Patent Document ID: 10133941
Application ID: 15279454
Patent Status: 1

Claim One:
1. A method for detecting lane boundaries comprising: obtaining a current image of a lane, and extracting brightness jump points in the current image by filtering the current image; filtering out noise points from the brightness jump points, determining remaining brightness jump points as edge points, and grouping the edge points based on a first pre-determined condition, wherein any two of the edge points meeting the first pre-determined condition are in the same group, the first pre-determined condition comprises that vertical coordinates of the any two of the edge points are adjacent and a distance difference between horizontal coordinates of the any two of the edge points is less than a first distance threshold, the noise points comprise a first noise point and the first noise point is a brightness jump point that does not meet the first pre-determined condition with any one of other brightness jump points, and a connection line of any two of the edge points in the same group forms one edge line; recognizing edge lines of lane boundaries from the edge lines; and grouping the edge lines of lane boundaries, and recognizing the edge lines in each group as edge lines of one lane boundary respectively, wherein a difference between horizontal coordinates of any two of the edge lines of lane boundaries that is less than a second distance threshold is put into the same group.