CN108335484B - Method for positioning a vehicle according to a lane - Google Patents
Method for positioning a vehicle according to a lane Download PDFInfo
- Publication number
- CN108335484B CN108335484B CN201810052388.8A CN201810052388A CN108335484B CN 108335484 B CN108335484 B CN 108335484B CN 201810052388 A CN201810052388 A CN 201810052388A CN 108335484 B CN108335484 B CN 108335484B
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- 238000000034 method Methods 0.000 title claims abstract description 42
- 238000004590 computer program Methods 0.000 claims abstract description 5
- 238000011156 evaluation Methods 0.000 claims description 10
- 230000001419 dependent effect Effects 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 description 14
- 238000011161 development Methods 0.000 description 6
- 230000000875 corresponding effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000004069 differentiation Effects 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/065—Traffic control systems for road vehicles by counting the vehicles in a section of the road or in a parking area, i.e. comparing incoming count with outgoing count
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
- G08G1/147—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas where the parking area is within an open public zone, e.g. city centre
Abstract
The invention relates to a method for positioning a vehicle (10) according to a lane, comprising the following steps: -determining data relating to a free space (15) between vehicles (11) on at least one adjacent lane (1A,1B,1C) by means of determining that a vehicle (10) is traveling on a driving route (1) having at least two lanes (1A,1B,1C) and by means of determining means arranged in the determining vehicle (10) on the basis of an echo profile; and-determining the lane (1A,1B,1C) in which the determining vehicle (10) is located by comparing the defined known data with the determined data relating to the free space (15). The invention also relates to a corresponding device and a corresponding computer program.
Description
Technical Field
The invention relates to a method for positioning a vehicle according to a lane. The invention also relates to a device for positioning a vehicle according to a lane.
Background
Different methods are known in the prior art for detecting parking spaces by means of distance-based sensors (e.g. ultrasonic sensors, radar sensors, laser sensors, video sensors, lidar sensors). Since the sensors are each mounted on some side of the vehicle undergoing detection, information about these detected vehicle sides is also detected together.
The transfer of data relating to parking spaces to servers is known, for example, from DE 102004062021 a1, DE 102009028024 a1 and DE 102008028550 a 1.
Disclosure of Invention
The object of the invention is to provide a method for positioning a vehicle according to a lane.
According to a first aspect, this object is achieved by a method for positioning a vehicle according to a lane, comprising the steps of:
-determining data relating to the free space between vehicles on at least one adjacent lane by means of a determining vehicle driving on a driving road having at least two lanes and by means of a determining device arranged in the determining vehicle on the basis of an echo profile (echoprofile); and
-determining the lane in which the vehicle is located by comparing the defined known data with the determined data relating to free space.
In this way, the vehicle can be determined as a function of the lane position, wherein the lane on which the vehicle is moving is identified on an at least two-lane driving route. This is very advantageous for many applications within a vehicle, especially for applications involving automated driving. In this way, increased safety and improved traffic flow in road traffic are advantageously supported.
According to a second aspect, the object is achieved by a device for positioning a vehicle according to a lane, having:
a determination device arranged in the determination vehicle for determining data relating to the free space between the vehicles on at least one adjacent lane from the echo waveform of the determination device, wherein the device is designed for determining the lane in which the determination vehicle is located from the defined known data and the determined data relating to the free space.
According to a third aspect, a computer program product is provided, which has program code means for carrying out the method according to the invention when the computer program product is stored on a computer-readable data carrier or on an evaluation device of an evaluation vehicle and/or is run on a server device.
The preferred embodiment of the method and the device is an extension of the invention.
An advantage of an advantageous further development of the method is that the defined known data is at least one of the following: the number of lanes in which the vehicle is located, the lateral distance between the vehicle and at least one adjacent lane, and the number of lanes on a reverse driving road are obtained. In this way, different previously known static data can be used advantageously in order to carry out lane-dependent vehicle positioning.
A further advantageous development of the method has the advantage that the data relating to the free space are transmitted to the server device together with the determination of the speed and/or the determination of the position of the vehicle. The server device with the transmitted data can thus optionally independently perform a vehicle positioning according to the lane and/or use the data for another purpose.
In a further advantageous embodiment of the method, the positioning according to the lane is performed by the acquisition vehicle and/or by the server device. In this way, some alternative possibilities for lane positioning are provided. High data real-time is supported when the vehicle is located by means of the determination. Additional evaluation of the analysis is possible with the aid of the server device for localization, since the server device generally has a greater computing capacity and/or data memory than the determination of the vehicle.
