METHOD FOR LANE DETECTION

摘要

The invention relates to a method for lane detection for a camera-based driver assistance system comprising the following steps: image regions in images that are recorded by a camera (14) are identified as detected lane markings (12a, 12b) if said image regions meet a specified detection criterion. At least two detected lane markings (12a, 12b) are subjected to a tracking process as lane markings (12a, 12b) to be tracked. By means of a recursive state estimator, separate progressions are estimated for at least two of the lane markings (12a, 12b) to be tracked. Furthermore, for each of a plurality of the detected lane markings (12a, 12b), a particular offset value is determined, which indicates a transverse offset of the detected lane marking (12, 12b) in relation to a reference axis (L). By means of an additional estimation method, the determined offset values are each associated with one of the separate progressions of the lane markings (12a, 12b) to be tracked.