Detection of intersection points of road marking lines
AssigneeVolkswagen Aktiengesellschaft
InventorsTimo Iken, Stefan Wappler, Roland Kube, Niklas Koch
Life of this patent
Estimating the term…
Abstract
A method for detecting at least one intersection point of road marking lines, wherein a computing unit of a transportation vehicle receives a camera image and identifies a first road marking line based on the camera image. Using the computing unit, a search region is automatically defined in an environment of the first road marking line, and an automatic search limited to the search region is performed. At least one intersection point of the first road marking line with at least a second road marking line is identified as the result of the search.
Claims22
A method for detecting at least one intersection point of road marking lines, wherein, by use of a computing unit of a transportation vehicle, the method comprising:
- receiving at least one camera image depicting a road surface in an environment of the transportation vehicle from a camera system of the transportation vehicle;
- identifying a first road marking line within the at least one camera image by use of the computing unit to cluster lines within the at least one camera image based on line orientation to form the first road marking line;
- automatically determining a search region in a predefined environment of the identified first road marking line, wherein the search region is determined using predefined rules for constructing the search region that determine position, orientation and size of the constructed search region that is specific to the identified first road marking line;
- and
- use of the computing unit to perform an automatic search restricted to the constructed search region to identify at least one intersection point of the first road marking line with at least one second road marking line in the constructed search region specific to the identified first road marking line to identify intersecting road marking lines that are related and intersect to signify an area of the road surface in the environment of the transportation vehicle.
A detection system for a transportation vehicle for detecting at least one intersection point of road marking lines, the detection system comprising:
- a camera system configured to generate at least one camera image depicting a road surface in an environment of the transportation vehicle;
- and
- a computing unit configured to identify a first road marking line within the at least one camera image to cluster lines within the at least one camera image based on line orientation to form the first road marking line;
- wherein the computing unit is further configured to:
- automatically determine a search region in a predefined environment of the identified first road marking line, wherein the search region is determined using predefined rules for constructing the search region that determine position, orientation and size of the constructed search region that is specific to the identified first road marking line;
- and
- perform an automatic search restricted to the constructed search region, and identify at least one intersection point of the first road marking line with at least one second road marking line in the constructed search region specific to the identified first road marking line to identify intersecting road marking lines that are related and intersect to signify an area of the road surface in the environment of the transportation vehicle as the result of the search.
Dependencies are inferred from the claim text.