A further advantageous development of the method provides that the estimation of the flow in at least one adjacent lane and/or the reverse lane of the vehicle is carried out. Advantageously, further availability data can also be obtained in this way.
A further advantageous development of the method provides that the differentiation between the detected free space being formed between parked vehicles and between vehicles located on other lanes is carried out by:
-comparing the found data relating to free space with a digital parking space map; and
-comparing the found data relating to free space with a digital map containing road use widths; and
analyzing the frequency of the determined data relating to free space with respect to determining the own speed of the vehicle.
In this way, a reliable distinction between parked vehicles and vehicles traveling on adjacent lanes can advantageously be achieved.
In a further advantageous development of the method, the determined geometry of the roadway on which the vehicle is located is inferred from the determined data relating to the positioning of the vehicle lane. In this way, useful data for updating the digital road map can also be provided.
According to one advantageous further development, the determination vehicle has a radio-based communication device for transmitting the determination data of the determination device to the server device.
According to a further advantageous embodiment, the lane-dependent positioning can be performed by means of the ascertaining device and/or by means of the server device.
The invention is described in detail below with the aid of further features and advantages, on the basis of a number of figures. All disclosed features form the subject matter of the invention independently of their reference in the claims and independently of their representation in the description and the drawings. The drawings are particularly considered to illustrate principles important to the present invention.
The disclosed method features are analogously derived from the corresponding disclosed apparatus features and vice versa. This means, in particular, that features, technical advantages and implementations relating to the method for locating a vehicle according to a lane are derived in a similar manner from corresponding implementations, features and advantages relating to the device for locating a vehicle according to a lane and vice versa.
Drawings
Shown in the drawings are:
figure 1 is used to illustrate the traffic scenario of the functional principle of an embodiment of the proposed method,
figure 2 is used to illustrate a traffic scenario of the functional principle of another embodiment of the proposed method,
fig. 3 is a traffic scenario for illustrating the functional principle of a further embodiment of the proposed method, and
fig. 4 is a schematic flow diagram of an embodiment of the method of the present invention.
Detailed Description
Fig. 1 shows a traffic scenario for illustrating the principle functional way of the proposed method. A determination vehicle 10 is visible, which travels on a two-lane road or road 1 on the left lane 1A. On the driving route 1, further vehicles 11 are visible on the other lane 1B, wherein free spaces 15 or empty spaces are formed between the vehicles 11. The determination vehicle 10 has a determination device (not shown) for detecting the free space 15, wherein the determination device for this purpose has, for example, an ultrasonic sensor, a radar sensor or another suitable sensor for determining the lateral distance to an object.
In this case, it is provided that a so-called free space 15 is detected during travel on the lane 1A, wherein for this purpose the lateral distance to the vehicle 11 is determined by a determination device of the vehicle 10. In this way, the lateral distance between the vehicle 10 and the vehicle 11 is determined as much as possible, wherein the measurement is carried out at right angles to the left and to the right of the vehicle 10.
At regular time intervals, the evaluating vehicle 10 with the sensor system detects the free spaces 15 between the right-hand vehicles 11 and transmits these optionally together with its own GPS position and speed to a server system (not shown, "server-side evaluation") or processes the information locally in the evaluating vehicle 10.
The detection of the free space 15 (which has been detected by means of the so-called distance-based method carried out in this way during the drive past) generally contains this information: whether the detection is performed by the seeking vehicle 10 on the left side or the right side. Furthermore, information about the length and width of the free space 15 can be derived from the lateral spacing with respect to the vehicle 10. For this purpose, it is also possible to use the knowledge of the speed of the vehicle 10 and the time interval between these detections.
In this case, it is provided that the determination of the lane position of the vehicle 10 or the position dependent on the lane is carried out by comparing the distance-based lateral free-space detection with a digital road map which is known per se and is available.
This may be performed by means of at least one of the following known information or data of the digital road map:
determining the number of lanes 1A,1B,1C of the driving route 1 on which the vehicle 10 is located,
the distance between the vehicle 10 and the road on which the vehicle is travelling in the reverse direction is determined,
-the number of lanes of the reverse driving road,
in general, the data can be derived from a digital road map, which must be available on a server device or also locally in the acquisition vehicle 10. In this way, the method can advantageously be executed both at least partially on the server device and at least partially locally on the seeking vehicle 10.
