DE102013224791A1 - A method of detecting at least one lane marking of a lane ahead of a vehicle - Google Patents

A method of detecting at least one lane marking of a lane ahead of a vehicle

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Publication number
DE102013224791A1
DE102013224791A1 DE102013224791.5A DE102013224791A DE102013224791A1 DE 102013224791 A1 DE102013224791 A1 DE 102013224791A1 DE 102013224791 A DE102013224791 A DE 102013224791A DE 102013224791 A1 DE102013224791 A1 DE 102013224791A1
Authority
DE
Germany
Prior art keywords
data
evaluation unit
lane
markings
road
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
DE102013224791.5A
Other languages
German (de)
Inventor
Stefan Hegemann
David Kubera
Rolf Adomat
Matthias Strauss
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Conti Temic Microelectronic GmbH
Continental Teves AG and Co oHG
Original Assignee
Conti Temic Microelectronic GmbH
Continental Teves AG and Co oHG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Conti Temic Microelectronic GmbH, Continental Teves AG and Co oHG filed Critical Conti Temic Microelectronic GmbH
Priority to DE102013224791.5A priority Critical patent/DE102013224791A1/en
Publication of DE102013224791A1 publication Critical patent/DE102013224791A1/en
Application status is Withdrawn legal-status Critical

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Classifications

    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • G06K9/00624Recognising scenes, i.e. recognition of a whole field of perception; recognising scene-specific objects
    • G06K9/00791Recognising scenes perceived from the perspective of a land vehicle, e.g. recognising lanes, obstacles or traffic signs on road scenes
    • G06K9/00798Recognition of lanes or road borders, e.g. of lane markings, or recognition of driver's driving pattern in relation to lanes perceived from the vehicle; Analysis of car trajectory relative to detected road

Abstract

The invention relates to a method for detecting at least one lane marking (1) of a lane (21) ahead of a vehicle (10) in that the image data generated by a 3D camera (11) lies ahead of the lane (20). an evaluation unit (13) are supplied for evaluation. According to the invention, from the image data, a road height profile (P1) is generated transversely to the direction of travel (F) of the vehicle (10) by means of the evaluation unit (13), in the course of the road height profile (P1) at least one elevation (1.1) relative to the road plane of the Lane jumps (S11, S12) indicative of lane (20) from the road height profile (P1), the value (b1) of the distance (B1) of the height jumps (S11, S12) of the at least one lobe (1.1) and the value (h1) the height (H1) of the elevation jump (S11, S12) indicating the at least one elevation is determined as geometric data of the at least one elevation (1.1) by means of the evaluation unit (13) and by comparing the values (b1, h1) of the geometry data of the at least one elevation (1.1) a roadway marking (1) of the roadway (20) is detected by means of geometry data stored in the evaluation unit.

