CN104334440B - Method and system for determining vehicle location - Google Patents
Method and system for determining vehicle location Download PDFInfo
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- CN104334440B CN104334440B CN201380020057.1A CN201380020057A CN104334440B CN 104334440 B CN104334440 B CN 104334440B CN 201380020057 A CN201380020057 A CN 201380020057A CN 104334440 B CN104334440 B CN 104334440B
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 230000004888 barrier function Effects 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 3
- 238000004590 computer program Methods 0.000 abstract description 8
- 238000012986 modification Methods 0.000 description 21
- 230000004048 modification Effects 0.000 description 21
- 238000001514 detection method Methods 0.000 description 16
- 238000012545 processing Methods 0.000 description 13
- 239000003550 marker Substances 0.000 description 10
- 238000012790 confirmation Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 5
- 238000004891 communication Methods 0.000 description 4
- 238000012937 correction Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 239000013589 supplement Substances 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 108010066114 cabin-2 Proteins 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005055 memory storage Effects 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- 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 present invention relates to a kind of method for being used to determine position of the vehicle (1) relative to the road (10) of vehicle route, it comprises the following steps：Continuously estimate the features of terrain (30,32 of at least one lateral parts and the close lateral parts of the vehicle route of (S1) described vehicle；130,132；The distance between 230,232)；And determine the lateral attitude of (S2) vehicle on the basis of the distance so determined.The invention further relates to a kind of system for determining position of the vehicle relative to the road of vehicle route.The invention further relates to a kind of computer program and a kind of computer program product.
Description
Technical field
The present invention relates to the method for determining vehicle location.The invention further relates to the system for determining vehicle location.
The invention further relates to motor vehicle.The invention further relates to computer program and computer program product.
Background technology
Some vehicles are equipped with video camera and/or other sensors, and they are arranged to road of the detection in vehicle route
Traffic lane line on road, before vehicle or behind vehicle, to judge that the vehicle is on the road
In any bar track and the track where.Thus, if vehicle has rolled unintentionally track away from, this can be used
Signal gives a warning, and/or using its vehicle of the control in the track.
These sensors may be due to road sign when detecting road sign temporarily or within the longer period abrasion, road
Mark be not present or winter road shape etc. and run into various problems.
The content of the invention
It is an object of the present invention to realize a kind of side for being used to determine position of the vehicle along the road of vehicle route
Method, this method is effective, and can realize reliable determination.
Another object of the present invention is to realize a kind of for determine position of the vehicle along the road of vehicle route to be
System, the system is effective, and can realize reliable determination.
It is by with type described above and also by these and other purposes illustrated among following description
Show method, system, motor vehicle, computer program and the computer program product realization of the present invention.Also define institute
State the preferred embodiment of method and system.
According to the present invention, these purposes are to use the method for being used for determining position of the vehicle relative to the road of vehicle route
And realize.A kind of means for being effectively used for determining position of the vehicle relative to the road of vehicle route are thus achieved, its
Can be used alone, or the determination as the vehicle location to others relative to the road of vehicle route supplement, for example,
Other described determinations are road sign of the detection along the road of vehicle route.Therefore, it is possible to more reliably determine vehicle relative to
The position of the road of vehicle route.
According to one embodiment, methods described can effectively be estimated by using such features of terrain vehicular sideview and
The distance between roadside.
According to one embodiment, methods described can realize effective estimation to the distance.
According to one embodiment, methods described is obtained about whether vehicle is located in the track on the road, if
Be but in any bar track and position of the vehicle in the track information.
According to one embodiment, methods described estimates the distance by using known vehicle location, and takes this
One to features of terrain distance for constant scheme of given period, can be using this information learning relative to road
Vehicle location, for example, using the redundancy as the information by detecting road sign and known vehicle location so that along road certain
The position of vehicle can be tracked in the case that the road sign of a part is not detectable using the distance estimated.
According to one embodiment, methods described is a kind of effective mode for determining vehicle location.
According to one embodiment, methods described is included in correct position that driver knows that vehicle is on track/correct
When in track, the confirmation can be made by driver.
According to one embodiment, methods described includes described really by GPS and the map datum progress that can include having a lot of social connections
It is fixed, thus, it is possible to this continuously updated information, so as to which any change of roadway characteristic is taken into account, thus, it is possible to reality
Vehicle location is reliably determined on the basis of the present distance.
