Image tracking based lane departure warning and forward collision warning methods for commercial automotive vehicle

Active Safety system is requested on the market of the medium and heavy duty commercial vehicle over 4.5ton beside the market of passenger car with advancement of the digital equipment proportionally. Unlike the passenger car, the mounting position of camera in case of the medium and heavy duty commercial vehicle is relatively high, it is disadvantaged conditions for lane recognition in contradiction to passenger car. In this work, we show the method of lane recognition through the Sobel edge, based on the spatial domain processing, Hough transform and color conversion correction. Also we suggest the low error method of front vehicles recognition in order to reduce the detection error through Haar-like, Adaboost, SVM and Template matching, etc., which are the object recognition methods by frontal camera vision. It is verified that the reliability over 98% on lane recognition is obtained through the vehicle test.