Design and Integration of Lane Departure Warning, Adaptive Headlight and Wiper system for Automobile Safety

Lane Departure Assessment via Enhanced Single Lane-Marking

“…However, the camera setup should be ideal enough; otherwise, the symmetry axis of EDF may change even if lane departure is not happening. Vijay et al [10] presented a similar algorithm using the deviation of the centroid line of detected lanes from the center of the image. A lane departure identification method used three lane-related parameters, including the Euclidean distances between every two points of the Hough origin H o , the midpoints mp 1 and mp 2 of the identified left and right lane-markings to identify the state of departure [11][12][13].…”

“…Finally, with focal length f and the coordinates of points P intc , P intd , θ y can be solved using the triangular pyramid formed by the axes and the image sensor in Figure 11 according to (9), and the rotation matrix R y between coordinate systems Oc"-Xc"Yc"Zc" and Oc'-Xc'Yc'Zc' is formed by the calculated θ y . R y is then used in the calculation of x x in Section 3.2, (10). The vectors OcOi, OcP intd , and OcP intc are called vectors z c , z c' , and z c" respectively.…”

“…The angle between v lr and the bottom edge of the IMG is θ br , and the angle between v lr and v bot is θ gr . Finally, tanθ br can be obtained using the coordinates of points P rbot and P intd , and x x can be calculated by θ br through (10). Here, θ gr is calculated by using θ br and θ xz in step 3.1 for the calculation of the yaw angle θ y .…”

“…In particular, v bot and v lp can be calculated by using the transformation from Oc'-Xc'Yc'Zc' to Oc-XcYcZc and the dot product of v bot and v lr . (10) Figure 12. The imaging for the calculation of x x .…”