According to the present invention, these purposes are also by for determining that vehicle is realized relative to the system of the position of vehicle route.
A kind of means for being effectively used for determining position of the vehicle relative to the road of vehicle route are thereby is achieved, it can individually make
With or as vehicle location to others relative to the road of vehicle route determination supplement, for example, other described
It is determined that being road sign of the detection along the road of vehicle route.Therefore, it is possible to more reliably determine vehicle relative to vehicle route
The position of road.
According to one embodiment, the system include to realize by using such features of terrain to vehicular sideview and
Coverage estimation between roadside.
According to one embodiment, the system can realize effective estimation to the distance.
According to one embodiment, the system is obtained about whether vehicle is located in the track on the road, if
Be but in any bar track and its position in the track information.
According to one embodiment, the system estimates the distance by using known vehicle location, and takes this
Distance to features of terrain, can be using this information learning vehicle relative to road for constant scheme of given period
Position, for example, using the redundancy as the information by detecting road sign and known vehicle location, so that along a certain of road
The position of vehicle can be tracked in the case that partial road sign is not detectable using the distance estimated.
According to one embodiment, this is a kind of effective mode for determining vehicle location.
According to one embodiment, the system is included in correct position that driver knows that vehicle is on track/correct
When in track, the confirmation can be made by driver.
According to one embodiment, the system includes described really by GPS and the map datum implementation that can include having a lot of social connections
It is fixed, thus, it is possible to this continuously updated information, so as to which any change of roadway characteristic is taken into account, thus, it is possible to reality
Vehicle location is reliably determined on the basis of the present distance.
Brief description of the drawings
Following detailed description is referred in the case where being read in conjunction with the figure, the present invention will be better understood, wherein, phase
Same reference as one man represents identical element in many figures, and wherein：
Fig. 1 schematically shows motor vehicle according to an embodiment of the invention；
Fig. 2 is schematically shown is used for the block diagram for determining the system of vehicle location according to an embodiment of the invention；
Fig. 3 schematically shows the top view for the motor vehicle advanced on road；
Fig. 4 a-b schematically show the rearview for the motor vehicle advanced on road；
Fig. 5 schematically shows the block diagram of method according to an embodiment of the invention；And
Fig. 6 schematically shows computer according to an embodiment of the invention.
Embodiment
" link " one word in text refers to communication link, its can be such as photoelectric communication circuit entity circuit or can
To be the non-physical circuit of such as wireless connection, for example, radio link or microwave link.
Refer in " features of terrain " one word text among " features of terrain of vehicle route " this statement any close to vehicle
Lateral parts for estimated distance appropriate reference point, including with road exist contact have road barrier and/or side
The object of face graticule and/or road terminal and/or existing ramp portion and/or the form of barrier part.
" lateral parts of vehicle " word is this refers to the right side of vehicle and/or left side, and/or the edge in the longitudinal direction of vehicle
The length of the side of vehicle is to lateral parts.
Fig. 1 schematically shows motor vehicle according to an embodiment of the invention.The vehicle 1 of illustration is by heavy vehicle structure
Into it has the form of the truck with driver's cabin 2.Or, the vehicle can be made up of any appropriate vehicle, for example, public
Common automobile or automobile.The vehicle is containing the with good grounds system I for being used to determine vehicle location of the invention.
2 schematically show according to an embodiment of the invention for the block diagram for the system I for determining vehicle location.
System I includes the electronic control unit 100 for the determination.
System I includes being used for the close side of continuously at least one lateral parts of estimation vehicle and vehicle route
The distance estimation module 110 of the distance between partial features of terrain.The distance estimation module includes side sensor device.
According to one embodiment, the side sensor device is made up of camera system, radar installations and/or laser measuring device for measuring.
It can be estimated using any appropriate distance for continuously estimating the distance between the lateral parts and the features of terrain
Calculate module.
According to a kind of modification, the system I also includes the car for being used to determine the lateral vehicle position relative to the road
Position determination module 120.
According to a kind of modification, the vehicle location determining module includes the road sign inspection for being used to detect the road sign on the road
Survey module 122.According to a kind of modification, the lane marker detection module 122 includes camera system.
