US 12,340,595 B2
Lane detection system and method for a vehicle
Ibrahim Halfaoui, Munich (DE); Fahd Bouzaraa, Munich (DE); and Onay Urfalioglu, Munich (DE)
Assigned to Shenzhen Yinwang Intelligent Technologies Co., Ltd., Shenzhen (CN)
Filed by Huawei Technologies Co., Ltd., Shenzhen (CN)
Filed on Feb. 25, 2022, as Appl. No. 17/681,351.
Application 17/681,351 is a continuation of application No. PCT/EP2019/077638, filed on Oct. 11, 2019.
Prior Publication US 2022/0180646 A1, Jun. 9, 2022
Int. Cl. G06V 20/56 (2022.01); G06V 10/44 (2022.01); G06V 10/82 (2022.01)
CPC G06V 20/588 (2022.01) [G06V 10/454 (2022.01); G06V 10/82 (2022.01)] 20 Claims
OG exemplary drawing
 
1. A lane detection system for a vehicle for determining a current lane of a multi-lane road which the vehicle is driving on, wherein the system comprises:
a processor; and
a memory coupled to the processor and having processor-executable instructions stored thereon, which are executed by the processor and cause the processor to:
obtain a current image of the multi-lane road;
determine a first candidate current lane by using a leftmost lane in the current image of the multi-lane road as a first reference lane;
determine a second candidate current lane by using a rightmost lane in the current image of the multi-lane road as a second reference lane;
determine, for the first candidate current lane, a first set of likelihood measure values, and for the second candidate current lane, a second set of likelihood measure values, wherein the first set of likelihood measure values comprises a respective likelihood measure value for each lane of the multi-lane road that the vehicle is driving on the respective lane, and wherein the second set of likelihood measure values comprises a respective likelihood measure value for each lane of the multi-lane road that the vehicle is driving on the respective lane;
determine the first candidate current lane as the lane associated with the largest likelihood measure value of the first set of likelihood measure values;
determine the second candidate current lane as the lane associated with the largest likelihood measure value of the second set of likelihood measure values; and
determine either the first candidate current lane or the second candidate current lane to be the current lane of the vehicle in the current image by comparing a first difference between the largest likelihood measure value and an average likelihood measure value of the first set of likelihood measure values with a second difference between the largest likelihood measure value and an average likelihood measure value of the second set of likelihood measure values.