Method and apparatus for identifying a position of a vehicle in a lane

Abstract

The invention relates to a method (200) for identifying a position of a vehicle (100) in a lane (320). The method comprises four steps (210, 220, 230, 240). In the read-in step (210), a first image of a first camera (120b) with a first optical axis (130b) and an at least second image of an at least second camera (120a) with a second optical axis (130a) are read in, wherein the first (120b) and second (120a) camera are oriented in such a way that the first optical axis (130b) and the second optical axis (130a) intersect outside the detection angle (135b) of the first camera (120b) and / or of the second camera (120a), and wherein the first image and the at least second image each form a viewing angle which deviates at most by an angle of 90 degrees from the direction (150) of travel of the vehicle (100). In the determination step (220), at least one interlinked image gradient (610) is determined in the first image and at least one further interlinked image gradient (610) is determined in the at least second image. In the assignment step (230), the at least one interlinked image gradient (610) is assigned to a carriageway boundary object (330, 335, 340, 350, 410) and the at least one further interlinked image gradient (610) is assigned to the carriageway boundary object (330, 335, 340, 350, 410) and / or to a further carriageway boundary object (330, 335, 340, 350, 410), and in the calculation step (240) a relative position of the vehicle (100) in relation to the carriageway boundary object (330, 335, 340, 350, 410) and / or to the further carriageway boundary object (330, 335, 340, 350, 410) is calculated in order to identify the position of the vehicle (100) in the lane (320).

Description

technical field [0001] The invention relates to a method for recognizing the position of a vehicle on a lane, a corresponding device, a lane recognition system and a corresponding computer program product. Background technique [0002] Today, systems for detecting roadway markings (white / yellow) are based on monocular or stereo cameras. The same applies to the driver's steering support based thereon (lane keeping system). The vehicle can be kept in the detected lane by torque on the steering wheel. Serial systems are characterized by high availability, but in difficult situations (such as opposing lights, night, damp, snow or construction sites) their availability can be reduced. In the case of stereo cameras, a reduction in usability can also occur due to interference of the optical path and reflections on the road, since there are large overlapping image areas and this effect occurs in the two camera images. A further aspect is that a robust detection of the edge of the...

AI Technical Summary

Problems solved by technology

Lane recognition is not described