公开(公告)号：US20100014713A1

公开(公告)日：2010-01-21

申请号：US12175622

申请日：2008-07-18

申请人： Wende Zhang ,  Varsha Sadekar ,  Christopher Paul Urmson

发明人： Wende Zhang ,  Varsha Sadekar ,  Christopher Paul Urmson

IPC分类号： G06K9/00

CPC分类号： G06K9/00798

摘要： A method is provided for detecting road lane markers using a light-based sensing device. Reflectivity data is captured using the light-based sensing device. A light intensity signal is generated based on the captured reflectivity data. The light intensity signal is convolved with a differential filter for generating a filter response that identifies a candidate lane marker region and ground segment regions juxtaposed on each side of the candidate lane marker region. A weighted standard deviation of the data points within the identified candidate lane marker region and weighted standard deviation of the data points within the ground segment regions are calculated. An objective value is determined as a function of the respective weighted standard deviations. The objective value is compared to a respective threshold for determining whether the identified candidate lane marker region is a lane marker.

摘要翻译： 提供了一种使用基于光的感测装置来检测道路标记的方法。 使用基于光的感测装置捕获反射率数据。 基于捕获的反射率数据生成光强度信号。 光强度信号与差分滤波器卷积，用于产生识别在候选车道标记区域的每一侧上并列的候选车道标记区域和地面段区域的过滤器响应。 计算所识别的候选车道标记区域内的数据点的加权标准偏差和地面段区域内的数据点的加权标准偏差。 作为各加权标准偏差的函数确定客观值。 将目标值与用于确定所识别的候选车道标记区域是否是车道标记的相应阈值进行比较。