Description

  • The invention relates to a method for detecting at least one lane marking of a lane ahead of a vehicle according to the preamble of patent claim 1.
  • For the automatic control of a longitudinal and / or transverse movement of a vehicle, for example in the context of a camera-based distance control or a camera-based lane departure warning, an optical lane recognition device is known to be used. Such a lane recognition device generally comprises an image acquisition system, for example a monocamera and a downstream image processing system, to which the image data generated by the monocamera are fed for the purpose of detecting lane markings on the roadway. As a rule, the detection of such lane markings is carried out by evaluating gray value images of a monocamera on the basis of edge detection. With the aid of special filters, different types of road markings, such as interrupted or continuous longitudinal markings, such as center lines or edge lines of the roadway, can be detected.
  • However, it has been shown that the features in the gray value images are not always so pronounced that with high security such road markings can be detected. This is especially the case when such lane markings are dirty or old.
  • With a view to this beats the DE 10 2009 053 748 A1 a method for tracking a vehicle, in which ruts are used as lane information and these ruts are detected and / or scanned by means of a sensor and / or camera and / or scanner device. However, it can not generally be assumed that all lanes have such ruts.
  • Based on this prior art, it is an object of the invention to provide a method for detecting at least one lane marking a lane ahead of a vehicle, with which the above-mentioned disadvantages are avoided, in particular with high reliability road markings can be detected.
  • This object is achieved by a method having the features of patent claim 1
  • Such a method for detecting at least one lane marking of a lane ahead of a vehicle, in which the image data generated by a 3D camera are fed to the roadway ahead of the vehicle to an evaluation unit for evaluation, according to the invention is characterized in that
    • From the image data, a road height profile is generated transversely to the direction of travel of the vehicle by means of the evaluation unit,
    • In the course of the road height profile at least one elevation with respect to the roadway level of the roadway indicating height jumps are detected from the road elevation profile,
    • The value of the distance of the height jumps of the at least one elevation and the value of the height of the elevation indicating the at least one elevation are determined as geometric data of the at least one elevation by means of the evaluation unit, and
    • - By comparing the values of the geometry data of the at least one survey with stored in the evaluation unit geometry data a lane marking of the roadway is detected.
  • Due to the use of a 3D camera, the height of the road surface can be measured accurately down to a few millimeters. Since lane markings always represent a survey with a few millimeters, regardless of their degree of contamination or age, they are certainly recognizable by the method according to the invention. By storing geometric data from different lane markings in the evaluation unit, the detected lane markings can thereby also be specified.
  • According to an advantageous embodiment of the invention, the profiling of the at least one elevation is determined transversely to the direction of travel of the vehicle and detected by comparing the profiling with profiling data stored in the evaluation unit, the lane marking. For example, longitudinal strips, such as center strips, which have a rectangular cross-section, can be distinguished from other road markings with profiled surfaces, such as, for example, spot dots, which have a curved upper side.
  • Further, a further embodiment of the invention is characterized in that as additional geometric data of at least one survey in the direction of travel, the length of the detected survey and / or the distance between successive elevations in the longitudinal direction is determined and by comparing the other geometric data of the survey in the direction of travel In the evaluation unit stored further geometry data a lane marking is determined.
  • Thus, based on the geometry in the direction of travel of the vehicle, not only a lane marking but also its type can be recognized, such as in the direction of travel of the vehicle solid or interrupted road markings.
  • Likewise, according to a further embodiment of the invention, the profiling of the at least one elevation in the direction of travel can be determined and the lane marking can be detected by comparing the profiling with further profiling data stored in the evaluation unit. Thus, in particular longitudinally structured road markings, such as, for example, arrows and / or other surface markings can be detected.
  • Furthermore, according to a further embodiment, provision is made for the fact that, for the detection of longitudinal markings as road markings, geometry data and further geometric data of longitudinal markings of the roadway are stored in the evaluation unit. Thus, based on the stored geometry data transversely to the direction of travel as well as in the direction of travel substantially all longitudinal markings of a roadway can be detected. This applies to both an interrupted guideline, also called median strip, a lane boundary as a solid edge line or double lane boundaries, which consist of two solid parallel lines. There are also longitudinal markings consisting of a solid and interrupted double line or a broken double line.
  • According to a further embodiment of the invention, profiling data and further profiling data of marking buttons of the roadway are stored in the evaluation unit in order to detect marking buttons as roadway markings. Thus, the detection reliability can be increased in the detection of marker buttons, which also have a curved surface in the direction of travel.
  • According to a further preferred embodiment of the invention, for the detection of cross-markings as road markings, geometry data and further geometric data are stored in the evaluation unit of data from cross-markings of the roadway. Thus, for example, as road markings stop lines or pedestrian crossings can be detected.
  • Furthermore, according to further development, surface markings can also be detected as road markings if corresponding geometric data and further geometric data of surface markings of the roadway are stored in the evaluation unit. Such surface markings represent, for example, arrows or pictograms (cyclists, the disabled) and parking area markings.
  • In a last advantageous embodiment of the invention, it is provided that a gray value image or a color image generated by the vehicle ahead of the roadway for lane detection of the vehicle and the recognized lane of the vehicle with the at least one recognized lane marking is plausibility. This lane markers, which are detected by means of edge detection from Monokamerabildern be plausible by means of the detected lane markings.
  • As a 3D camera, a stereo camera is used, wherein an image sensor of this stereo camera can be used as a monocamera for the detection of lane markings by means of edge detection.
  • The invention will be explained in more detail with reference to the accompanying figures. Show it:
  • 1 2 is a schematic block diagram of a vehicle with a road scene recorded by a 3D camera to explain the method according to the invention;
  • 2 a representation of a road height profile in the region of a center line as a lane marking a roadway, and
