Gemäß einem computerimplementierten Verfahren zur Detektion eines lateralen Endes (3) einer Fahrbahn (1) wird basierend auf einem Datensatz eines Umfeldsensorsystems (6) eine dreidimensionale Punktwolke erzeugt, die eine Vielzahl von Bodenpunkten (10) enthält. Der radiale Abstand der Vielzahl von Bodenpunkten (10) als Funktion des horizontalen Erfassungswinkels wird numerisch differenziert, um eine Abstandsänderungsrate (11) zu erhalten. Das laterale Ende (3) wird abhängig von der Abstandsänderungsrate (11) detektiert.

    The invention relates to a computer-implement a method for detecting the lateral end (3) of a roadway (1) along which a motor vehicle (4) is traveling. According to the invention, a three-dimensional point cloud is generated on the basis of a data set of a surroundings sensor system (6), for example a LIDAR system for measuring the travel time of light, said point cloud containing a plurality of ground points. The radial distance of the plurality of ground points, with the same vertical detection angle for example, as a function of the horizontal detection angle α is numerically differentiated in order to obtain the rate of change in distance. The lateral end (3) is detected on the basis of the rate of change in distance. The lateral ends (3) or roadway edges separate the region of the roadway (1) from a surrounding region (2) outside of the roadway where a sidewalk, a bicycle path, an embankment, a shoulder or the like is located for example. The radial distance as a function of the horizontal detection angle α changes particularly greatly in the regions of the roadway (1) which correspond to the lateral end (3), whereas the radial distance as a function of the horizontal detection angle (α) changes very little in the remaining regions of the roadway (1). The surroundings sensor system (6) can emit light pulses in particular into the surroundings of the motor vehicle (4), said light pulses being partly reflectable from points (P) on the surface of the roadway (1). According to one embodiment, a computing unit (5) determines a traversable region on the basis of the lateral end (3) of the roadway (1) and generates at least one control signal for at least partly automatically guiding the motor vehicle (4) on the basis of the traversable region.


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    Title :

    Detektion eines lateralen Endes einer Fahrbahn


    Contributors:

    Publication date :

    2022-07-21


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    German


    Classification :

    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