Extracting positions of vehicles 12 surrounding ego vehicle 10 from radar detection points 11a and identifying road lanes positions and boundaries based on location of surrounding target vehicles 12. The method may identify only vehicles 12 travelling in the same direction and ignore vehicles 11b in the opposite direction and stationary static objects 11b. Target vehicles 12 may be represented in the transverse lateral direction 13 on a coordinate system relative to the ego vehicle 10. Current location of the ego vehicle 10, road map data (may contain known number of lanes at current location of ego vehicle 10), current road characteristics (curvature, layout), and detected minimum lateral distance between detected vehicles 12, may inform determination of lanes. The plausibility determined road lane layout may be verified based on the known number of lanes and previous lane determination results. Also claimed a vehicle having an advance driver assistance system ADAS including the method.
Vehicle lane determination method, computer program product, and apparatus
15.11.2023
Patent
Elektronische Ressource
Englisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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