According to a kind of modification, the vehicle location determining module 120 includes being used to confirm the expectation relative to the road
The confirmation module 124 of lateral vehicle position.According to a kind of modification, it is due to (for example) that driver is recognizing to make the confirmation
Pass through the current horizontal stroke of the confirmation module 124 manual confirmation position of vehicle, and vehicle during the current lateral attitude of vehicle
It is desired locations to position, i.e., vehicle is in the correct track on the road.
According to a kind of modification, the vehicle location determining module 120 includes path determination module 126, and it is provided along vehicle
The predetermined roadway characteristic and the vehicle location along vehicle route in path.
According to a kind of modification, the path determination module 126 includes the cartographic information unit containing the roadway characteristic
126a, wherein, according to a kind of modification, the roadway characteristic include it is relevant have a lot of social connections, track quantity, lane width, from roadside to all
Such as information of the distance of the features of terrain of road barrier.The path determination module also geographical position including such as GPS is true
Determine system 126b.
The vehicle location determining module 120 can include the lane marker detection module 122, confirmation module 124 and
One or more of described path determination module 126.
The system includes being used to handle at the vehicle location of the information of the vehicle location about the road along vehicle route
Manage module 130.According to a kind of modification, the vehicle location processing module 130 deviates it including being arranged in (such as) vehicle
The alert module given a warning in the case of the track of traveling to driver.According to a kind of modification, the vehicle location handles mould
Block 130 is included in vehicle and deviates its desired locations on the road, for example, because of the feelings deviateed deviateing the track of its traveling
The vehicle location correction module of vehicle location is corrected under condition.The vehicle location processing module 130 can both include the warning
Module, includes the vehicle location correction module again.
Electronic control unit 100 is connected to the distance estimation module by the signal of link 105.By electronic control unit
100 are arranged as receiving the expression lateral parts of vehicle and connecing for vehicle route from distance estimation module 110 by link 105
The signal of the distance between the features of terrain of nearly lateral parts data.
Electronic control unit 100 is connected to the vehicle location determining module 120 by the signal of link 115.By electronics control
Unit 100 processed is arranged as receiving vehicle horizontal stroke of the expression from vehicle determining module 120 relative to the road by link 115
To the signal of the horizontal data of position.
According to a kind of modification, electronic control unit 100 is connected to the lane marker detection module 122 by the signal of link 116.
Electronic control unit 100 is arranged as to receive the expression from lane marker detection module 122 relative to the detection by link 116
The signal of the road sign data of the lateral direction of car position of the road sign arrived.
According to a kind of modification, electronic control unit 100 is connected to the confirmation module 124 by the signal of link 117.By electricity
Sub-control unit 100 is arranged as receiving the vehicle horizontal stroke from the expression for confirming module 124 confirmed relative to road by link 117
To the signal of the whether correct data in position.
According to a kind of modification, electronic control unit 100 is connected to the path determination module 126 by the signal of link 118.
Electronic control unit 100 is arranged as to receive the working as along vehicle route of the expression from path determination module 126 by link 118
The signal of roadway characteristic at front position.
Electronic control unit 100 is arranged as to determine phase on the basis of the range data and the lateral attitude data
For the Current vehicle lateral attitude of the road of vehicle route.
According to a kind of modification, electronic control unit 100 is connected to the vehicle location processing module by the signal of link 135
130.Electronic control unit 100 is arranged as to send the expression from vehicle location processing module 130 along car by link 135
The signal of the current position relative to the lateral attitude data of the road of vehicle route in path.
According to a kind of modification, electronic control unit 100 is arranged as, the close side surface part of vehicle route is being taken
The features of terrain divided, for example, the distance of road barrier etc. is in constant scheme at least in certain period of time/section
In the case of, determined by the signal of the expression range data and the lateral attitude data from the lane marker detection module 122
Position of the vehicle in the track on the road.
According to a kind of modification, this be by making range data and position data be compared realization, wherein, to described
The desired locations that the specific range of shape feature corresponds on road, therefore, it is possible at least one side by continuously estimating vehicle
The distance between features of terrain of the close lateral parts of face part and vehicle route and keep this position.
