Method for lane and roadway detection

A method using a multitask DNN architecture that includes an encoder, a first decoder and a second decoder, wherein the method comprises:

• providing an image of a roadway by an optical detection device;
• filtering the image by the encoder to produce an encoder output;
• providing the encoder output to the first decoder and the second decoder;
• in the first decoder, performing a semantic segmentation on the encoder output to produce a pixel classification of the image;
• in the second decoder, performing a keypoint regression on the encoder output to produce keypoints of the image;
• combining the pixel classification and the keypoints by fusion thereof to produce fused data;
• processing the fused data to detect the roadway, lane markings on the roadway, and a lane of the roadway bounded by the lane markings;
• and
• outputting roadway data identifying the roadway, the lane markings and the lanes.