CN104334440A - Method and system for determining vehicle position - Google Patents
Method and system for determining vehicle position Download PDFInfo
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- CN104334440A CN104334440A CN201380020057.1A CN201380020057A CN104334440A CN 104334440 A CN104334440 A CN 104334440A CN 201380020057 A CN201380020057 A CN 201380020057A CN 104334440 A CN104334440 A CN 104334440A
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- 238000000034 method Methods 0.000 title claims abstract description 32
- 238000004590 computer program Methods 0.000 claims abstract description 12
- 230000004888 barrier function Effects 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 4
- 238000012986 modification Methods 0.000 description 20
- 230000004048 modification Effects 0.000 description 20
- 238000001514 detection method Methods 0.000 description 15
- 238000012545 processing Methods 0.000 description 15
- 239000003550 marker Substances 0.000 description 12
- 238000012790 confirmation Methods 0.000 description 7
- 238000004891 communication Methods 0.000 description 3
- 238000012937 correction Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000001502 supplementing effect Effects 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/072—Curvature of the road
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/029—Steering assistants using warnings or proposing actions to the driver without influencing the steering system
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2422/00—Indexing codes relating to the special location or mounting of sensors
- B60W2422/95—Measuring the same parameter at multiple locations of the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/05—Type of road, e.g. motorways, local streets, paved or unpaved roads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
- Navigation (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention concerns a method for determining the position of a vehicle (1) relative to the roadway (10) of the vehicle route, comprising the steps that: continuously estimate (S1) distances between at least one side section of the vehicle and topographic characteristics (30, 32; 130, 132; 230, 232) of the vehicle route proximate to said side section; and determine S2) the lateral position of the vehicle based on distances so estimated. The present invention also concerns a system for determining the position of a vehicle relative to the roadway of the vehicle route. The present invention further concerns a computer program and a computer program product.
Description
Technical field
The present invention relates to the method for determining vehicle location described in preorder according to claim 1.The invention still further relates to the system for determining vehicle location described in preorder according to claim 9.The invention still further relates to self-propelled vehicle.The invention still further relates to computer program and computer program.
Background technology
Some vehicles are equipped with pick up camera and/or other sensors, they be arranged to detect be on the road of vehicle route, be in before vehicle or vehicle lane mark below, to judge that in described track where which bar track described vehicle be in and on described road.Thus, if vehicle has rolled unintentionally track away from, this signal can have been adopted to give a warning, and/or adopt it to control the vehicle be in this track.
These sensors temporarily or when detecting road sign within the longer period may due to the wearing and tearing of road sign, road sign do not exist or winter road shape etc. and run into various problem.
Summary of the invention
One object of the present invention is to realize that a kind of the method is actv. for determining the method for vehicle along the position of the road of vehicle route, and can realize failure-free and determine.
Another object of the present invention is to realize that a kind of this system is actv. for determining the system of vehicle along the position of the road of vehicle route, and failure-free can be realized determine.
Realize these and other objects set forth in the middle of description below by there is above-described type and showing the method for the feature described in detail in the middle of the feature qualifying part of appended independent claims 1,9,17,18 and 19, system, self-propelled vehicle, computer program and computer program.The preferred embodiment of described method and system is defined in appended dependent claims 2-8 and 10-16.
According to the present invention, these objects adopt feature according to claim 1 for determining that vehicle realizes relative to the method for the position of the road of vehicle route.Thus achieve a kind of actv. for determining the means of vehicle relative to the position of the road of vehicle route, it can be used alone, or supplementing as the determination to the vehicle location of other the road relative to vehicle route, such as, described other determine it is detect the road sign along the road of vehicle route.Therefore, it is possible to more reliably determine the position of vehicle relative to the road of vehicle route.
According to an embodiment, described method comprises the feature in claim 2.Can by utilizing the distance of such relief feature effectively between estimating vehicle side and roadside.
According to an embodiment, described method comprises the feature in claim 3.Such device can realize the effective estimation to described distance.
