公开(公告)号：EP2888604B1

公开(公告)日：2019-07-24

申请号：EP13765623.7

申请日：2013-08-09

申请人： Continental Teves AG & Co. OHG

发明人： STRAUSS, Matthias ,  KOMAR, Matthias ,  WALDBAUER, Dirk ,  GÜNTHER, Wolfgang ,  LÜKE, Stefan

IPC分类号： G01S17/93 ,  G06K9/00 ,  G01S19/49

公开(公告)号：EP2888604A1

公开(公告)日：2015-07-01

申请号：EP13765623.7

申请日：2013-08-09

申请人： Continental Teves AG&Co. Ohg

发明人： STRAUSS, Matthias ,  KOMAR, Matthias ,  WALDBAUER, Dirk ,  GÜNTHER, Wolfgang ,  LÜKE, Stefan

IPC分类号： G01S17/66 ,  G01S17/93

CPC分类号： G01C21/34 ,  B60R1/00 ,  B60R2300/102 ,  B60R2300/804 ,  G01S17/936 ,  G06K9/00798 ,  G06K9/4647

摘要： The invention relates to a method for determining the course of a lane for a vehicle (10), wherein structures which delimit a traffic-bearing space by means of at least one image capturing unit (2) and these structures are plotted in a map of the surroundings (20) which divides the surroundings of the vehicle into a two-dimensional grid structure (20a) of cells (21). According to the invention - by means of odometric data of the vehicle (10) the position in the grid structure (21) of the map of the surroundings (20) is determined and continuously updated, - the spacing and the direction of the vehicle (10) with respect to those cells (21b) of the grid structure (20a) of the map of the surroundings (20) which have structures delimiting the travel path and/or the lane is determined, - light-dark and dark-light transitions in the image data generated by the image capturing unit (2) are detected and plotted in the cells (21) of the grid structure (20a) of the map of the surroundings (20), and - the course of the lane (22) is determined from the cells with the detected light-dark and dark-light transitions.