels, as shown in Figure 4, when vehicle is pressed onto the graticule in left side, in the image now collected, the left side graticule in front then enters this virtual secure region.As it is shown in figure 5, when vehicle is pressed onto the graticule on right side, in the image that front collects, the graticule on right side then enters this virtual secure region.Virtual secure region herein is that arrange position and visual angle according to different automobile types, photographic head determine, its principle arranged is: when normal vehicle operation, graticule on road surface will not enter this virtual secure region, when vehicle is pressed onto or during close to graticule, then in the image collected in front, this graticule enters into this safe distance.
(3) received the video image of described camera collection by graphics processing unit, and the graticule in road ahead in this video image is identified, obtain real diagram picture or the dashed line view picture of graticule.Camera collection to forward image in, there is various types of graticule, such as dotted line and solid line, carry out image procossing now by the image collected, identify the dashed line view picture in this image and real diagram picture and the position at place thereof.Owing to solid line is different with the meaning of dotted line, identify solid line and dotted line can facilitate the follow-up type for its graticule to process respectively.
(4) in video image, the position of described real diagram image position with described virtual secure region is compared, when real diagram picture enters from the side in this virtual secure region and moves to centre position in this virtual secure region, then carry out illegal cross-line and overtake other vehicles early warning.As shown in Figure 4 and Figure 6, vehicle is operationally, it is positioned at centre position, track, it is double yellow solid lines in the left side of vehicle, when vehicle cross-line to the left, real diagram picture enters this virtual secure region from left side, vehicle strides across this realization when entering this track always, the image of solid line moves in virtual secure region, moves to centre position always, and vehicle spans is crossed this double amber lines and entered side track herein, illegal cross-line passing behavior will occur, its harm is great, and this alarm can allow driver recognize cross-line behavior, processes in time.As shown in Figure 6, this vehicle spans has arrived side track, is positioned at yellow line central authorities, now carries out the illegal early warning of overtaking other vehicles of cross-line, allows driver immediately appreciate that this situation, processes at once, changes the running route of vehicle, reduce this security risk.
The illegal method overtaken other vehicles of key preventive haulage vehicle in the present embodiment, with a vehicle-mounted camera, the pavement image of vehicle front is acquired, and the roadmarking obtaining front is dotted line or solid line, one virtual secure region is set on the video pictures in the visual field of the collection of photographic head, during normal traveling, the roadmarking of vehicle both sides will not enter the virtual secure region arranged on video pictures, when real diagram picture enters from the side in this virtual secure region and moves to centre position in this virtual secure region, then carry out illegal cross-line and overtake other vehicles early warning.Owing to the solid line on road surface is divided into yellow solid line and solid white line, any kind of solid line not may span across, when normal vehicle operation, graticule is not had in the virtual secure region that this pre-sets, when solid line enters this virtual secure region and moves to centre position from side always, illustrate that vehicle part strides across this solid line, illegal cross-line passing behavior will occur, now send alarm, driver can be allowed to recognize act of violating regulations, correct its act of violating regulations in time, solve and prior art needs the data to vehicle both sides gather respectively and process, need two photographic head, the problem that data acquisition and processing (DAP) amount is big, reduce cost.The vehicle position for graticule is judged by default virtual secure region, the method realizes simple, the position in this virtual secure region is rationally set according to different vehicles and current information of road surface, improve and judge the order of accuarcy of position between graticule and vehicle, thus improve the accuracy identifying that illegal cross-line is overtaken other vehicles.
As preferred embodiment, photographic head in the program is arranged on the centre position of front part of vehicle, it is easy to this photographic head the image of vehicle front both sides is gathered simultaneously, has been also convenient for this virtual secure region design in the visual angle of photographic head, has improve this order of accuarcy riding line ball identification.
Embodiment
2
:
In the present embodiment, on the basis of above-described embodiment 1, further the dotted line in graticule is judged.Due to the dotted line regardless of type, all can cross over, therefore, in dotted line enters this virtual secure region, be made without prompting and report to the police.But, vehicle cannot be ridden line ball and be travelled when running, therefore, if dotted line is positioned at this virtual secure region for a long time, then show that line ball traveling ridden by vehicle, and which is violating the regulations, needs to point out.Therefore the illegal method overtaken other vehicles of key preventive haulage vehicle in the present embodiment, flow chart is as shown in Figure 2, also include comparing the position of described dashed line view image position with described virtual secure region, when the dashed line view picture described virtual secure region of entrance and persistent period reach default time threshold, then carry out riding line ball and travel alarm.Time herein can be arranged as required to as 1-10 minute, as being set to 3 minutes, 5 minutes or 8 minutes, when the dashed line view picture persistent period in virtual secure region exceeds this time range, then carry out riding line ball and travel alarm, he is riding line ball and is travelling to allow driver recognize, need to correct act of violating regulations in time.
