Lane Detecting Apparatus Car Pool Lane Mode
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Solution Overview
Problem
Conventional lane keeping assist technologies face challenges in accurately detecting car pool lanes, leading to unnecessary steering forces and yaw motions when exiting such lanes, as they struggle to differentiate between branching points and other bent lines.
Innovation Solution
A lane detecting apparatus that includes a camera for image capture, a candidate line selecting part, and a car pool lane determining part, which adjusts the edge threshold for line detection based on the difference in candidate lines between the left and right sides of the vehicle, allowing for a car pool lane detection mode with reduced edge threshold to prevent erroneous steering corrections.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional lane detection technology is used, then general road lane detection works, but car pool lanes are misidentified as branching points causing unnecessary steering forces
Solution Approach 1:
The system dynamically changes the edge threshold parameter based on the detected number of candidate lines. When the difference in candidate line counts between left and right sides exceeds a threshold, the system switches to a lower edge threshold to properly detect car pool lane markings that have different visual characteristics than standard lane markings.
Solution Approach 2:
The lane detection system transitions between different detection modes (standard mode and car pool lane mode) based on real-time analysis of candidate line distribution. This dynamic adaptation allows the system to adjust its detection strategy according to the specific road configuration, preventing misidentification of car pool lanes as branching points.
2Measurement precision
If the edge threshold is kept high for accurate line detection, then false positives are reduced, but car pool lane lines are missed
Solution Approach 1:
The system adapts the edge threshold parameter based on the road context. In standard driving conditions, a higher threshold ensures precise line detection. When car pool lane conditions are detected (through asymmetric candidate line analysis), the system switches to a lower threshold to capture the distinctive marking patterns of car pool lanes.
Solution Approach 2:
The system performs preliminary analysis of candidate line distribution and asymmetry before final line detection. This preliminary action identifies potential car pool lane scenarios, allowing the system to pre-adjust detection parameters (edge threshold) before attempting to detect the actual lane markings, ensuring both precision and reliability.
Data Source
AI summary
The present invention discloses a lane detecting apparatus mounted on a vehicle including a camera for obtaining an image of a lane marking drawn on a road, a candidate line selecting part for selecting one or more candidate lines having edge information no less than an edge threshold from the image obtained by the camera, and a car pool lane determining part for determining whether the difference in the number of the candidate lines between the left side of the vehicle and the right side of the vehicle is no less than a predetermined value. When the difference is no less than the predetermined value, the lane detecting apparatus transfers to a car pool lane detection mode in which the candidate line selecting part detects the one or more candidate lines in accordance with a threshold that is less than the edge threshold.