Method and device for determining a valid lane marking
First Claim
1. A method for determining a valid lane marking with the aid of a camera system of a vehicle, in particular a road vehicle,in which with the aid of a camera of the camera system (16) several pictures (30, 54, 66) with images of an area in front of the vehicle (12) are successively taken as a picture series, and image data corresponding to the respective picture (30, 54, 66) are generated,and in which the image data of at least a part of the pictures (30, 54, 66) of the picture series are processed,wherein at least a first lane marking (38, 40) and a second lane marking (56, 58) different from the first lane marking are detected in at least one picture of the picture series, the second lane marking having been temporarily applied to divert traffic from a lane delimited by the first lane marking,a vehicle (34) driving ahead of the vehicle (12) is detected in at least two successively taken pictures (30, 54, 66) of the picture series,for each of the at least two pictures, the position (P1 to P4;
- P1 to P4*) of the vehicle driving ahead (34) relative to the first lane marking (38, 40) and the position (P1 to P4;
P1 to P4*) of the vehicle driving ahead (34) relative to the second lane marking (56, 58) is determined,and wherein, dependent on the positions (P1 to P4;
P1 to P4*) of the vehicle driving ahead (34) determined with the aid of the pictures, one of the detected lane markings (38, 40;
56, 58) is selected as the valid lane marking.
2 Assignments
0 Petitions
Accused Products
Abstract
A method and a device for determining a valid lane marking using a vehicle camera system. A series of pictures are taken of an area in front of the vehicle. At least a first lane marking and a second lane marking different from the first lane marking are detected in corresponding image data. A vehicle driving ahead of the vehicle is detected in at least two successively taken pictures and its position relative to the first lane marking as well as its position relative to the second lane marking is determined. Dependent on the positions of the vehicle driving ahead determined with the aid of the pictures, one of the detected lane markings is selected as the valid lane marking.
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Citations
11 Claims
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1. A method for determining a valid lane marking with the aid of a camera system of a vehicle, in particular a road vehicle,
in which with the aid of a camera of the camera system (16) several pictures (30, 54, 66) with images of an area in front of the vehicle (12) are successively taken as a picture series, and image data corresponding to the respective picture (30, 54, 66) are generated, and in which the image data of at least a part of the pictures (30, 54, 66) of the picture series are processed, wherein at least a first lane marking (38, 40) and a second lane marking (56, 58) different from the first lane marking are detected in at least one picture of the picture series, the second lane marking having been temporarily applied to divert traffic from a lane delimited by the first lane marking, a vehicle (34) driving ahead of the vehicle (12) is detected in at least two successively taken pictures (30, 54, 66) of the picture series, for each of the at least two pictures, the position (P1 to P4; - P1 to P4*) of the vehicle driving ahead (34) relative to the first lane marking (38, 40) and the position (P1 to P4;
P1 to P4*) of the vehicle driving ahead (34) relative to the second lane marking (56, 58) is determined,and wherein, dependent on the positions (P1 to P4;
P1 to P4*) of the vehicle driving ahead (34) determined with the aid of the pictures, one of the detected lane markings (38, 40;
56, 58) is selected as the valid lane marking. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
- P1 to P4*) of the vehicle driving ahead (34) relative to the first lane marking (38, 40) and the position (P1 to P4;
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11. A device for determining a valid lane marking with the aid of a camera system (16) of a vehicle (12), in particular a road vehicle,
with a camera system (16) having a camera (17) for successively taking several pictures (30, 54, 66) with images of an area in front of the vehicle (12) as a picture series and generating image data corresponding to the respective picture (30, 54, 66), with a processing unit (22) for processing the image data of at least a part of the pictures (30, 54, 66) of the picture series, wherein the processing unit (22) detects in at least one picture (30, 54, 66) of the picture series at least two different lane markings (38, 40; -
56, 58),
the processing unit (22) detects a vehicle (34) driving ahead of the vehicle (12) in at least two pictures (30, 54, 66) of the picture series and each time determines the position (P1 to P4;
P1 to P4*) of the vehicle driving ahead (34) relative to the detected first lane marking (38, 48;
56, 58) and the position of the vehicle relative to the second lane marking for each of the at least two pictures, andwherein the processing unit (22), dependent on the determined positions (P1 to P4;
P1 to P4*) of the vehicle driving ahead (34) relative to both lane markings (38, 40;
56, 58), selects one of these detected lane markings (38, 40;
56, 58) as the valid lane marking (56, 58), the selected marking having been temporarily applied to divert traffic from a lane delimited by the first lane marking.
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56, 58),
Specification