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Abstract

A low cost, real time vehicle lane position detection system is provided for determining and maintaining the position of the vehicle on a highway. The system comprises an image sensor mounted on the front of an automotive vehicle and an integrated processor for performing real-time lane mark detection. The sensor/processor system identifies highway lane marks on the detector image plane by using a nonlinear resistive network for detecting outliers. A line detection algorithm, such as the Hough transform, is used to determine the lane marks from the outliers on the image plane. Because the expected lane position can be determined in advance, an added degree of signal-to-noise discrimination is achieved by providing feedback to the processor for outlier detection. The position of the vehicle in the lane is determined and tracked from the position of the detected lane marks on the image plane given the sensor position and optical geometry.

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First Claim