The signal of the lateral attitude data obtained in expression by the detection of the lane marker detection module 122 is in a certain section
On due to the undetectable of the road sign in the case of a period of time that disappears, thus, it is possible to determine edge by the range data
The vehicle location of the road of the vehicle.
According to a kind of modification, electronic control unit 100 is arranged as to take the close side surface part of vehicle route
The features of terrain divided, for example, the feelings of the distance of road barrier etc. scheme constant at least in certain period of time/section
Under condition, position of the vehicle in the track on the road is determined by the signal and confirmation data 124 of the expression range data
Put, the vehicle location along the road of the vehicle is determined from there through the range data.
According to a kind of modification, the distance estimation module 110 is contained in an electronic control unit, the vehicle location
Determining module 120 is contained in another electronic control unit.
Fig. 3 schematically shows the top view of the motor vehicle 1 travelled on road 10, and Fig. 4 a-b are up in road 10
The rearview for the motor vehicle 1 sailed.
Fig. 3 shows the road 10 with two tracks 10a, 10b, road is divided into the roadside graticule 12 in a plurality of track
With road sign 14.Vehicle 1 is just travelled on road 10 in the 10a of one of track.Vehicle 1 contains the side 1a's for being arranged in vehicle 1
First side sensor device 20 on lateral parts, so that the continuously estimation lateral parts of vehicle 1 and connecing for vehicle route
The distance between features of terrain 30 of the nearly lateral parts, side of the vehicle 1 also containing the opposite side 1b for being arranged in the vehicle
Second side sensor 22 on the part of face, so as to continuously measure the close of lateral parts described in the vehicle and vehicle route
The distance between features of terrain 32 of the lateral parts.By corresponding sensing device further 20,22 be arranged as by detecting field 20a,
22a detects lateral parts and features of terrain 30, the distance between 32.The side sensor can be by camera system, wireless
Electric installation and/or laser measuring device for measuring are constituted.
The vehicle contains a kind of with good grounds lane marker detection module 40 for being modified to camera system 40, to detect the road
Road sign 12,14 on 10.The lane marker detection module 40 is arranged as to detect road sign by visual field 40a.Can be by the road sign
Detection module 40 is arranged into before the vehicle and/or behind the vehicle, to realize the described inspection to road sign 12,14
Survey.
Side sensor device 20,22 and camera system 40 are covered into (such as) root together with electronic control unit
Among Fig. 2 system.Vehicle location is determined by the signal by the expression position data from lane marker detection module 40, it
It is compared with the range data from side sensor device 20,22 afterwards, even if road sign 14 is for lane marker detection module
Be for 40 it is sightless, also can by continuously estimate vehicle 1 at least one lateral parts and vehicle route it is close
The features of terrain 30, the distance between 32 of the lateral parts and the position for determining vehicle 1.
In fig .4, the features of terrain of the close lateral parts of the vehicle route is by the respective side in road
On road barrier 130,132 constitute.In fig. 4b, the features of terrain close to a lateral parts of the vehicle route is by oblique
Slope part 230 and vegetation 232 are constituted, and the former can be by constituting from side acclivity, ditch or the equivalent characteristics of road, the latter
Form with the tree close to another relative lateral parts.
Fig. 5 is schematically shown is used for the car for determining the road relative to vehicle route according to an embodiment of the invention
The block diagram of the method for position.
According to one embodiment, the described determination that is used for includes relative to the method for the vehicle location of the road of vehicle route
First step S1.In this step, continuously estimate described at least one lateral parts of vehicle and the close of vehicle route
The distance between features of terrain of lateral parts.
According to one embodiment, the described determination that is used for includes relative to the method for the vehicle location of the road of vehicle route
Second step S2.In this step, the lateral attitude of vehicle is determined based on the distance so determined.
With reference to Fig. 6, it illustrates the diagram of the embodiment of equipment 500.In embodiment, the control list described with reference to Fig. 2
Member 100 includes equipment 500.Equipment 500 contains nonvolatile memory 520, data processing unit 510 and read/writable memory device
550.Nonvolatile memory 520 has the computer program of the function to control device 500 of storage such as operating system
First memory part 530.Equipment 500 also containing bus control unit, communication port, I/O devices, A/D converter, when
Between and the date input and delivery unit, event counter and finishing control device (not shown).The nonvolatile memory 520 is also
With second memory part 540.