According to an embodiment, described method comprises the feature in claim 4.Thereby is achieved associated vehicle and whether be positioned at track on described road, if be positioned at again any bar track and the information of vehicle in the position in this track.
According to an embodiment, described method comprises the feature in claim 5.Described distance is estimated by utilizing known vehicle location, and take this distance arriving relief feature for constant scheme of given time period, this information learning can be utilized relative to the vehicle location of road, such as, using the redundancy as the information by detecting road sign and known vehicle location, thus the described distance estimated can be adopted in the not detectable situation of the road sign of certain part along road to follow the tracks of the position of vehicle.
According to an embodiment, described method comprises the feature in claim 6.This is a kind of mode of actv. determination vehicle location.
According to an embodiment, described method comprises the feature in claim 7.When chaufeur knows that vehicle is in the tram/correct track on track, described confirmation can be made by chaufeur.
According to an embodiment, described method comprises the feature in claim 8.By GPS with the map datum of having a lot of social connections can be comprised carry out describedly determining, this information can be upgraded continuously thus, thus any change of roadway characteristic can be taken into account, can realize thus reliably determining vehicle location on the basis of described distance.
According to the present invention, these objects also by according to the feature in claim 9 for determining that vehicle realizes relative to the system of the position of vehicle route.Thereby is achieved a kind of actv. for determining the means of vehicle relative to the position of the road of vehicle route, it can be used alone or supplementing as the determination to the vehicle location of other the road relative to vehicle route, such as, described other determine it is detect the road sign along the road of vehicle route.Therefore, it is possible to more reliably determine the position of vehicle relative to the road of vehicle route.
According to an embodiment, described system comprises the feature in claim 10.Can realize the active distance estimation between vehicular sideview and roadside by utilizing such relief feature.
According to an embodiment, described system comprises the feature in claim 11.Such device can realize the effective estimation to described distance.
According to an embodiment, described system comprises the feature in claim 12.Thereby is achieved associated vehicle and whether be positioned at track on described road, if be positioned at again any bar track and its information in the position in this track.
According to an embodiment, described system comprises the feature in claim 13.Described distance is estimated by utilizing known vehicle location, and take this distance arriving relief feature for constant scheme of given time period, this information learning vehicle can be utilized relative to the position of road, such as, using the redundancy as the information by detecting road sign and known vehicle location, thus the described distance estimated can be adopted in the not detectable situation of the road sign of certain part along road to follow the tracks of the position of vehicle.
According to an embodiment, described system comprises the feature in claim 14.This is a kind of mode of actv. determination vehicle location.
According to an embodiment, described system comprises the feature in claim 15.When chaufeur knows that vehicle is in the tram/correct track on track, described confirmation can be made by chaufeur.
According to an embodiment, described system comprises the feature in claim 16.The map datum of being had a lot of social connections by GPS and can comprising is implemented describedly to determine, can upgrade this information continuously thus, thus any change of roadway characteristic can be taken into account, can realize thus reliably determining vehicle location on the basis of described distance.
Accompanying drawing explanation
When reading by reference to the accompanying drawings with reference to following detailed description, the present invention will be better understood, and wherein, identical Reference numeral as one man represents identical element in a lot of figure, and wherein:
Fig. 1 schematically shows self-propelled vehicle according to an embodiment of the invention;
Fig. 2 schematically shows according to an embodiment of the invention for determining the block scheme of the system of vehicle location;
Fig. 3 schematically shows the top view of the self-propelled vehicle of advancing on road;
Fig. 4 a-b schematically shows the back view of the self-propelled vehicle of advancing on road;
Fig. 5 schematically shows the block scheme of method according to an embodiment of the invention; And
Fig. 6 schematically shows computing machine according to an embodiment of the invention.
Detailed description of the invention
" link " in literary composition one word refer to communication link, it can be the entity circuit of such as photoelectric communication circuit or can be the non-physical circuit of such as wireless connections, such as, radio link or microwave link.
