Method and device for determining a valid lane marking

• US 10,183,666 B2
• Filed: 03/09/2017
• Issued: 01/22/2019
• Est. Priority Date: 02/04/2009
• Status: Active Grant

• Current Assignee: CARIAD SE (Volkswagen AG)
• Original Assignee: Hella KGaA Hueck & Company
• Inventors: Spangenberg, Robert
• Primary Examiner(s): Lee, Tyler J
• Application Number:
  US15/454,079
• Publication Number:
  US 20180257641A1
• Time in Patent Office: 684 Days
• Field of Search: 701117
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2720/10 Longitudinal speed
• CPC Class Codes: B60W 30/08 Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
• CPC Class Codes: B60W 40/04 Traffic conditions
• 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

The invention relates to a method and a device for determining a valid lane marking (38 to 42; 56, 58) with the aid of a camera system (16) of a vehicle (12), in particular a road vehicle. With the aid of a camera (17) of the camera system (16) several pictures with an image of an area in front of the vehicle (12) are taken successively as a picture series and image data corresponding to the respective picture (30, 54, 66) are generated. The image data of at least a part of the pictures (30, 54, 66) of the picture series are processed, at least a first lane marking (38 to 42) and a second lane marking (56, 58) different from the first lane marking (38 to 42) being detected in at least one picture (30) of the picture series. A vehicle (34) driving ahead of the vehicle (12) is detected in at least two successively taken pictures (30, 54) and its position (P1 to P4) relative to the first lane marking (36 to 42) as well as its position (P1 to P4) relative to the second lane marking (56, 58) is determined. Dependent on the positions (P1 to P4) of the vehicle driving ahead (34) determined with the aid of the pictures (30, 54), one of the detected lane markings (36 to 42, 56, 58) is selected as the valid lane marking (56, 58).

Claims

1. A method for determining a lane with the aid of a camera system of a vehicle, in which:

with the aid of a camera of the camera system, several pictures comprising images of an area in front of the vehicle are successively taken as a picture series, and image data corresponding to the respective pictures are generated;

objects and/or object images are detected by processing the image data of at least a part of at least one of the pictures of the picture series, wherein the detected objects and/or objects include a warning barrier, a traffic sign, a guard rail, a guiding reflector post, a street light, a vehicle driving ahead and/or an oncoming vehicle; and

the lane is determined dependent, at least in part, on a position of at least one detected object and/or object image relative to the lane.

2. A method for determining a lane with the aid of a camera system of a vehicle, in which:

with the aid of a camera of the camera system, several pictures comprising images of an area in front of the vehicle are successively taken as a picture series, and image data corresponding to the respective picture are generated;

the image data of at least a part of at least one of the pictures of the picture series are processed; and

the position of a vehicle driving ahead is determined, at least in part, from the processed image data and is used by the lane change assistance system as an input variable in determining a valid lane marking.

3. The method according to claim 2 wherein the change in position of the vehicle driving ahead is used as an input variable for a lane change assistance system.

4. The method according to claim 2 wherein the change in position of the vehicle driving ahead is used by the lane change assistance system as an input variable in determining a valid lane marking.

5. A method for determining a lane with the aid of a camera system of a vehicle, in which:

with the aid of a camera of the camera system, several pictures comprising images of an area in front of the vehicle are successively taken as a picture series, and image data corresponding to the respective pictures are generated;

image data of at least a part of at least one of the pictures of the picture series are processed;

a comparison is made of the position of an object in a first picture to the position of the object in a second picture; and

an environment of the vehicle is determined based on the comparison.

6. The method according to claim 5 wherein the environment of the vehicle is output to a driver assistance system.

7. The method according to claim 6 wherein the environment of the vehicle is output to a lane change assistance system.

8. A method for determining a lane with the aid of a camera system of a vehicle, in which:

with the aid of a camera of the camera system, several pictures comprising images of an area in front of the vehicle are successively taken as a picture series, and image data corresponding to the respective picture are generated;

a first position of the vehicle is determined by processing the image data of at least a part of at least one of the pictures of the picture series; and

the first position of the vehicle is taken into account in determining a valid lane.

9. The method according to claim 8 wherein:

processing the image data includes determining a picture position of a reference image in at least one of the pictures of the picture series; and

the first position of the vehicle is determined, at least in part, from the picture position of the reference image.

10. The method according to claim 8 wherein:

a second position of the vehicle is determined by processing the image data of a least a part of at least one of the pictures of the picture series; and

a valid lane is determined dependent, at least in part, on the change from the first position to the second position of the vehicle.

11. The method according to claim 10 wherein the second position of the vehicle is determined, at least in part, from a picture position of the reference image in a second picture of the picture series.

12. The method according to claim 8 wherein:

a change in direction of the vehicle is determined, at least in part, based on the change from the first position to a second position of the vehicle; and

a valid lane is determined, at least in part, by the change in direction of the vehicle.