There is provided a kind of computer program P, its contain can the method according to the invention determine road relative to vehicle
Vehicle location routine.Program P contains for continuously estimating at least one lateral parts of vehicle and connecing for vehicle route
The features of terrain 30,32 of the nearly lateral parts；130、132；230th, the distance between 232 routine.Program P, which contains, to be used for
The routine of the lateral attitude of vehicle is determined on the basis of the distance so estimated.Can by program P in executable form or with
Compressed format storage is arrived in memory 560 and/or read/writable memory device 550.
When narrative data processing unit 510 performs set function, it should be understood that data processing unit 510 performs storage
Certain part of the program of the memory storage of device 560, or certain for the program being stored in read/writable memory device 550 are a part of.
Data processing equipment 510 can be communicated by data/address bus 515 with FPDP 599.Nonvolatile memory 520
It is intended to communicate with data processing unit 510 by data/address bus 512.Single memory 560 be intended to by data/address bus 511 with
Data processing unit 510 communicates.The read/writable memory device 550 is arranged as by data/address bus 514 and data processing unit
510 communications.For example, can be by the link connection related to control unit 100 to FPDP 599.
When receiving data at FPDP 599, it is temporarily stored in second memory part 540.Once
The input data received is temporarily stored, just data processing unit 510 is arranged as by above-described
Certain mode operation code.Equipment 500 can continuously estimate vehicle extremely using the signal received at FPDP 599
The features of terrain 30,32 of the close lateral parts of few a lateral parts and vehicle route；130、132；230th, between 232
Distance.Equipment 500 can be true using the signal received at FPDP 599 on the basis of the distance so estimated
Determine the lateral attitude of vehicle.
The side of the data processing unit 510 for the program that can be stored in run memory 560 or read/writable memory device 550
Help down the various pieces that the method described in text is performed by equipment 500.In 500 operation program of equipment, perform described in text
Method.
For illustration and descriptive purpose there is provided description above to the preferred embodiments of the present invention.It is not
Exhaustion is intended for, described modification is also not limited the invention to.To those skilled in the art, many modifications
It will be evident with change.Chosen and describe embodiment, its object is to the present invention and its practical application are made most
Good explanation, and those skilled in the art is understood the present invention using various embodiments of the present invention and is expected being applicable
In the various modifications of target service condition.
Claims (15)
1. one kind is used for the method for determining position of the vehicle (1) relative to the road (10) of vehicle route, it is characterised in that following
Step：
- continuously estimate at least one lateral parts of (S1) described vehicle and the close lateral parts of the vehicle route
Features of terrain (30,32；130,132；The distance between 230,232)；
- determine horizontal stroke of the vehicle relative to the road (10) by detecting the road sign (12,14) on the road (10)
To position；
- at least one lateral parts based on the vehicle estimated and the close lateral parts of the vehicle route
Features of terrain (30,32；130,132；230,232) the distance between and the identified vehicle is relative to the road
(10) lateral attitude is estimated from the road to the features of terrain (30,32；130,132；230,232) distance；
- at least one lateral parts of the vehicle and the vehicle route is close at least in certain period of time/section
The features of terrain (30,32 of the lateral parts；130,132；230,232) distance between is constant along the path
In the case of, in the close lateral parts of at least one lateral parts and the vehicle route of the vehicle estimated
Features of terrain (30,32；130,132；230,232) the distance between and estimated it is special from the road to the landform
Levy (30,32；130,132；230,232) lateral attitude of (S2) vehicle is determined on the basis of distance.
2. according to the method described in claim 1, wherein, the features of terrain (30,32) include the object related to road.
3. method according to claim 2, wherein the object is road barrier (130,132), and/or side graticule, road
Road terminal, and/or vegetation (232), and/or the ramp portion (23) existed, and/or barrier part.
4. according to the method described in claim 1, wherein, pass through the side sensor device (20,22 on the vehicle (1)；
110) the close side surface part of at least one lateral parts Yu the vehicle route for continuously estimating the vehicle is performed
The features of terrain (30,32 divided；130,132；230,232) between it is described apart from the step of.
5. method according to claim 4, wherein, the side sensor device be camera system, radar installations and/
Or laser measuring device for measuring.