" relief feature " in the middle of " relief feature of vehicle route " this statement one refers to that any lateral parts close to vehicle is for the suitable R point of estimated distance, comprises the object with the form of road barrier and/or side graticule and/or road terminal and/or existing ramp portion and/or barrier part existing with road and contact in word literary composition.
" lateral parts of vehicle " word this refers to right side and/or the left side of vehicle, and/or along the length of the side of vehicle to lateral parts in the longitudinal direction of vehicle.
Fig. 1 schematically shows self-propelled vehicle according to an embodiment of the invention.Illustrative vehicle 1 is made up of heavy-duty vehicle, and it has the form of the truck of band operator's compartment 2.Or described vehicle can be made up of any suitable vehicle, such as, city motor bus or automobile.Described vehicle is containing the with good grounds system I for determining vehicle location of the present invention.
2 schematically show according to an embodiment of the invention for determining the block scheme of the system I of vehicle location.
System I comprises for the described electronic control unit 100 determined.
System I comprise at least one lateral parts of estimating vehicle continuously and vehicle route close to described lateral parts relief feature between the range estimation module 110 of distance.Described range estimation module comprises side sensor device.According to an embodiment, described side sensor device is made up of camera system, radar installation and/or laser measuring device for measuring.Any range estimation module for estimating the distance between described lateral parts and described relief feature continuously suitably can be adopted.
According to a kind of modification, described system I also comprises the vehicle location determination module 120 for determining the lateral vehicle position relative to described road.
According to a kind of modification, described vehicle location determination module comprises the lane marker detection module 122 for detecting the road sign on described road.According to a kind of modification, described lane marker detection module 122 comprises camera system.
According to a kind of modification, described vehicle location determination module 120 comprises the confirmation module 124 for confirming the expectation lateral vehicle position relative to described road.According to a kind of modification, be confirmed to be described in making due to (such as) chaufeur when recognizing the current horizontal position of vehicle by described confirmation module 124 manual confirmation the position of vehicle, and the current horizontal position of vehicle is desired locations, namely vehicle is in the correct track on described road.
According to a kind of modification, described vehicle location determination module 120 comprises path determination module 126, and it provides along the predetermined roadway characteristic of vehicle route and the vehicle location along vehicle route.
According to a kind of modification, described path determination module 126 comprises the cartographic information unit 126a containing described roadway characteristic, wherein, according to a kind of modification, described roadway characteristic comprises about having a lot of social connections, track quantity, lane width, from roadside to the information of the distance of the such as relief feature of road barrier etc.Described path determination module also comprises the geographic position certainty annuity 126b of such as GPS.
It is one or more that described vehicle location determination module 120 can comprise in described lane marker detection module 122, described confirmation module 124 and described path determination module 126.
Described system comprises the vehicle location processing module 130 of the information for the treatment of the vehicle location about the road along vehicle route.According to a kind of modification, described vehicle location processing module 130 comprises the alert module being arranged in and giving a warning to chaufeur when (such as) vehicle departs from the track of its traveling.According to a kind of modification, described vehicle location processing module 130 is included in vehicle and departs from its desired locations on described road, such as, corrects the vehicle location correction module of vehicle location when departing from because departing from its track travelled.Described vehicle location processing module 130 can both comprise described alert module, comprised again described vehicle location correction module.
Electronic control unit 100 is connected to described range estimation module by link 105 signal.Electronic control unit 100 is arranged through link 105 receive from the lateral parts of the expression vehicle of range estimation module 110 and vehicle route close to described lateral parts relief feature between the signal of range data.
Electronic control unit 100 is connected to described vehicle location determination module 120 by link 115 signal.Electronic control unit 100 is arranged through link 115 and receives expression from vehicle determination module 120 relative to the signal of the horizontal data of the lateral direction of car position of described road.
According to a kind of modification, electronic control unit 100 is connected to described lane marker detection module 122 by link 116 signal.Electronic control unit 100 is arranged through link 116 and receives expression from lane marker detection module 122 relative to the signal of the road sign data of the lateral direction of car position of the described road sign detected.
