公开(公告)号：US20170068862A1

公开(公告)日：2017-03-09

申请号：US15303385

申请日：2015-03-27

Applicant: DELPHI TECHNOLOGIES, INC.

Inventor： Mirko Mueter ,  Kun Zhao ,  Lech J. Szumilas ,  Dennis Mueller ,  Christian Nunn

IPC: G06K9/00 ,  G06T7/20 ,  H04N7/18

CPC classification number: G06K9/00798 ,  G06T7/277 ,  H04N7/181

Abstract: A method for lane detection for a camera-based driver assistance system includes the following steps: image regions in images that are recorded by a camera are identified as detected lane markings if the image regions meet a specified detection criterion. At least two detected lane markings are subjected to a tracking process as lane markings to be tracked. By means of a recursive state estimator, separate progressions are estimated for at least two of the lane markings to be tracked. Furthermore, for each of a plurality of the detected lane markings, a particular offset value is determined, which indicates a transverse offset of the detected lane marking in relation to a reference axis. By means of an additional estimation method, the determined offset values are each associated with one of the separate progressions of the lane markings to be tracked.

Abstract translation: 用于基于照相机的驾驶员辅助系统的车道检测方法包括以下步骤：如果图像区域满足指定的检测标准，则由相机记录的图像中的图像区域被识别为检测到的车道标记。 将至少两个检测到的车道标记作为要跟踪的车道标记进行跟踪处理。 通过递归状态估计器，对要跟踪的至少两条车道标记估计单独的进度。 此外，对于多个检测到的车道标记中的每一个，确定特定偏移值，其指示检测到的车道标记相对于参考轴线的横向偏移。 通过附加估计方法，所确定的偏移值各自与要跟踪的车道标记的单独进度之一相关联。

公开(公告)号：US10115026B2

公开(公告)日：2018-10-30

申请号：US15303385

申请日：2015-03-27

Applicant: DELPHI TECHNOLOGIES, INC.

Inventor： Mirko Mueter ,  Kun Zhao ,  Lech J. Szumilas ,  Dennis Mueller ,  Christian Nunn

IPC: G06K9/00 ,  G06T7/20 ,  H04N7/18

Abstract: A method for lane detection for a camera-based driver assistance system includes the following steps: image regions in images that are recorded by a camera are identified as detected lane markings if the image regions meet a specified detection criterion. At least two detected lane markings are subjected to a tracking process as lane markings to be tracked. By means of a recursive state estimator, separate progressions are estimated for at least two of the lane markings to be tracked. Furthermore, for each of a plurality of the detected lane markings, a particular offset value is determined, which indicates a transverse offset of the detected lane marking in relation to a reference axis. By means of an additional estimation method, the determined offset values are each associated with one of the separate progressions of the lane markings to be tracked.