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Method for determining a course of a traffic lane for a vehicle

  • US 9,360,332 B2
  • Filed: 08/09/2013
  • Issued: 06/07/2016
  • Est. Priority Date: 08/27/2012
  • Status: Active Grant
First Claim
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1. Method for determining a course of a traffic lane for a subject vehicle (10), comprising:

  • detecting structures that demarcate a trafficable space from image data provided by at least one image acquisition unit (2),plotting the structures on a surroundings map (20) that subdivides surroundings of the subject vehicle into a two-dimensional grid structure (20a) of cells (21),determining and continually updating a position of the subject vehicle in the grid structure (21) of the surroundings map (20) by at least odometric data of the subject vehicle (10),determining a distance and a direction of the subject vehicle (10) with respect to particular cells (21b) of the grid structure (20a) of the surroundings map (20) which feature physical structures that cannot be driven over by the subject vehicle and that demarcate a boundary of a pavement and/or the traffic lane,detecting bright-to-dark and dark-to-bright transitions in the image data and plotting the transitions on the cells (21) of the grid structure (20a) of the surroundings map (20), anddetermining the course of the traffic lane (22) from at least the cells having the detected bright-to-dark and dark-to-bright transitions.

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