According to a kind of modification, electronic control unit 100 is connected to described confirmation module 124 by link 117 signal.Electronic control unit 100 is arranged through link 117 to receive from confirming that the expression of module 124 confirms the signal of the data whether correct relative to the lateral direction of car position of road.
According to a kind of modification, electronic control unit 100 is connected to described path determination module 126 by link 118 signal.Electronic control unit 100 is arranged through link 118 and receives expression from path determination module 126 along the signal of the roadway characteristic of the current position of vehicle route.
Electronic control unit 100 is arranged as the Current vehicle horizontal position determining the road relative to vehicle route on the basis of described range data and described horizontal position data.
According to a kind of modification, electronic control unit 100 is connected to described vehicle location processing module 130 by link 135 signal.Electronic control unit 100 is arranged through link 135 to send from the expression of vehicle location processing module 130 in the current position along vehicle route relative to the signal of the horizontal position data of the road of vehicle route.
According to a kind of modification, electronic control unit 100 is arranged as, taking the described relief feature close to described lateral parts of vehicle route, such as, the distance of road barrier etc. when at least constant in regular hour section/section scheme, the position in the signal by described expression range data and the track of the horizontal position data determination vehicle from described lane marker detection module 122 on described road.
According to a kind of modification, this compares realization by making range data and position data, wherein, specific range to described relief feature corresponds to the desired locations on road, therefore, it is possible to by least one lateral parts of estimating vehicle continuously and vehicle route close to described lateral parts relief feature between distance and keep this position.
When the signal of the horizontal position data that expression is obtained by the detection of described lane marker detection module 122 disappears a period of time on a certain section due to can not detecting of described road sign, the vehicle location of the road along described vehicle can be determined thus by described range data.
According to a kind of modification, electronic control unit 100 is arranged as and is taking the described relief feature close to described lateral parts of vehicle route, such as, when at least constant in the regular hour section/section scheme of the distance of road barrier etc., by the signal of described expression range data with confirm that data 124 determine the position in the track of vehicle on described road, determined the vehicle location of the road along described vehicle thus by described range data.
According to a kind of modification, described range estimation module 110 is contained in an electronic control unit, and described vehicle location determination module 120 is contained in another electronic control unit.
Fig. 3 schematically shows the top view of the self-propelled vehicle 1 travelled on road 10, and Fig. 4 a-b is the back view of the self-propelled vehicle 1 travelled on road 10.
Fig. 3 shows the road 10 with two tracks 10a, 10b, the roadside graticule 12 road being divided into many tracks and road sign 14.Vehicle 1 just travels on road 10 in the 10a of one of track.Vehicle 1 containing be arranged in vehicle 1 side 1a lateral parts on the first side sensor device 20, thus continuously the lateral parts of estimating vehicle 1 and vehicle route close to described lateral parts relief feature 30 between distance, vehicle 1 also containing be arranged in described vehicle opposite side 1b lateral parts on the second side sensor 22, thus measure continuously lateral parts described in described vehicle and vehicle route close to described lateral parts relief feature 32 between distance.Corresponding sensing device 20,22 is arranged through the distance between checkout area 20a, 22a detection side face portion and relief feature 30,32.Described side sensor can be made up of camera system, wireless installation and/or laser measuring device for measuring.
Described vehicle contains with good grounds a kind of lane marker detection module 40 being modified to camera system 40, to detect the road sign 12,14 on described road 10.Described lane marker detection module 40 is arranged through visual field 40a and detects road sign.Described lane marker detection module 40 can be arranged into before described vehicle and/or after described vehicle, to realize the detection of described road markings 12,14.
