Method for the detection and tracking of lane markings
First Claim
1. A system for the detection and tracking of lane markings proximate to a motor vehicle, said system comprising:
- an image capture device mounted on the motor vehicle and configured to capture an image of a space located in front of the vehicle, wherein the image includes a plurality of picture elements, the image is captured by the image capture device at regular intervals,the picture elements that meet a predetermined detection criterion are identified as detected lane markings in the image,at least one detected lane marking identified as a lane marking to be tracked is subjected to a tracking process in which the variation of the course of the lane marking in time in the plane of the roadway is tracked,at least one test zone comprising a plurality of picture elements of the image is defined for each detected lane marking,with the aid of intensity values of the picture elements associated with the test zone, at least one parameter is determined, andthe detected lane marking is assigned to one of a plurality of lane marking categories, depending on the parameter, wherein from the intensity values of the picture elements associated with the test zone statistical parameters are determined that include an average intensity value, an intensity value total, a maximum intensity value, a minimum intensity value, and a moment of intensity value distribution of the picture elements.
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Abstract
In a method for the detection and tracking of lane markings from a motor vehicle, an image of a space located in front of the vehicle is captured by means of an image capture device at regular intervals. The picture elements that meet a predetermined detection criterion are identified as detected lane markings in the captured image. At least one detected lane marking as a lane marking to be tracked is subjected to a tracking process. At least one test zone is defined for each detected lane marking. With the aid of intensity values of the picture elements associated with the test zone, at least one parameter is determined. The detected lane marking is assigned to one of several lane marking categories, depending on the parameter.
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Citations
20 Claims
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1. A system for the detection and tracking of lane markings proximate to a motor vehicle, said system comprising:
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an image capture device mounted on the motor vehicle and configured to capture an image of a space located in front of the vehicle, wherein the image includes a plurality of picture elements, the image is captured by the image capture device at regular intervals, the picture elements that meet a predetermined detection criterion are identified as detected lane markings in the image, at least one detected lane marking identified as a lane marking to be tracked is subjected to a tracking process in which the variation of the course of the lane marking in time in the plane of the roadway is tracked, at least one test zone comprising a plurality of picture elements of the image is defined for each detected lane marking, with the aid of intensity values of the picture elements associated with the test zone, at least one parameter is determined, and the detected lane marking is assigned to one of a plurality of lane marking categories, depending on the parameter, wherein from the intensity values of the picture elements associated with the test zone statistical parameters are determined that include an average intensity value, an intensity value total, a maximum intensity value, a minimum intensity value, and a moment of intensity value distribution of the picture elements. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A method for the detection and tracking of lane markings by an image capture device mounted on a motor vehicle, said method comprising:
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capturing an image of a space located in front of the vehicle with the image capture device, wherein said image comprises a plurality of picture elements captured by the image capture device at regular time intervals; identifying picture elements that meet a predetermined detection criterion as detected lane markings in the captured image by means of an image processing system; indicating at least one detected lane marking as a lane marking to be tracked according to a tracking process in which the variation of the course of the lane marking over time in the plane of the roadway is tracked by means of a status estimator of the image processing system; defining for each detected lane marking a test zone comprising a plurality of picture elements; determining statistical parameters based on an intensity value of the picture elements associated with the test zone, wherein the statistical parameters include an average intensity value, an intensity value total, a maximum intensity value, a minimum intensity value, and a moment of intensity value distribution of the picture elements; and assigning the detected lane marking to one of a plurality of lane marking categories based on the parameter. - View Dependent Claims (15, 16, 17, 18, 19, 20)
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Specification