# US 2014/0152432 A1 · Method for Detecting a Traffic Lane by Means of a Camera

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- Number: US 2014/0152432 A1
- Document ID: US20140152432A1
- Status: Published application
- Kind: A1
- Application number: 14/234,485
- Filed: 2012-07-06
- Published: 2014-06-05
- Earliest claimed: 2011-08-05
- Assignees: Conti Temic microelectronic GmbH
- Inventors: Matthias Zobel; Stefan Heinrich; Wladimir Klein
- Web page: https://patentgrep.com/patent/US20140152432A1

## CPC

- G08G 1/167: {Driving aids for lane monitoring, lane changing, e.g. blind spot detection}
- G06V 20/588: {Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road}
- G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93})
- G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING

## Abstract

The invention relates to a method for traffic lane detection with the steps of acquiring at least one image of the surroundings of a vehicle by means of a camera; detecting a driving corridor from the at least one image; and structure detection while taking the determined driving corridor into consideration in order to determine the course of at least one verge from the at least one image.

## Claims

### Claim 1

A method for traffic lane detection comprising steps:
acquiring at least one image of the surroundings of a vehicle by means of a camera;
detecting a driving corridor from the at least one image;
structure detection while taking the detected driving corridor into consideration in order to determine the course of at least one roadway edge from the at least one image.

### Claim 2 (depends on 1)

The method according to claim 1, wherein the camera is a stereo camera and information about the height of the area in front of the vehicle in the image is analyzed for detecting the driving corridor.

### Claim 3 (depends on 1)

The method according to claim 1, wherein the camera is a mono camera, by means of which a sequence of images of the surroundings of the vehicle is acquired, wherein the spatial structure of at least the motionless surroundings of the vehicle is inferred from the changes in successive images and information about the height of the spatial structure of the surroundings of the vehicle in front of the vehicle is analyzed for detecting the driving corridor.

### Claim 4 (depends on 1)

The method according to claim 1, wherein results of previous detections are taken into consideration for detecting the driving corridor and/or for the structure detection.

### Claim 5 (depends on 1)

The method according to claim 1, wherein data of at least one vehicle dynamics sensor are additionally taken into consideration when detecting the driving corridor.

### Claim 6 (depends on 1)

The method according to claim 1, wherein data of at least one radar sensor and/or lidar sensor are additionally taken into consideration when detecting the driving corridor.

### Claim 7 (depends on 1)

The method according to claim 1, wherein the structure detection is only performed in an area of the at least one image in which at least the detected driving corridor is situated.

### Claim 8 (depends on 1)

The method according to claim 1, wherein the structure detection is based on region segmentation.

### Claim 9 (depends on 1)

The method according to claim 1, wherein the structure detection is based on a correlation analysis, in which the at least one image or image detail thereof is compared with patterns of typical roadway edges.

### Claim 10 (depends on 1)

The method according to claim 1, further comprising a step of outputting information about the determined roadway edge.

### Claim 11 (depends on 1)

The method according to claim 1, further comprising taking information about lane markings from a lane marking detection into consideration for the traffic lane detection.