| 主权项 |
1. A method for determining a valid lane marking with the aid of a camera system of a vehicle, in particular a road vehicle,
in which with the aid of a camera of the camera system (16) several pictures (30, 54, 66) with images of an area in front of the vehicle (12) are successively taken as a picture series, and image data corresponding to the respective picture (30, 54, 66) are generated, and in which the image data of at least a part of the pictures (30, 54, 66) of the picture series are processed, wherein at least a first lane marking (38, 40) and a second lane marking (56, 58) different from the first lane marking are detected in at least one picture of the picture series, the second lane marking having been temporarily applied to divert traffic from a lane delimited by the first lane marking, a vehicle (34) driving ahead of the vehicle (12) is detected in at least two successively taken pictures (30, 54, 66) of the picture series, for each of the at least two pictures, the position (P1 to P4; P1 to P4*) of the vehicle driving ahead (34) relative to the first lane marking (38, 40) and the position (P1 to P4; P1 to P4*) of the vehicle driving ahead (34) relative to the second lane marking (56, 58) is determined, and wherein, dependent on the positions (P1 to P4; P1 to P4*) of the vehicle driving ahead (34) determined with the aid of the pictures, one of the detected lane markings (38, 40; 56, 58) is selected as the valid lane marking. |
