Method for determining the position of an object with respect to a road marking line of a road

A method for determining the position of an object with respect to a road line marking of a road using a camera mounted at the rear of a motor vehicle, said vehicle comprising an electronic control unit, said method comprising:

• generating by the camera a sequence of images of the rear environment of the vehicle, said environment comprising at least one road line marking,
• selecting, by the electronic control unit, at least one point on the road line marking in the lower part of at least the first image of the sequence, said point being characterized, in each image, by its coordinates in the reference frame of the image, and tracking, by the electronic control unit, the advance of the at least one point in the images of the sequence of images,
• converting, by the electronic control unit, the coordinates of the at least one selected point tracked in the images into a plurality of sets of coordinates corresponding to a plurality of points expressed in a three-dimensional reference frame attached to the vehicle, so as to materialize the at least one road line marking in said three-dimensional reference system,
• detecting and tracking, by the electronic control unit, based on the images of the sequence of images, at least one object located in the rear environment of the vehicle, and
• determining, by the electronic control unit, the position of the detected and tracked object with respect to the at least one materialized line marking.