  • 3 a representation of a road height profile in the range of a marker button as a lane marking a roadway.
  • This in 1 schematically illustrated vehicle 10 includes one as a stereo camera 11 trained 3D camera taken from the front of the vehicle 10 lying street scene Z image data generated. This street scene Z shows a roadway 20 with two through a broken center line 1 as lane markings separate lanes 21 and 22 , where the vehicle 10 in the right lane 21 moved in the direction of travel F. The roadway 20 is defined by a right and left solid border line 2.1 respectively. 2.2 Limited as lane boundary. To the right and left margin line 2.1 and 2.2 as roadway marking, each one edge strip closes 21.1 and 22.1 the roadway 20 at.
  • The from the stereo camera 11 recorded image data are for their evaluation of an image processing unit 12 supplied therefrom, a road height profile P1 along a line L by a strip 1.1 the middle line 1 transversely to the direction of travel F generated. This road height profile P1 shows 2 , which is used to evaluate an evaluation unit 13 is supplied.
  • The evaluation by means of the evaluation unit 13 begins with the fact that from the course of the road height profile P1 a survey 1 opposite the roadway level of the roadway 20 indicating altitude jumps S11 and S12 are detected. These two height jumps S11 and S12 show the width b 1 of the strip 1.1 the middle line 1 at. In the further course of the evaluation, the value B1 of the distance b 1 of the height jumps H11 and H12 of the survey 1.1 and the value h 1 of the height H1 of the survey 1.1 indicating height jump S11 and S12 as geometric data of this survey 1.1 certainly.
  • The evaluation unit 13 comprises a memory device in which geometry data of lane markings, in particular of longitudinal markings, such as center lines and boundary lines of a roadway are stored. These geometric data correspond to the dimensions of road markings transverse to the direction of travel F of the vehicle 10 , By comparing the values b 1 and h 1 of the detected geometric data of the survey 1.1 in the evaluation unit 13 stored geometry data will match this survey 1.1 as a road marking 1 the roadway 20 detected.
  • While driving the vehicle 10 in the direction of travel F are for a plurality of further transverse to the direction of travel F lines L1 and L2, etc., the associated road height profiles of the image processing unit 12 created and by the evaluation unit 13 evaluated. By evaluating these road height profiles in the transverse direction of the direction of travel F, a road height profile running in the direction of travel F can also be created. From such a running in the direction of travel F road height profile can be the value of the length of the strip 1.1 the middle line 1 determine. To this longitudinal mark 1 to be able to detect as an interrupted center line, the values of the length of longitudinal markings as further geometry data in the memory device of the evaluation unit 13 stored.
  • Next to the length of the strip 1.1 the middle line 1 can also be the distance between two consecutive strips 1.1 the middle line 1 and whose value is determined. By comparing this value of the distance between two consecutive strips 1.1 with in the memory device of the evaluation unit 13 stored values can also be concluded on the type of longitudinal marking.
  • Will a road height profile across the entire width of the roadway 20 generates, which also the border lines 2.1 and 2.2 may include, due to the further geometry data in the memory device of the evaluation unit 13 these surveys as a continuous border lines 2.1 and 2.2 be detected.
  • This data regarding the detected lane markings 1 . 2.1 and 2.2 become a driver assistance system 14 , For example, a track-guided distance control or a lane departure warning supplied with these data, a lane detection for the vehicle 10 to realize.
  • It is also possible that these data regarding the detected lane markings 1 . 2.1 and 2.2 to use for plausibility of a monocamer-based track recognition. In such a monochrome-based lane detection is by one of the two cameras of the stereo camera 11 generates a grayscale image from which by means of edge detection lane markings, such as. Longitudinal marks (broken or solid center line, solid border lines, etc.) are detected. The lane markings detected from such a gray value image are detected by the lane markings detected according to the invention 1 . 2.1 2.2 plausibility.
  • Marking buttons (bot dots) which have a curved surface instead of a flat surface are also used as lane markings.
  • Be in the range of such marker buttons also road height profiles transverse to the direction of travel F of the vehicle 10 from the image processing unit 12 created, results in a 3 illustrated course of such a road height profile P2 with a survey 3 above the road surface of the roadway 20 , Such a survey 3 is also detected as already stated above by two height jumps S21 and S22 and determines the value b2 of the distance B2 of the two height jumps S21 and S22 and the value h 2 of the height H2 of these height jumps. In addition, the profiling, so the curved surface of this survey 3 determined transversely to the direction of travel. By comparing the values b 2 and h 2 as geometric data as well as the profiling detected in the memory unit of the evaluation unit 13 stored geometry data and profiling data becomes this survey 3 detected as a marker button.
  • If several road height profile P2 are generated in the direction of travel, a road height profile in the direction of travel can be created from this, from which the geometry data of detected elevations and their profiling in the direction of travel detected and their values or their profiling with in the memory device of the evaluation 13 stored further geometry data and other Profilierungsdaten be compared, in order to determine the reliability of such marking buttons 3 to improve.
  • In addition to the detection of longitudinal markings, cross marks and area markings can also be detected as road markings using the method according to the invention explained above, by geometric data and further geometric data of such transverse markings and area markings of the roadway from the corresponding road height profiles in the transverse direction of the travel direction F and possibly also in the direction of travel F 20 in the evaluation unit 13 get saved.
  • LIST OF REFERENCE NUMBERS
  • 1
    Centerline of the roadway 20
    1.1
    Elevation of the roadway 20
    2.1
    right edge line of the roadway 20
    2.2
    left edge line of the roadway 20
    3
    Marking button (bot dot) of the roadway 20
    10
    vehicle
    11
    3D camera, stereo camera
    12
    Image processing unit
    13
    evaluation
    14
    Driver assistance system
    20
    roadway
    21
    right lane of the roadway 20
    21.1
    Right edge strip of the roadway 20
    22
    left lane of the roadway 20
    22.1
    left edge strip of the roadway 20
    b 1
    Value of width B1
    b 2
    Value of width B2
    B1
    Width of the survey 1.1
    B2
    Width of the marker button 3
    F
    Driving direction of the vehicle 10
    L
    Line across the direction of travel F
    L1
    Line across the direction of travel F
    L2
    Line across the direction of travel F
    P1
    Street level profile
    P2
    Street level profile
    S11
    Height jump in the street height profile P1
    S12
    Height jump in the street height profile P1
    S21
    Height jump in the road height profile P2
    S22
    Height jump in the road height profile P2
    Z
    street scene
  • QUOTES INCLUDE IN THE DESCRIPTION
  • This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.
  • Cited patent literature
    • DE 102009053748 A1 [0004]

