DETECTOR AND METHOD FOR IDENTIFYING A ROAD LANE BOUNDARY
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Abstract
A detector for identifying a road lane boundary using a digitalized optical image of the region in front of the vehicle. The detector includes a correlator configured to select the edges which are to be used for road lane estimation by searching for extreme values of convolution response, and to weight each convolution response by a weighting factor. A histogram analysis unit configured to group the extracted edges into pairs, and to determine a frequency distribution of the distances between two paired edges as a histogram, and to use said frequency distribution to determine the distances between two grouped edges forming a frequency peak or a frequency plateau in the histogram as nominal edge widths. A weighting factor determination unit configured to determine, for an edge, the weighting factor of the convolution response in the correlator in such a manner that the weight determined by the weighting factor for an edge of the paired edges is higher the smaller the deviation of the distance between the grouped edges from the nominal edge width.
9 Citations
20 Claims
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1-10. -10. (canceled)
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11. A detector for identifying a road lane boundary using a digitalized optical image of the region in front of the vehicle, the detector comprising:
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a correlator configured to select the edges which are to be used for road lane estimation by searching for extreme values of convolution responses, and to weight each convolution response by a weighting factor before searching for extreme values; a histogram analysis unit configured to group the extracted edges into pairs, and to determine a frequency distribution of the distances between two paired edges as a histogram, and to use said frequency distribution to determine the distances between two grouped edges forming a frequency peak or a frequency plateau in the histogram as nominal edge widths; and a weighting factor determination unit configured to determine, for an edge, the weighting factor of the convolution response in the correlator in such a manner that the weight determined by the weighting factor for an edge of the paired edges is higher the smaller the deviation of the distance between the grouped edges from the nominal edge width. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18)
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19. A method for identifying a road lane boundary using a digitalized optical image of the region in front of the vehicle, in which edges that are present are marked, wherein the method comprises the following steps:
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selecting edges which are to be used for road lane estimation by searching for extreme values of convolution responses, wherein each convolution response is weighted by a weighting factor before searching for extreme values; creating and analysing a histogram in order to group the extracted edges into pairs, and to obtain a frequency distribution of the distances between two paired edges as a histogram, and to use said frequency distribution to determine the distances between two grouped edges forming a frequency peak or a frequency plateau in the histogram as nominal edge widths; and determining the weighting factor in order to determine, for an edge, the weighting factor of the determination of the convolution response in the correlation step in such a manner that the weight determined by the weighting factor for an edge of the paired edges is higher the smaller the deviation of the distance between the grouped edges from the nominal edge width. - View Dependent Claims (20)
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Specification