Side sensor device 20,22 is covered (such as) according in the middle of the system of Fig. 2 with camera system 40 together with electronic control unit.By the signal determination vehicle location by the expression position data from lane marker detection module 40, afterwards itself and the range data from side sensor device 20,22 are compared, even if road sign 14 is sightless for lane marker detection module 40, also can by least one lateral parts of estimating vehicle 1 continuously and vehicle route close to described lateral parts relief feature 30,32 between distance and determine the position of vehicle 1.
In fig .4, the relief feature close to described lateral parts of described vehicle route is made up of the road barrier 130,132 in the respective side being in road.In fig. 4b, the relief feature close to a lateral parts of described vehicle route is made up of ramp portion 230 and vegetation 232, the former can be formed by from the side acclivity of road, ditch or equivalent characteristics, and the latter has the form of the tree close to another relative lateral parts.
Fig. 5 schematically shows according to an embodiment of the invention for determining the block scheme of the method for the vehicle location of the road relative to vehicle route.
According to an embodiment, the described method for the vehicle location determining the road relative to vehicle route comprises first step S1.In this step, continuously at least one lateral parts of estimating vehicle and vehicle route close to described lateral parts relief feature between distance.
According to an embodiment, the described method for the vehicle location determining the road relative to vehicle route comprises second step S2.In this step, based on the horizontal position of the distance determination vehicle so determined.
With reference to figure 6, it illustrates the diagram of the embodiment of equipment 500.In an embodiment, the control unit 100 described with reference to figure 2 comprises equipment 500.Equipment 500 is containing nonvolatile memory 520, data processing unit 510 and read/writable memory device 550.Nonvolatile memory 520 has the first memory part 530 of the computer program of the function in order to control convenience 500 storing such as operating system.Equipment 500 is also containing bus controller, communication port, I/O device, A/D converter, time and date input and delivery unit, event counter and finishing control device (not shown).Described nonvolatile memory 520 also has second memory part 540.
Provide a kind of computer program P, it contains method according to the present invention can determine the routine of the vehicle location of the road relative to vehicle.Program P contains at least one lateral parts of estimating vehicle and the relief feature 30,32 close to described lateral parts of vehicle route continuously; 130,132; The routine of the distance 230, between 232.Program P contains the routine determining the horizontal position of vehicle on the basis of the distance in so estimation.Can by program P with can execute form or be stored in a compressed format in memory device 560 and/or read/writable memory device 550.
When narrative data processing unit 510 performs set function, should be understood to certain part of the program stored in data processing unit 510 execute store 560, or be stored in certain part of the program in read/writable memory device 550.
Data processing equipment 510 can be communicated with FPDP 599 by data bus 515.Nonvolatile memory 520 is intended to be communicated with data processing unit 510 by data bus 512.Independent memory device 560 is intended to be communicated with data processing unit 510 by data bus 511.Described read/writable memory device 550 is arranged through data bus 514 communicate with data processing unit 510.Such as, the link relevant to control unit 100 can be connected to FPDP 599.
When receiving data at FPDP 599 place, it is temporarily stored in second memory part 540.Once carry out temporarily storing to the input data received, just data processing unit 510 is arranged through certain mode operation code above-described.Equipment 500 can adopt signal at least one lateral parts of estimating vehicle and the relief feature 30,32 close to described lateral parts of vehicle route continuously received at FPDP 599 place; 130,132; 230, the distance between 232.Equipment 500 can adopt the horizontal position of the signal determination vehicle received at FPDP 599 place on the basis of the distance so estimated.
Performed the various piece of the method described in literary composition by equipment 500 under the help of the data processing unit 510 of the program that can store in run memory 560 or read/writable memory device 550.When equipment 500 operation procedure, perform the method described in literary composition.
Description to the preferred embodiments of the present invention above providing for casehistory and descriptive object.Itself and not intended to be are carried out exhaustive, also not limit the invention to described modification.To those skilled in the art, many modifications and variations will be apparent.Select and describe embodiment, its object is to make best explanation to the present invention and practical application thereof, and enable those skilled in the art utilize various embodiment of the present invention to understand the present invention and expect being applicable to the various amendments of target service condition thus.
