ADVANCED DRIVER ASSISTANCE SYSTEM AND METHOD
First Claim
1. A driver assistance system configured to detect lane markings in a perspective image of a road in front of a vehicle, the perspective image comprising a vanishing point, the driver assistance system comprising a processor configured to:
- extract a plurality of features from the perspective image for generating a set of feature coordinates, wherein the set of feature coordinates defines respective positions of the plurality of features in the perspective image;
generate a plurality of pairs of feature coordinates, wherein each of the pairs of feature coordinates defines a straight line; and
estimate a lane curvature on the basis of a subset of the plurality of pairs of feature coordinates, wherein for each pair of feature coordinates of the subset of the plurality of pairs of feature coordinates, the straight line defined by the respective pair of feature coordinates intersects a predefined target portion of the perspective image, wherein the predefined target portion comprises a plurality of possible positions of the vanishing point.
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Accused Products
Abstract
A driver assistance system detects lane markings in a perspective image of a road in front of a vehicle. The driver assistance system extracts a plurality of features, in particular lane markings, from the perspective image for generating a set of feature coordinates, in particular lane marking coordinates. The system generates a plurality of pairs of feature coordinates, each pair defining a straight line, and estimates a lane curvature on the basis of a subset of the pairs of feature coordinates. For each pair a straight line defined by the pair intersects a predefined target portion of the perspective image, the predefined target portion including a plurality of possible positions of a vanishing point.
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15 Claims
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1. A driver assistance system configured to detect lane markings in a perspective image of a road in front of a vehicle, the perspective image comprising a vanishing point, the driver assistance system comprising a processor configured to:
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extract a plurality of features from the perspective image for generating a set of feature coordinates, wherein the set of feature coordinates defines respective positions of the plurality of features in the perspective image; generate a plurality of pairs of feature coordinates, wherein each of the pairs of feature coordinates defines a straight line; and estimate a lane curvature on the basis of a subset of the plurality of pairs of feature coordinates, wherein for each pair of feature coordinates of the subset of the plurality of pairs of feature coordinates, the straight line defined by the respective pair of feature coordinates intersects a predefined target portion of the perspective image, wherein the predefined target portion comprises a plurality of possible positions of the vanishing point. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 15)
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13. A method of detecting lane markings in a perspective image of a road in front of a vehicle, the perspective image defining a vanishing point, wherein the method comprises:
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extracting a plurality of features from the perspective image for generating a set of feature coordinates, wherein the set of feature coordinates defines respective positions of the plurality of features in the perspective image; generating a plurality of pairs of feature coordinates, wherein each of the pairs of feature coordinates defines a straight line; and estimating a lane curvature on the basis of a subset of the plurality of pairs of feature coordinates, wherein for each pair of feature coordinates of the subset of the plurality of pairs of feature coordinates, the straight line defined by the respective pair of feature coordinates intersects a predefined target portion of the perspective image, wherein the predefined target portion comprises a plurality of possible positions of the vanishing point. - View Dependent Claims (14)
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Specification