Method and device for determining a lane course of a vehicle

• US 9,792,509 B2
• Filed: 08/27/2014
• Issued: 10/17/2017
• Est. Priority Date: 09/06/2013
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Nitschke, Werner, Wellhoefer, Matthias Marcus
• Primary Examiner(s): Lee, Tyler J
• Application Number:
  US14/914,940
• Publication Number:
  US 20160203375A1
• Time in Patent Office: 1,147 Days
• Field of Search: 701 36, 701 70, 701300-302
• CPC Class Codes: B60R 2300/804 for lane monitoring
• CPC Class Codes: B60W 2050/143 Alarm means
• CPC Class Codes: B60W 2552/00 Input parameters relating to infrastructure
• CPC Class Codes: B60W 2552/53 Road markings, e.g. lane marker or crosswalk
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2720/10 Longitudinal speed
• CPC Class Codes: B60W 2900/00 Indexing codes relating to the purpose of, or problem solved of road vehicle drive control systems not otherwise provided for in groups B60W30/00
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road

Abstract

A method for determining a course of a lane of a vehicle. In this connection, a first marking course of a first marking of the lane and a second marking course of a second marking of the lane are initially recorded. The first marking course and the second marking course are subsequently checked for plausibility. Finally, the lane course is determined on the basis of a previous width of the lane and a plausible marking course in response to at least one marking course proving to be implausible in the checking step.

Claims

1. A method of a lane keeping system that uses a course of a lane of a vehicle, the method comprising:

recording, by a camera, at least one image of a first marking of the lane to a first lateral side of the vehicle and of a second marking of the lane to a second, opposite, lateral side of the vehicle;

determining, by processing circuitry and in a first determination, a width of the lane between the first marking of the lane and the second marking of the lane;

storing, by the processing circuitry, the determined width of the lane;

performing the following by the processing circuitry processing the at least one image recorded by the camera;

interpolating the first marking to define an extended course of the first marking of the lane;

interpolating the second marking to define an extended course of the second marking of the lane;

identifying a veering section of the first marking that veers from the interpolated extended course of the first marking; and

in a second determination, determining whether the second marking includes a veering section that veers from the interpolated extended course of the second marking in a manner that corresponds to the veering of the veering section of the first marking from the interpolated extended course of the first marking;

in a third determination and based on a negative result of the second determination, determining, by the processing circuitry, an implausibility of a definition of the lane course that is based on the veering section of the first marking;

responsive to the determination of the implausibility, the processing circuitry determining the lane course based on the determined width of the lane stored in the storing step; and

based on the determined lane course, the processing circuitry at least one of outputting a lane keeping warning and controlling a driving of the vehicle.

2. The method in accordance with claim 1, wherein the previous lane width is also recorded in the recording step, the previous lane width being a function of a distance between the first marking and the second marking.

3. The method as recited in claim 1, wherein a further marking course of a further marking of a further lane adjoining the lane is recorded in the recording step, the further marking course being checked for plausibility, and, based on a determination that the further marking course is plausible, the lane course is determined additionally based on the further marking course.

4. The method as recited in claim 3, wherein a further lane width of the further lane is also recorded in the recording step, the further lane width being a function of a distance between the further lane marking and one of the first or second markings of the lanes, the lane course also being determined based on the further lane width.

5. The method as recited in claim 1, wherein a reference position of a further vehicle relative to at least one of the lane and of the vehicle is also recorded in the recording step, the lane course also being determined on the basis of the reference position.

6. The method as recited in claim 1, wherein the outputting is performed and includes generating a warning signal to alert a driver of the vehicle of an accident risk.

7. The method as recited in claim 1, wherein the outputting is performed and includes outputting a suggestion signal indicating a recommendation for a lane change.

8. The method as recited in claim 1, wherein the controlling of the driving is performed and includes reducing a velocity of the vehicle.

9. The method as recited in claim 1, wherein a surface structure of the lane is also captured in the recording step in order to ascertain a passable area of the lane, the lane course also being determined in the determining step on the basis of the passable area.

12. The method in accordance with claim 1, wherein the first and second marking courses are determined by interpolation of sections of the first and second markings, respectively.

13. The method in accordance with claim 1, wherein the first lateral side is a left side of the vehicle and the second lateral side is a right side of the vehicle.

