04970653 is referenced by 360 patents and cites 6 patents.

An image processing method operates on an image from a ccd camera viewing a roadway scene in front of a vehicle to detect lane markers and determine the relationship of the vehicle to the lane. Obstacles in the lane near the vehicle are detected and a warning is given to the driver. The method uses template matching techniques or a Hough algorithm to detect the lane markers or road edges.

Title
Vision method of detecting lane boundaries and obstacles
Application Number
7/334033
Publication Number
4970653
Application Date
April 6, 1989
Publication Date
November 13, 1990
Inventor
Surender K Kenue
Southfield
MI, US
Agent
Howard N Conkey
Assignee
General Motors Corporation
MI, US
IPC
G06F 15/50
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