Method and device for lane detection
First Claim
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1. A lane detection method, wherein a digitized image of a lane in which a vehicle is traveling is evaluated, comprising the following steps:
- detecting edges in the image by performing horizontal edge filtering and vertical edge filtering which produce horizontal edge components and vertical edge components,determining angles of the detected edges with respect to a vertical reference edge, by computing a quotient of the horizontal edge components and the vertical edge components,determining an orientation of the detected edges in the image;
removing nearly vertical edges from the plurality of detected edges when the vehicle is located in the lane, the nearly vertical edges having angles which lie within a predetermined angle section with respect to the vertical reference edge, wherein the angles of the nearly vertical edges differ from the vertical reference edge by a predetermined threshold such that the orientations of the nearly vertical edges do not exactly coincide with an orientation of the vertical reference edge;
maintaining the nearly vertical edges from the plurality of detected edges when the vehicle is located outside of the lane; and
detecting the lane based on the nearly vertical edges that have been maintained and the remaining edges of the plurality of detected edges, the remaining edges having angles which lie outside the predetermined angle section with respect to the vertical reference edge.
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Abstract
A lane detection method wherein a digitized image of a lane is evaluated, including the following steps: detecting edges in the image, determining the angles of the detected edges with respect to a reference edge, removing the edges from the plurality of detected edges, the angle of which lies within a predetermined angle sector, and detecting the lane based on the remaining edges of the plurality of detected edges.
25 Citations
10 Claims
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1. A lane detection method, wherein a digitized image of a lane in which a vehicle is traveling is evaluated, comprising the following steps:
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detecting edges in the image by performing horizontal edge filtering and vertical edge filtering which produce horizontal edge components and vertical edge components, determining angles of the detected edges with respect to a vertical reference edge, by computing a quotient of the horizontal edge components and the vertical edge components, determining an orientation of the detected edges in the image; removing nearly vertical edges from the plurality of detected edges when the vehicle is located in the lane, the nearly vertical edges having angles which lie within a predetermined angle section with respect to the vertical reference edge, wherein the angles of the nearly vertical edges differ from the vertical reference edge by a predetermined threshold such that the orientations of the nearly vertical edges do not exactly coincide with an orientation of the vertical reference edge; maintaining the nearly vertical edges from the plurality of detected edges when the vehicle is located outside of the lane; and detecting the lane based on the nearly vertical edges that have been maintained and the remaining edges of the plurality of detected edges, the remaining edges having angles which lie outside the predetermined angle section with respect to the vertical reference edge. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A device for lane detection, which includes a processor for evaluating a digitized image of a lane in which a vehicle is traveling is configured such that it comprises the following steps:
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detecting, by the processor, edges in the image by performing horizontal edge filtering and vertical edge filtering which produce horizontal edge components and vertical edge components, determining, by the processor, angles of the detected edges with respect to a vertical reference edge, by computing a quotient of the horizontal edge components and the vertical edge components, determining, by the processor, an orientation of the detected edges in the image; removing, by the processor, nearly vertical edges from the plurality of detected edges when the vehicle is located in the lane, the nearly vertical edges having angles which lie within a predetermined angle section with respect to the vertical reference edge, wherein the angles of the nearly vertical edges differ from an angle of the vertical reference edge by a predetermined threshold such that the orientations of the nearly vertical edges do not exactly coincide with an orientation of the vertical reference edge; maintaining the nearly vertical edges from the plurality of detected edges when the vehicle is located outside of the lane; and detecting, by the processor, the lane based on the nearly vertical edges that have been maintained and the remaining edges of the plurality of detected edges, the remaining edges having angles which lie outside the predetermined angle section with respect to the vertical reference edge. - View Dependent Claims (8, 9, 10)
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Specification