Method for Determining a Course of a Traffic Lane for a Vehicle

摘要

The invention relates to a method for determining a course of a traffic lane for a vehicle (10), in which structures that demarcate a space that is fit for traffic are detected by means of at least one image acquisition unit (2) and these structures are plotted on a surroundings map (20) that subdivides the surroundings of the vehicle into a two-dimensional grid structure (20a) of cells (21), wherein the invention provides that
the position in the grid structure (21) of the surroundings map (20) is determined and continually updated by means of odometric data of the vehicle (10),the distance and the direction of the vehicle (10) with respect to those cells (21b) of the grid structure (20a) of the surroundings map (20) which feature structures that demarcate the pavement and/or the traffic lane are determined,bright-to-dark and dark-to-bright transitions in the image data generated by the image acquisition unit (2) are detected and are plotted on the cells (21) of the grid structure (20a) of the surroundings map (20) andthe course of the traffic lane (22) is determined from the cells with the detected bright-to-dark and dark-to-bright transitions.

主权项

1. Method for determining a course of a traffic lane for a subject vehicle (10), in which structures that demarcate a space that is fit for traffic are detected by at least one image acquisition unit (2) and the structures are plotted on a surroundings map (20) that subdivides surroundings of the subject vehicle into a two-dimensional grid structure (20a) of cells (21), characterized in that
a position of the subject vehicle in the grid structure (21) of the surroundings map (20) is determined and continually updated by odometric data of the subject vehicle (10), a distance and a direction of the subject vehicle (10) with respect to particular cells (21b) of the grid structure (20a) of the surroundings map (20) which feature structures that demarcate a pavement and/or the traffic lane are determined, bright-to-dark and dark-to-bright transitions in image data generated by the image acquisition unit (2) are detected and are plotted on the cells (21) of the grid structure (20a) of the surroundings map (20) and the course of the traffic lane (22) is determined from the cells with the detected bright-to-dark and dark-to-bright transitions.