10. A lane keeping system that uses a course of a lane of a vehicle, the system comprising:

a camera; and

processing circuitry communicatively coupled to the camera;

wherein;

the camera is configured to record at least one image of a first marking of the lane to a first lateral side of the vehicle and of a second marking of the lane to a second, opposite, lateral side of the vehicle; and

the processing circuitry is configured to perform the following;

in a first determination, determine a width of the lane between the first marking of the lane and the second marking of the lane;

store the determined width of the lane;

obtain the at least one image from the camera;

process the obtained at least one image;

based on the processing of the obtained at least one image;

interpolate the first marking to define an extended course of the first marking of the lane;

interpolate the second marking to define an extended course of the second marking of the lane;

identify a veering section of the first marking that veers from the interpolated extended course of the first marking; and

in a second determination, determine whether the second marking includes a veering section that veers from the interpolated extended course of the second marking in a manner that corresponds to the veering of the veering section of the first marking from the interpolated extended course of the first marking;

in a third determination and based on a negative result of the second determination, determine an implausibility of a definition of the lane course that is based on the veering section of the first marking;

responsive to the determination of the implausibility, determine the lane course based on the stored determined width of the lane; and

based on the determined lane course, the processing circuitry at least one of outputting a lane keeping warning and controlling a driving of the vehicle.

11. A non-transitory computer-readable storage medium storing a program code that (a) is executable by processor of a lane keeping system that uses a course of a lane of a vehicle and (b) when executed by a processor, causes the processor to perform a method, the method comprising:

obtaining from a camera at least one image of a first marking of the lane to a first lateral side of the vehicle and of a second marking of the lane to a second, opposite, lateral side of the vehicle;

in a first determination, determining a width of the lane between the first marking of the lane and the second marking of the lane;

storing the determined width of the lane;

performing the following by processing the obtained at least one image;

interpolating the first marking to define an extended course of the first marking of the lane;

interpolating the second marking to define an extended course of the second marking of the lane;

identifying a veering section of the first marking that veers from the interpolated extended course of the first marking; and

in a second determination, determining whether the second marking includes a veering section that veers from the interpolated extended course of the second marking in a manner that corresponds to the veering of the veering section of the first marking from the interpolated extended course of the first marking;

in a third determination and based on a negative result of the second determination, determining an implausibility of a definition of the lane course that is based on the veering section of the first marking;

responsive to the determination of the implausibility, determining the lane course based on the determined width of the lane stored in the storing step; and

based on the determined lane course, outputting a lane keeping warning and controlling a driving of the vehicle.

14. A method of a lane keeping system that uses a course of a lane of a vehicle, the method comprising:

recording, by a camera, at least one image of a first marking of the lane and of a second marking of the lane;

determining, by processing circuitry, a width of the lane between the first marking of the lane and the second marking of the lane;

storing the determined width of the lane;

by the processing circuitry processing the at least one image recorded by the camera, the processing circuitry interpolating the first marking to define an extended course of the first marking of the lane and interpolating the second marking to define an extended course of the second marking of the lane;

determining, by the processing circuitry, an implausibility of at least one of the interpolated extended course of the first marking and the interpolated extended course of the second marking;

responsive to the determination of the implausibility, the processing circuitry determining the course of the lane based on the stored determined width of the lane and a plausible marking course; and

based on the determined lane course, the processing circuitry at least one of outputting a lane keeping warning and controlling a driving of the vehicle.

15. A method of a lane keeping system that uses a course of a lane of a vehicle, the method comprising:

recording, by a camera, at least one image of a first marking of the lane to a first lateral side of the vehicle and of a second marking of the lane to a second, opposite, lateral side of the vehicle;

determining, by processing circuitry, a width of the lane between the first marking of the lane and the second marking of the lane;

storing the determined width of the lane;

the processing circuitry processing the at least one image recorded by the camera to interpolate the first marking to define an extended course of the first marking of the lane and interpolate the second marking to define an extended course of the second marking of the lane;

comparing, by the processing circuitry, (a) at least one of the interpolated extended courses of the first and second markings of the lane to (b) a predefined marking course to determine a degree of correspondence between them;

determining, by the processing circuitry, an implausibility of at least one of the interpolated extended courses based on the determined degree of correspondence being less than a predefined threshold;

responsive to the determination of the implausibility, the processing circuitry determining the lane course based on the stored determined width of the lane; and

based on the determined lane course, the processing circuitry at least one of outputting a lane keeping warning and controlling a driving of the vehicle.