Abstract: The present invention relates to an image processing method for recognizing ground marking, comprising a step of receiving at least one image of the ground at the front and/or at the rear of the vehicle, characterised in that it comprises a step of calculating a digital image corresponding to a confidence map consisting of assigning, to each pixel of the acquired image, a value corresponding to the degree of confidence that said pixel belongs to an area of marking, then performing a marking detection step by minimising the function f of the following equation: -F is the regression function-x±corresponding to the x coordinate of the ith pixel crossed by the agent-y±corresponding to the y coordinate of the ith pixel crossed by the agent-w±corresponding to the grey value V± of the ith pixel crossed by the agent-B designates a function space, and-? designates the smoothing parameter which is a function of the type of road.