Furthermore, the speed of the flow on the adjacent lane 1B of the vehicle 10 can advantageously also be determined by means of the proposed method. Here, the method utilizes information from the above-described free space detection between the vehicles 11 based on distance.
After comparison with a digital road map (in fig. 1: the driving road 1 has two lanes 1A,1B, and no reverse driving road or reverse lane is nearby), it is recognized that the vehicle 10 is located on the left lane 1A of the driving road 1. It is furthermore possible to estimate how fast the flow is on the adjacent lane 1B from its own speed by means of the frequency of free-space detection. The same method works in reverse when it is sought that the vehicle 10 is moving forward on a left-hand road (not shown).
Advantageously, the method can also be carried out on a driving route 1 having more than two lanes, as is shown in fig. 2 for a driving route 1 having an exemplary three lanes 1A,1B, 1C. In this case, the frequency of the free-space detection in the right and left lanes 1A,1C is correlated with the speed of the vehicle 10 itself in order to determine the flow in the adjacent lanes 1A and 1C in this way. As a result, by detecting the free spaces 15 on the left and right sides of the seeking vehicle 10, it is possible to realize the positioning of the seeking vehicle 10 onto the center lane 1B.
The traffic scenario of fig. 3 shows a further embodiment of the proposed method in a schematic manner. In this case, the determination vehicle 10 detects the free space 15 between the vehicles 11 on the reverse lane 2A of the driving route 1 at defined time intervals and transmits the corresponding data together with its own GPS position and speed to the server device or evaluates these data locally in the determination device of the determination vehicle 10.
After comparing these data with a digital road map (in fig. 3: the driving road 1 has only one lane 1B, the reversing lane 2A is directly adjacent to it), it is possible to estimate how fast or how large the flow of traffic is on the reversing lane 2A by means of the frequency of the free space detection, depending on the speed of the vehicle 10 itself.
The differentiation between the detected free space 15 being formed between parked vehicles and vehicles travelling on other lanes is carried out by the following three steps applied in combination:
1) comparison with digital parking space map
2) The digital map contains the available width of the road (the distance between parked vehicles on both sides of the road)
3) The frequency of free space detection is analyzed with respect to finding the own velocity of the vehicle 10. Here, the pattern of the frequency of free space detection of the vehicle on the other lane is different from the pattern of the frequency of free space detection of the parked vehicle.
When free space probes are collected over a longer period of time and placed in correlation between different vehicles, the following applications may also be derived when processed on the server device:
by detecting the location information of a plurality of vehicles (for example by GPS tracking or the like), it is already possible in a conventional manner to deduce the road geometry and to learn the course of the road. However, a difficulty with these conventional methods is distinguishing the trajectories of the individual lanes on a multi-lane road.
By analyzing the frequency of the free-space detection with respect to determining the own speed of the vehicle 10, individual travels can be classified according to the lane traveled. Thus, the detected "inaccurate" driving trajectory can be assigned to the individual lanes, so that in this way the geometry and the characteristics of the individual lanes can be learned.
Advantageously, the information about lane positioning and the speed of the flow of the reversing lane can be provided to the driver in combination with other information directly for use in the motor vehicle application.
Advantageously, the proposed method can be used for most applications. Examples that can be considered are the utilization of navigation applications and/or the increase of Real-Time Traffic detection (Real-Time Traffic Information). Furthermore, it is also possible to use the determined information for traffic analysis purposes, for example for creating/updating digital maps.
Advantageously, the determination of the lane position can already be carried out in the determination of the vehicle 10 itself, for example by means of a determination device or a controller provided for this purpose. Alternatively or additionally, it is also conceivable for all the determined data to be transmitted to a server device (not shown) by means of a radio-based communication device (not shown), not shown, of the vehicle 10 (for example, based on GSM, EDGE, UMTS, LTE, WLAN, etc.).
As a result, in this way, data of the lane in which the vehicle 10 is located can be transmitted to an application of the vehicle 10, for example in the form of a graphic representation on a navigation device, in the form of an application for highly automated driving, etc.
Preferably, the method may be implemented as software, thereby enabling easy adaptibility or updateability of the method.
Fig. 2 shows a schematic flow diagram of an embodiment of the method of the invention.
In step 100, data relating to a free space 15 between vehicles 11 on at least one adjacent lane 1A,1B,1C are determined by means of a determining vehicle 10 traveling on a driving route 1 having at least two lanes 1A,1B,1C and by means of a determining device arranged in the determining vehicle 10 on the basis of an echo profile.