Claims (19)
1., for determining the method for vehicle (1) relative to the position of the road (10) of vehicle route, it is characterized in that following step:
-estimate at least one lateral parts of (S1) described vehicle and the relief feature close to described lateral parts (30,32 of described vehicle route continuously; 130,132; 230,232) distance between; And
-on the basis of estimated distance, determine the horizontal position of (S2) described vehicle.
2. method according to claim 1, wherein, described relief feature (30,32) object relevant to road is comprised, such as road barrier (130,132), and/or side graticule, road terminal, and/or vegetation (232), and/or the ramp portion (23) existed, and/or barrier part.
3. method according to claim 1, wherein, by the side sensor device (20,22 on described vehicle (1); 110) perform the step estimating described distance continuously, described side sensor device is such as camera system, radar installation and/or laser measuring device for measuring.
4. the method according to any one in claim 1-3, wherein, the horizontal position of described vehicle (1) described is determined to comprise and determines the step of described vehicle relative to the horizontal position of described road (10).
5. method according to claim 4, the basis being included in the known vehicle location relative to described road (10) is estimated to from described road to described relief feature (30,32; 130,132; 230,232) step of distance.
6. the method according to claim 4 or 5, wherein, determines that described vehicle comprises the road sign (12,14) detected on described road (10) relative to the described step of the horizontal position of described road (10).
7. the method according to any one in claim 4-6, wherein, determine that described vehicle (1) comprises relative to the described step of the horizontal position of described road (10) and confirm the expectation horizontal position of described vehicle relative to described road (10).
8. the method according to any one in claim 4-7, wherein, determine that described vehicle (1) comprises the predetermined characteristic that utilizes described road (10) and described vehicle (1) position along described vehicle route relative to the described step of the horizontal position of described road (10).
9. one kind for determining the system of vehicle (1) relative to the position of the road of vehicle route, it is characterized in that: for the relief feature close to described lateral parts (30,32 of at least one lateral parts and described vehicle route of estimating described vehicle (1) continuously; 130,132; 230,232) module (20,22 of the distance between; 100,110); And the module (40 for the horizontal position of determining described vehicle (1) on the basis of estimated distance; 110; 120).
10. system according to claim 9, wherein, described relief feature (30,32) comprises the object relevant to road, such as road barrier (130,132), and/or side graticule, and/or road terminal, and/or vegetation (232), and/or the ramp portion (23) existed, and/or barrier part.
11. systems according to claim 9 or 10, wherein, for estimating that the described module of described distance comprises the side sensor device (20,22 on described vehicle continuously; 110), described side sensor device is such as camera system, radar installation and/or laser measuring device for measuring.
12. systems according to any one in claim 9-11, wherein, the described of horizontal position of described vehicle (1) is determined to comprise for determining the module (40 of described vehicle (1) relative to the horizontal position of described road (10); 100,120).
13. systems according to claim 12, comprise for estimating from described road (10) to described relief feature (30,32 on the basis of the known vehicle location relative to described road (10); 130,132; 230,232) module (100) of distance.
14. systems according to claim 12 or 13, wherein, for determining that described vehicle comprises the module (122) for detecting the road sign on described road relative to the described module of the horizontal position of described road.
15. systems according to any one in claim 12-14, wherein, for determining that described vehicle comprises for confirming the module (124) of described vehicle (1) relative to the expectation horizontal position of described road (10) relative to the described module of the horizontal position of described road.
16. systems according to any one in claim 12-15, wherein, for determining that described vehicle comprises the module (126) utilizing the predetermined characteristic of described road and described vehicle along the position of described vehicle route relative to the described module of the horizontal position of described road.
17. 1 kinds of self-propelled vehiclees (1), it comprises the system according to any one in claim 9-16.
18. 1 kinds for determining the computer program (P) of vehicle relative to the position of the road of vehicle route, wherein, described computer program (P) is containing program code, and described program code is by electronic control unit (100; 500) or another computing machine (500) being connected to described electronic control unit (100,500) runs time, described electronic control unit can be made to perform step according to claim 1-9.