6. according to the method described in claim 1, wherein it is determined that the vehicle (1) relative to the road (10) horizontal position
The step put includes validating that expectation lateral attitude of the vehicle relative to the road (10).
7. according to the method described in claim 1, wherein it is determined that the vehicle (1) relative to the road (10) horizontal position
Position of the step put using the predetermined characteristic and the vehicle (1) of the road (10) along the vehicle route
Put.
8. one kind is used to determine system of the vehicle (1) relative to the position of the road of vehicle route, it is characterised in that：For continuous
Estimate the features of terrain of at least one lateral parts of the vehicle (1) and the close lateral parts of the vehicle route in ground
(30,32；130,132；230,232) module (20,22 the distance between；100,110)；For by detecting the road
(10) road sign (12,14) on determines the module of lateral attitude of the vehicle relative to the road (10)；For based on
The features of terrain of at least one lateral parts for the vehicle estimated and the close lateral parts of the vehicle route
(30,32；130,132；230,232) the distance between and the identified vehicle relative to the road (10) transverse direction
Position is estimated from the road to the features of terrain (30,32；130,132；230,232) module of distance, Yi Jiyong
It is described at least one lateral parts of the vehicle at least in certain period of time/section and approaching for the vehicle route
The features of terrain (30,32 of lateral parts；130,132；230,232) distance between is along the constant situation in the path
Under the vehicle estimated at least one lateral parts and the vehicle route the close lateral parts ground
Shape feature (30,32；130,132；230,232) the distance between and estimated from the road to the features of terrain
(30,32；130,132；230,232) module (40 of the lateral attitude of the vehicle (1) is determined on the basis of distance；
110；120).
9. system according to claim 8, wherein, the features of terrain (30,32) includes the object related to road.
10. system according to claim 9, wherein, the object is 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. system according to claim 8, wherein, at least one side surface part for continuously estimating the vehicle (1)
Divide the features of terrain (30,32 with the close lateral parts of the vehicle route；130,132；230,232) it is described between
The module of distance includes the side sensor device (20,22 on the vehicle；110).
12. system according to claim 11, wherein, the sensor device (20,22；110) it is camera system, thunder
Up to device and/or laser measuring device for measuring.
13. system according to claim 8, wherein, for by detecting that the road sign (12,14) on the road (10) comes
Determine that the module of lateral attitude of the vehicle relative to the road includes being used to confirm the vehicle (1) relative to institute
State the module (124) of the expectation lateral attitude of road (10).
14. system according to claim 8, wherein, for by detecting that the road sign (12,14) on the road (10) comes
Determine predetermined characteristic and institute of the module of lateral attitude of the vehicle relative to the road using the road
State the module (126) of position of the vehicle along the vehicle route.
15. a kind of motor vehicle (1), it includes the system according to any one of claim 8-14.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SE1250212-6 | 2012-03-07 | ||
| SE1250212A SE537900C2 (en) | 2012-03-07 | 2012-03-07 | Procedure and system for determining vehicle position |
| 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 CN104334440A (en) | 2015-02-04 |
| CN104334440B true 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) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| DE102016213782A1 (en) | 2016-07-27 | 2018-02-01 | 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 |
| CN106530794B (en) * | 2016-12-28 | 2019-03-01 | 上海仪电数字技术股份有限公司 | The automatic identification and calibration method and system of carriage way |
| 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 |
| 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 |
| 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 |
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- 2013-02-28 EP EP13757023.0A patent/EP2822839A4/en not_active Withdrawn
- 2013-02-28 WO PCT/SE2013/050181 patent/WO2013133752A1/en active Application Filing
- 2013-02-28 CN CN201380020057.1A patent/CN104334440B/en not_active Expired - Fee Related
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| DE10337845A1 (en) * | 2003-08-18 | 2005-03-31 | Robert Bosch Gmbh | Control arrangement for motor vehicle, e.g. for determining position of vehicle on road, uses control device for receiving measurement signals for ascertaining distance to objects on/near carriageway |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2013133752A1 (en) | 2013-09-12 |
| SE537900C2 (en) | 2015-11-17 |
| EP2822839A4 (en) | 2017-07-12 |
| CN104334440A (en) | 2015-02-04 |
| SE1250212A1 (en) | 2013-09-08 |
| EP2822839A1 (en) | 2015-01-14 |
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