Apparatus for lane detection

An apparatus for a motor vehicle driver assistance system for a motor vehicle, the apparatus being operable to initialize and optimise a plurality of object clusters,

• each of the object clusters including at least one object track, wherein the object track includes a plurality of sequential measurements of a position of a respective object located in the vicinity of the motor vehicle, and the object track has a track length, the apparatus being configured to perform the following steps:
• a) assign the measurements of the positions of the plurality of object tracks to a collection of object clusters, wherein each of the object clusters include at least one position measurement from at least one of the object tracks;
• b) calculate a respective value of a first diagnostic for each of the object clusters in the collection;
• c) based on the values of the first diagnostic, identify a rogue object cluster;
• d) from the object tracks having the position measurements assigned to the rogue object cluster, identify as a rogue object track the object track having a longest length;
• e) remove the sequence of position measurements corresponding to the rogue object track from all of the other object clusters;
• f) reassign any remaining position of the measurements previously assigned to the rogue object cluster to other object clusters in the collection;
• and
• g) remove the rogue object cluster from the collection.