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Lane detection method and vehicle

A lane detection, vehicle technology, applied in character and pattern recognition, instrument, TV, etc., can solve problems such as low degree of robustness, large computational workload, and instability with each other

Active Publication Date: 2019-11-08
DELPHI TECH INC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Relatively low degree of achievable robustness due to individually tracked objects not stabilizing each other
Furthermore, independent tracking of multiple objects requires a large computational effort

Method used

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  • Lane detection method and vehicle
  • Lane detection method and vehicle
  • Lane detection method and vehicle

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Experimental program
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Embodiment Construction

[0031] according to figure 1 , The motor vehicle 10 is driving in the driving direction F on its own lane 11 of the highway. The own lane 11 is restricted by a left lane mark 12a and a right lane mark 12b (for example, each of the marks in the form of a solid line). In the front area of ​​the roof of the vehicle, a camera 14 that continuously captures images of the traffic space in front of the motor vehicle 10 is installed, as shown by the line of sight 15. The camera position spans the world coordinate system x, y. In addition, the camera 14 is connected to figure 1 Downstream image processing computer not shown in. figure 2 An example of the image 20 of the traffic space in front of the motor vehicle 10 captured by the camera 14 is shown in a simplified form.

[0032] The camera 14 and the associated image processing computer are part of a driver assistance system (for example, a system for supporting lane keeping (Lane Departure Warning System, LDW)). The system detects an...

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PUM

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Abstract

Lane detection methods and vehicles. A lane detection method for a camera-based driver assistance system, the method comprising the steps of: in an image captured by a camera (14), an area of ​​the image that satisfies predetermined recognition criteria is identified as a recognized lane marking (12a, 12b); and at least two identified lane markings (12a, 12b) are subjected to a tracking process as lane markings to be tracked (12a, 12b); by means of a recursive state estimator, for at least two A separate route is estimated for each lane marking (12a, 12b); furthermore, a respective offset value is determined for a plurality of identified lane markings (12a, 12b), which offset value represents the identified lane marking (12a, 12b) Lateral offset relative to the reference axis (L); the assignment of the determined offset value to each of the individual paths of the lane markings ( 12 a , 12 b ) to be tracked is carried out by means of an additional estimation method.

Description

Technical field [0001] The present invention relates to a lane detection method for a camera-based driver assistance system that has a camera attached to a vehicle to take an image of a traffic space in front of the vehicle. The method includes the following steps: In the captured image, the area of ​​the image that meets the predetermined recognition criteria is identified as the recognized lane markers, and at least two recognized lane markers are subjected to the tracking process as the lane markers to be tracked, wherein, with the aid of such as extended Karl The commonly used recursive state estimator of the Mann filter tracks temporal changes of at least two lane-marked routes to be tracked in the road surface plane. Background technique [0002] The tracking of lane markings is of great significance for different types of driver assistance systems in modern motor vehicles. For example, Lane Departure Warning (LDW) may use lane marking tracking to determine the position of...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06K9/00
CPCG06V20/588G06T7/277H04N7/181
Inventor M·莫伊特赵坤L·苏米拉斯D·穆勒C·努恩
Owner DELPHI TECH INC