In the present embodiment, owing to dotted line can be crossed over, but vehicle cannot be pushed down dotted line for a long time and travel, therefore when dotted line enters this virtual secure region, mean there is cross-line action, owing to dotted line can be crossed over, therefore need not report to the police, but when dotted line long-term image is maintained in this virtual secure region, illustrates that this vehicle is not to cross over this dotted line, but riding line ball always and travelling, therefore carry out prompting and report to the police, there is provided when thus travelling for vehicle pressure dotted line and report to the police so that driver recognizes its act of violating regulations in time, processes in time.
Embodiment
3
:
In the present embodiment, for the illegal method overtaken other vehicles of above-mentioned key preventive haulage vehicle, it is provided that a kind of mode determining virtual secure region.It is whether suitable that virtual secure region is arranged, and directly influences follow-up to vehicle with the relation of graticule position.In the program, when vehicle normal forward, revolver when the graticule of left side, on the left of this graticule described camera collection to image in position as the left hand edge in this virtual secure region；When right wheel is near right side graticule, on the right side of this graticule described camera collection to image in position as the right hand edge of this safety line, the region between this left and right edges is as virtual secure region.
After setting up virtual secure region according to which, in normal vehicle operation, the graticule of both sides is all without entering this virtual secure region, but, when the amesiality traveling of vehicle, especially near or when riding line ball behavior, graticule has then occurred in this virtual secure region, judge to provide basis for estimation for follow-up line ball of riding.
Embodiment
4
:
The present embodiment provides a kind of key preventive haulage vehicle the illegal system overtaken other vehicles, structure as it is shown in fig. 7, comprises:
One photographic head, is arranged on the centre position in Herba Plantaginis portion, and the image that vehicle runs front is acquired obtaining video image.
Graphics processing unit, receives the video image of described camera collection, and is identified the graticule in road ahead in this image, obtains real diagram picture and dashed line view picture.Described real diagram picture includes white solid line and yellow solid line, and described dashed line view picture includes white dotted line and yellow dotted line.
Virtual secure region setup unit: in the angular field of view that described photographic head shoots, arranges a region as virtual secure region in video image, and when normal vehicle operation, the graticule on road surface will not enter this virtual secure region；
Center processing unit, the position of real diagram picture described in video image with described virtual secure region is compared, when real diagram picture enter from the side in this virtual secure region and move in this virtual secure region centre position time, then carry out illegal cross-line and overtake other vehicles early warning
As further embodiment, described center processing unit also includes comparing the position of described dashed line view image position with described virtual secure region, when the dashed line view picture described virtual secure region of entrance and persistent period reach default time threshold, then carry out riding line ball and travel alarm.
In other implementations, above-mentioned virtual secure region setup unit also includes that first arranges submodule, in this module, when vehicle normal forward, revolver when the graticule of left side, on the left of this graticule described camera collection to image in position as the left hand edge in this virtual secure region；When right wheel is near right side graticule, on the right side of this graticule described camera collection to image in position as the right hand edge of this safety line, the region between this left and right edges is as virtual secure region.
Obviously, above-described embodiment is only for clearly demonstrating example, and not restriction to embodiment.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here without also cannot all of embodiment be given exhaustive.And the obvious change thus extended out or variation still in the protection domain of the invention among.
Claims (9)
1. the illegal method overtaken other vehicles of key preventive haulage vehicle, it is characterised in that include walking as follows
Rapid:
Utilizing the photographic head that front part of vehicle is arranged, the image that vehicle runs front is acquired obtaining
Video pictures；
In the angular field of view that described photographic head shoots, a region is set in video pictures as virtual
Safety zone, this virtual secure region is provided in a fixed area in the angular field of view of photographic head shooting
Territory, when vehicle travels in different positions, belongs to the scene in this virtual secure region different, works as car
Normal when travelling, the graticule on road surface will not enter this virtual secure region；
The image of described camera collection is received by graphics processing unit, and to road ahead in this image
On graticule be identified, obtain real diagram picture or the dashed line view picture of graticule；
In video pictures, the position of described real diagram image position with described virtual secure region is compared
Relatively, when real diagram picture is from the side in this virtual secure region enters and moves in this virtual secure region
Between position time, then carry out illegal cross-line and overtake other vehicles early warning.
The illegal method overtaken other vehicles of key preventive haulage vehicle the most according to claim 1, its feature exists
In, also include comparing the position of described dashed line view image position with described virtual secure region, work as void
When the line image described virtual secure region of entrance and persistent period reach default time threshold, then ride
Line ball travels alarm.