19. 1 kinds of computer programs, it comprises the computer-readable storage medium storing computer program according to claim 18.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SE1250212A SE537900C2 (en) | 2012-03-07 | 2012-03-07 | Procedure and system for determining vehicle position |
| SE1250212-6 | 2012-03-07 | ||
| PCT/SE2013/050181 WO2013133752A1 (en) | 2012-03-07 | 2013-02-28 | Method and system for determining vehicle position |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104334440A true CN104334440A (en) | 2015-02-04 |
| CN104334440B CN104334440B (en) | 2017-10-13 |
Family
ID=49117109
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201380020057.1A Expired - Fee Related CN104334440B (en) | 2012-03-07 | 2013-02-28 | Method and system for determining vehicle location |
Country Status (4)
| Country | Link |
|---|---|
| EP (1) | EP2822839A4 (en) |
| CN (1) | CN104334440B (en) |
| SE (1) | SE537900C2 (en) |
| WO (1) | WO2013133752A1 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106530794A (en) * | 2016-12-28 | 2017-03-22 | 上海仪电数字技术股份有限公司 | Automatic identification and calibration method of driving road and system thereof |
| CN109477728A (en) * | 2016-07-27 | 2019-03-15 | 大众汽车有限公司 | For determining method, apparatus of the vehicle relative to the lateral position in the lane on road surface and the computer readable storage medium with instruction |
| CN110228476A (en) * | 2019-04-29 | 2019-09-13 | 深圳市轱辘汽车维修技术有限公司 | A kind of control method for vehicle, controller of vehicle and electronic equipment |
| CN112172828A (en) * | 2020-10-14 | 2021-01-05 | 斑马网络技术有限公司 | Narrow road passing method and device, electronic equipment and computer readable storage medium |
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|---|---|---|---|---|
| US9969325B2 (en) | 2015-09-15 | 2018-05-15 | International Business Machines Corporation | Projected surface markings |
| DE102016209232B4 (en) * | 2016-05-27 | 2022-12-22 | Volkswagen Aktiengesellschaft | Method, device and computer-readable storage medium with instructions for determining the lateral position of a vehicle relative to the lanes of a roadway |
| DE102016213817B4 (en) * | 2016-07-27 | 2019-03-07 | Volkswagen Aktiengesellschaft | A method, apparatus and computer readable storage medium having instructions for determining the lateral position of a vehicle relative to the lanes of a lane |
| CN107784864A (en) * | 2016-08-26 | 2018-03-09 | 奥迪股份公司 | Vehicle assistant drive method and system |
| WO2019037870A1 (en) | 2017-08-25 | 2019-02-28 | Volvo Truck Corporation | A method for steering an articulated vehicle |
| FR3075949A1 (en) * | 2017-12-21 | 2019-06-28 | Psa Automobiles Sa | METHOD FOR DETERMINING ANTICIPATION DISTANCE FROM THE TRACK OF A MOTOR VEHICLE |
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- 2013-02-28 CN CN201380020057.1A patent/CN104334440B/en not_active Expired - Fee Related
- 2013-02-28 WO PCT/SE2013/050181 patent/WO2013133752A1/en active Application Filing
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| CN112172828A (en) * | 2020-10-14 | 2021-01-05 | 斑马网络技术有限公司 | Narrow road passing method and device, electronic equipment and computer readable storage medium |
| CN112172828B (en) * | 2020-10-14 | 2022-03-08 | 斑马网络技术有限公司 | Narrow road passing method and device, electronic equipment and computer readable storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| SE537900C2 (en) | 2015-11-17 |
| WO2013133752A1 (en) | 2013-09-12 |
| EP2822839A1 (en) | 2015-01-14 |
| EP2822839A4 (en) | 2017-07-12 |
| SE1250212A1 (en) | 2013-09-08 |
| CN104334440B (en) | 2017-10-13 |
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