| 摘要 |
The invention relates to a method and a device for determining a valid lane marking (38 to 42; 56, 58) with the aid of a camera system (16) of a vehicle (12), in particular a road vehicle. With the aid of a camera (17) of the camera system (16) several pictures with an image of an area in front of the vehicle (12) are taken successively as a picture series and image data corresponding to the respective picture (30, 54, 66) are generated. The image data of at least a part of the pictures (30, 54, 66) of the picture series are processed, at least a first lane marking (38 to 42) and a second lane marking (56, 58) different from the first lane marking (38 to 42) being detected in at least one picture (30) of the picture series. A vehicle (34) driving ahead of the vehicle (12) is detected in at least two successively taken pictures (30, 54) and its position (P1 to P4) relative to the first lane marking (36 to 42) as well as its position (P1 to P4) relative to the second lane marking (56, 58) is determined. Dependent on the positions (P1 to P4) of the vehicle driving ahead (34) determined with the aid of the pictures (30, 54), one of the detected lane markings (36 to 42, 56, 58) is selected as the valid lane marking (56, 58). |