The illegal method overtaken other vehicles of key preventive haulage vehicle the most according to claim 1 and 2, it is special
Levying and be, described photographic head is arranged on the centre position of front part of vehicle.
The illegal method overtaken other vehicles of key preventive haulage vehicle the most according to claim 3, its feature exists
In, described solid line includes white solid line and yellow solid line, and described dotted line includes white dotted line and yellow dotted line.
5. according to the illegal method overtaken other vehicles of key preventive haulage vehicle described in claim 1 or 2 or 4, its
It is characterised by, in the angular field of view that described photographic head shoots, a region is set as virtual secure district
The process in territory, including:
When vehicle normal forward, revolver is when the graticule of left side, and on the left of this, graticule is adopted at described photographic head
Collect to image in position as the left hand edge in this virtual secure region；When right wheel is near right side graticule,
On the right side of this graticule described camera collection to image in position as the right in this virtual secure region
Edge, the region between this left and right edges is as virtual secure region.
6. the illegal system overtaken other vehicles of key preventive haulage vehicle, it is characterised in that including:
One photographic head, is arranged on the front portion of car amount, and the image that vehicle runs front is acquired obtaining
Video image；
Virtual secure region setup unit: in the angular field of view that described photographic head shoots, at video pictures
Inside arranging a region as virtual secure region, this virtual secure region is provided in photographic head shooting
A fixed area in angular field of view, when vehicle travels in different positions, belongs to this virtual secure
Scene in region is different, and when normal vehicle operation, the graticule on road surface will not enter this virtual secure
Region；
Graphics processing unit, receives the image of described camera collection, and in road ahead in this image
Graticule be identified, obtain real diagram picture or the dashed line view picture of this graticule；
Center processing unit, compares the position of described real diagram picture with described virtual secure region,
When real diagram picture from the side entrance in this virtual secure region and moves to the centre in this virtual secure region
During position, then carry out illegal cross-line and overtake other vehicles early warning.
The illegal system overtaken other vehicles of key preventive haulage vehicle the most according to claim 6, its feature exists
In, described center processing unit also includes the position of described dashed line view image position Yu described virtual secure region
Put and compare, reach the default time when the dashed line view picture described virtual secure region of entrance and persistent period
During threshold value, then carry out riding line ball and travel alarm.
8., according to the illegal system overtaken other vehicles of the key preventive haulage vehicle described in claim 6 or 7, it is special
Levying and be, described solid line includes white solid line and yellow solid line, and described dotted line includes white dotted line and yellow dotted line.
The illegal system overtaken other vehicles of key preventive haulage vehicle the most according to claim 8, its feature exists
In, described photographic head is arranged on the centre position of front part of vehicle.
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| CN201410266282.XA CN104015657B (en) | 2014-06-16 | 2014-06-16 | The illegal method and system overtaken other vehicles of a kind of key preventive haulage vehicle |
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| CN201410266282.XA CN104015657B (en) | 2014-06-16 | 2014-06-16 | The illegal method and system overtaken other vehicles of a kind of key preventive haulage vehicle |
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| CN107871393B (en) * | 2016-09-27 | 2021-06-04 | 千寻位置网络有限公司 | Method and system for automatically judging whether vehicle occupies prohibited lane in case of violation of regulations |
| CN108346316A (en) * | 2018-03-23 | 2018-07-31 | 上海工程技术大学 | A kind of prevention and control system violating the regulations of the intelligence based on lane detection |
| KR102569438B1 (en) * | 2018-10-05 | 2023-08-24 | 현대모비스 주식회사 | Apparatus and method for generating a warning |
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| JP3575343B2 (en) * | 1999-08-02 | 2004-10-13 | 日産自動車株式会社 | Lane tracking device |
| KR101075615B1 (en) * | 2006-07-06 | 2011-10-21 | 포항공과대학교 산학협력단 | Apparatus and method for generating a auxiliary information of moving vehicles for driver |
| KR101163446B1 (en) * | 2009-03-18 | 2012-07-18 | 기아자동차주식회사 | A lane departure warning system using a virtual lane and a system according to the same |
| KR101328363B1 (en) * | 2011-06-08 | 2013-11-11 | 도요타지도샤가부시키가이샤 | Lane departure prevention support apparatus, method of displaying a lane boundary line and program |
| CN102295004B (en) * | 2011-06-09 | 2013-07-03 | 中国人民解放军国防科学技术大学 | Lane departure warning method |
| CN103057470B (en) * | 2012-12-06 | 2015-09-16 | 重庆交通大学 | A kind of vehicle peccancy line ball pre-tip device and reminding method thereof |
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