Claims (10)

  1. Method for detecting at least one lane marking ( 1 ) of a vehicle ( 10 ) lane ( 21 ) by a 3D camera ( 11 ) generated image data in front of the vehicle ( 10 ) road ahead ( 20 ) of an evaluation unit ( 13 ) are fed to the evaluation, characterized in that - from the image data, a road height profile (P1) transversely to the direction of travel (F) of the vehicle ( 10 ) by means of the evaluation unit ( 13 ) is generated, - in the course of the road height profile (P1) at least one survey ( 1.1 ) relative to the roadway level of the roadway ( 20 ) height hops (S11, S12) are detected from the road height profile (P1), - the value (b 1 ) of the distance (B1) of the height jumps (S11, S12) of the at least one survey ( 1.1 ) and the value (h 1 ) of the height (H1) of the elevation (S11, S12) indicating the at least one elevation as geometric data of the at least one elevation ( 1.1 ) by means of the evaluation unit ( 13 ), and by comparing the values (b 1 , h 1 ) of the geometry data of the at least one survey ( 1.1 ) with the geometry data stored in the evaluation unit, a lane marking ( 1 ) of the roadway ( 20 ) is detected.
  2. Method according to claim 1, characterized in that - the profiling of the at least one survey ( 3 ) is determined transversely to the direction of travel, and - by comparing the profiling with profiling data stored in the evaluation unit, the lane marking is detected.
  3. A method according to claim 1 or 2, characterized in that - as further geometric data of the at least one survey additionally in the direction of travel, the length of the detected survey and / or the distance between successive surveys in the longitudinal direction is determined, and - by comparison of the further geometric data of the survey in Direction of travel with stored in the evaluation unit further geometry data a lane marking is determined.
  4. Method according to one of the preceding claims, characterized in that - the profiling of the at least one elevation in the direction of travel is determined, and - the lane marking is detected by comparing the profiling with further profiling data stored in the evaluation unit.
  5. Method according to one of the preceding claims, characterized in that for the detection of longitudinal markings as road markings geometry data and further geometric data of longitudinal markings of the road are stored in the evaluation unit.
  6. Method according to one of the preceding claims, characterized in that profiling data and further profiling data of marking buttons of the roadway are stored in the evaluation unit for the purpose of detecting marking buttons as roadway markings.
  7. Method according to one of the preceding claims, characterized in that for the detection of cross-markings as road markings geometry data and further geometric data data of cross-markings of the carriageway are stored in the evaluation unit.
  8. Method according to one of the preceding claims, characterized in that for the detection of surface markings as road markings, geometry data and further geometric data are stored data of surface markings of the roadway in the evaluation unit
  9. Method according to one of the preceding claims, characterized in that - for the lane detection of the vehicle, a gray value image or a color image is generated by means of an environmental sensor from the road ahead of the vehicle, and - the recognized lane of the vehicle with the at least one recognized lane marking is plausibility.
  10. Method according to one of the preceding claims, characterized in that a stereo camera is used as the 3D camera.
DE102013224791.5A 2013-12-03 2013-12-03 A method of detecting at least one lane marking of a lane ahead of a vehicle Withdrawn DE102013224791A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE102013224791.5A DE102013224791A1 (en) 2013-12-03 2013-12-03 A method of detecting at least one lane marking of a lane ahead of a vehicle

