Ego lane recognizing method for motor vehicle, involves validating transformed lines by removing of transformed lines, defining vertical line by main axis of camera, and comparing validated lines with lines of model to determine lane

摘要

The method involves determining a straight line in a recorded image i.e. wide angle image, via a hough-transformation component (B). The straight line is transformed into a plan view by implementing an orthographic projection. Transformed lines are validated by removing of the transformed lines, whose angle of inclination deviates from a vertical line around a preset value, where the vertical line is defined by a main axis of a camera e.g. wide angle camera. The validated lines are compared with lines of a model for determination of the lane. The model lines are selected as an ego-lane marker. An independent claim is also included for a device for recognizing a lane.