Method for lane detection
First Claim
1. A method for lane detection for a camera-based driver assistance system comprising a camera attached to a vehicle for capturing images of a traffic space ahead of the vehicle, wherein the method includes:
- a) identifying in an image captured by a camera that areas of the image are identified as recognized lane markings which meet a predetermined recognition criterion;
b) tracking at least two recognized lane markings, wherein a temporal change of a course of the at least two lane markings to be tracked in the road surface plane is tracked using a common recursive state estimator,c) estimating separate courses for the at least two of the lane markings to be tracked;
d) determining a respective offset value for the at least two recognized lane markings, wherein said respective offset value indicates a transversal offset of the at least two recognized lane markings relative to a reference axis parallel to a center longitudinal axis of the vehicle; and
e) performing an allocation of the respective offset value to a respective one of the separate courses of the lane markings to be tracked, wherein for allocation of the determined offset values to a respective one of the separate courses of the lane markings to be tracked, a parametric estimation method is applied; and
f) outputting a lane-departure-warning in accordance with the offset values.
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Accused Products
Abstract
A method for lane detection for a camera-based driver assistance system includes the following steps: image regions in images that are recorded by a camera are identified as detected lane markings if the image regions meet a specified detection criterion. At least two detected lane markings are subjected to a tracking process as lane markings to be tracked. By means of a recursive state estimator, separate progressions are estimated for at least two of the lane markings to be tracked. Furthermore, for each of a plurality of the detected lane markings, a particular offset value is determined, which indicates a transverse offset of the detected lane marking in relation to a reference axis. By means of an additional estimation method, the determined offset values are each associated with one of the separate progressions of the lane markings to be tracked.
6 Citations
13 Claims
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1. A method for lane detection for a camera-based driver assistance system comprising a camera attached to a vehicle for capturing images of a traffic space ahead of the vehicle, wherein the method includes:
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a) identifying in an image captured by a camera that areas of the image are identified as recognized lane markings which meet a predetermined recognition criterion; b) tracking at least two recognized lane markings, wherein a temporal change of a course of the at least two lane markings to be tracked in the road surface plane is tracked using a common recursive state estimator, c) estimating separate courses for the at least two of the lane markings to be tracked; d) determining a respective offset value for the at least two recognized lane markings, wherein said respective offset value indicates a transversal offset of the at least two recognized lane markings relative to a reference axis parallel to a center longitudinal axis of the vehicle; and e) performing an allocation of the respective offset value to a respective one of the separate courses of the lane markings to be tracked, wherein for allocation of the determined offset values to a respective one of the separate courses of the lane markings to be tracked, a parametric estimation method is applied; and f) outputting a lane-departure-warning in accordance with the offset values. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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Specification