In step 110, the lane 1A,1B,1C in which the vehicle 10 is located is determined by comparing the defined known data with the determined data relating to the free space 15.
Although the present invention has been described above with reference to specific application examples, the skilled person may also realize the disclosed embodiments before without or only in part, without departing from the core of the present invention.
Claims (11)
1. Method for positioning a vehicle (10) according to a lane, having the steps of:
-determining data relating to a free space (15) between vehicles (11) on at least one adjacent lane (1A,1B,1C) by means of determining that a vehicle (10) is traveling on a driving route (1) having at least two lanes (1A,1B,1C) and by means of determining means arranged in the determining vehicle (10) on the basis of an echo profile; and
-finding the lane (1A,1B,1C) in which the finding vehicle (10) is located by comparing the defined known data with the found data relating to the free space (15).
2. The method of claim 1, wherein the defined known data is at least one of: the number of lanes (1A,1B,1C) in which the vehicle (10) is located, the lateral distance between the vehicle (10) and at least one adjacent lane (1A,1B,1C,2A), and the number of lanes on a reverse driving road are determined.
3. Method according to claim 1 or 2, wherein data relating to the free space (15) is transmitted to a server device together with the speed of the seeking vehicle (10) and/or the position of the seeking vehicle (10).
4. Method according to claim 3, wherein the lane-dependent positioning is performed by the ascertaining vehicle (10) and/or by the server device.
5. Method according to claim 1 or 2, wherein an estimation of the traffic flow on at least one adjacent lane and/or a reverse lane of the seeking vehicle (10) is performed.
6. Method according to claim 1 or 2, wherein the distinction between whether the detected free space (15) is built between parked vehicles (11) or between vehicles (11) located on other lanes (1A,1B,1C,2A) is performed by:
-comparing the found data relating to free space (15) with a digital parking space map; and
-comparing the found data relating to free space (15) with a digital map containing the available width of the road; and
-analyzing the frequency of the ascertained data relating to free space (15) with respect to the own speed of the ascertained vehicle (10).
7. Method according to claim 1 or 2, wherein the driving path geometry in which the vehicle (10) is located is deduced from the determined data relating to the positioning according to the lane.
8. An apparatus for positioning a vehicle (10) according to a lane, having:
-an evaluation device arranged in the evaluation vehicle (10) for evaluating data relating to a free space (15) between vehicles (11) on at least one adjacent lane (1A,1B,1C) from an echo waveform of the evaluation device, wherein the apparatus is configured for evaluating the lane (1A,1B,1C) in which the evaluation vehicle (10) is located from defined known data and the evaluated data relating to the free space (15).
9. The device according to claim 8, wherein the ascertaining vehicle (10) has a radio-based communication device for transmitting the ascertaining data of the ascertaining device (12) to a server device.
10. Device according to claim 9, wherein the lane-dependent positioning can be performed by means of the ascertaining means and/or by means of the server means.
11. A computer-readable data carrier, on which a computer program is stored, which has program code means for carrying out the method according to one of claims 1 to 7 when the computer program is run on an evaluation device of an evaluation vehicle (10) and/or on a server device.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102017200865.2 | 2017-01-19 | ||
| DE102017200865.2A DE102017200865A1 (en) | 2017-01-19 | 2017-01-19 | Method for the lane-specific positioning of a vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108335484A CN108335484A (en) | 2018-07-27 |
| CN108335484B true CN108335484B (en) | 2022-04-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810052388.8A Active CN108335484B (en) | 2017-01-19 | 2018-01-19 | Method for positioning a vehicle according to a lane |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN108335484B (en) |
| DE (1) | DE102017200865A1 (en) |
| FR (1) | FR3061984B1 (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102018218043A1 (en) * | 2018-10-22 | 2020-04-23 | Robert Bosch Gmbh | Determination of a number of lanes and lane markings on road sections |
| DE102018221178A1 (en) * | 2018-12-06 | 2020-06-10 | Robert Bosch Gmbh | Localization system |
| DE102022118987A1 (en) | 2022-07-28 | 2024-02-08 | Volkswagen Infotainment Gmbh | Method for checking a parking area for a motor vehicle |
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Also Published As
| Publication number | Publication date |
|---|---|
| FR3061984A1 (en) | 2018-07-20 |
| FR3061984B1 (en) | 2021-07-23 |
| DE102017200865A1 (en) | 2018-07-19 |
| CN108335484A (en) | 2018-07-27 |
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