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102013224791.5A DE102013224791A1 (en) 2013-12-03 2013-12-03 A method of detecting at least one lane marking of a lane ahead of a vehicle
PCT/DE2014/200671 WO2015081955A1 (en) 2013-12-03 2014-12-01 Method for detecting at least one lane marker of a lane lying ahead of a vehicle
DE112014003284.0T DE112014003284A5 (en) 2013-12-03 2014-12-01 A method of detecting at least one lane marking of a lane ahead of a vehicle

Publications (1)

Publication Number Publication Date
DE102013224791A1 true DE102013224791A1 (en) 2015-06-03

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DE102013224791.5A Withdrawn DE102013224791A1 (en) 2013-12-03 2013-12-03 A method of detecting at least one lane marking of a lane ahead of a vehicle
DE112014003284.0T Pending DE112014003284A5 (en) 2013-12-03 2014-12-01 A method of detecting at least one lane marking of a lane ahead of a vehicle

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102004003850A1 (en) * 2004-01-26 2005-08-18 Ibeo Automobile Sensor Gmbh Method for detecting markings on a roadway
DE102004061998A1 (en) * 2004-12-23 2006-07-06 Robert Bosch Gmbh Stereo camera for a motor vehicle
DE102009033219A1 (en) * 2009-01-23 2010-07-29 Daimler Ag Method for determining a road profile of a traffic lane ahead of a vehicle
DE102009053748A1 (en) 2009-11-18 2011-05-19 Man Nutzfahrzeuge Ag Method for tracking a vehicle, in particular a commercial vehicle, as well as a guidance system
DE102011056671A1 (en) * 2011-12-20 2013-06-20 Conti Temic Microelectronic Gmbh Determining a height profile of a vehicle environment using a 3D camera

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102005044981A1 (en) * 2005-09-20 2007-03-22 Adc Automotive Distance Control Systems Gmbh Lane markings identifying method for moving motor vehicle, involves combining coherent images having similar brightness to cluster for determining form of objects, and identifying lane markings based on form and periodic arrangement in lane
JP4632987B2 (en) * 2006-03-28 2011-02-23 株式会社パスコ Road image analysis apparatus and road image analysis method
DE102012101085A1 (en) * 2012-02-10 2013-08-14 Conti Temic Microelectronic Gmbh Determining a condition of a road surface by means of a 3D camera

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102004003850A1 (en) * 2004-01-26 2005-08-18 Ibeo Automobile Sensor Gmbh Method for detecting markings on a roadway
DE102004061998A1 (en) * 2004-12-23 2006-07-06 Robert Bosch Gmbh Stereo camera for a motor vehicle
DE102009033219A1 (en) * 2009-01-23 2010-07-29 Daimler Ag Method for determining a road profile of a traffic lane ahead of a vehicle
DE102009053748A1 (en) 2009-11-18 2011-05-19 Man Nutzfahrzeuge Ag Method for tracking a vehicle, in particular a commercial vehicle, as well as a guidance system
DE102011056671A1 (en) * 2011-12-20 2013-06-20 Conti Temic Microelectronic Gmbh Determining a height profile of a vehicle environment using a 3D camera

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DE112014003284A5 (en) 2016-04-14

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