DE112014002959T5 - Determination of the lane position - Google Patents

Abstract

Method (500) and arithmetic unit (110) in a vehicle (100) for determining the track position of the vehicle (100) on a road (130). The method (500) includes determining (501) the geographic location (140) of the vehicle (100). The method (500) further comprises detecting (502) a reference object (150, 160, 170) associated with the road (130) by a sensor (120) and a comparison (504) in a cartographic database (640) between stored track related data for the determined (501) geographic location (140) and the recognized (502) reference entity (150, 160, 170) at the geographic location (140). The method (500) further comprises determining (505) the lane position of the vehicle (100) by matching the detected (502) roadside (130) associated reference object (150, 160, 170) with stored lane-related data for the particular (501) geographic position (140) of the vehicle (100).

Description

Technical field of the invention

The invention relates to a method and a computing unit that belong to a vehicle. In particular, the invention relates to a mechanism for determining the lane position of a vehicle on a road.

background

A vehicle may use a warning system, sometimes referred to as a lane departure warning (LDW), to alert the driver that the vehicle is at risk of running over a lane marking line or to initiate an active intervention to prevent the vehicle from malfunctioning Run over line, such as steer or brake the vehicle in the opposite direction.

Vehicle in this context means, for example, lorry, semitrailer, delivery truck, private vehicle, ambulance, passenger car, off-road vehicle, tracked vehicle, bus or a similar manned or unmanned means of transport, which is primarily suitable for a geographic movement on land.

Issuing a warning and / or taking accident mitigation measures allows the driver to be warned that the lane marking line is being run over by the vehicle, e.g. B. because the driver has dozed or lost for another reason, the concentration on the road and the traffic situation. The vehicle can thus be prevented from driving off the road or driving on the opposite lane and causing a head-on collision with an oncoming vehicle there.

Such a warning system in the vehicle comprises a camera which recognizes the traffic lane marking lines on the road and recognizes the distance to the lane marking lines by image processing.

A problem with existing warning systems is that in these the camera must be able to recognize the lane marking lines.

However, lane marking lines may often be unclear or worn due to traffic and / or inadequate maintenance. In addition, lane marking lines may be completely or partially covered by snow / ice (mainly in winter), fallen leaves (mainly in autumn), water and / or sand (other seasons).

Yet another problem with available warning systems is that the camera, due to darkness, fog, heavy rainfall or the like, is unable to see ahead of the vehicle far enough ahead to recognize the lane marking lines.

Further, in heavy traffic, for example, the camera may sometimes be unable to recognize the lane marking lines because other surrounding vehicles are obscuring their vision.

As a result, the function of the warning system to warn the driver when driving over a lane marking line, is rendered ineffective, with the result that the inattentive driver despite the warning system is at risk of leaving the road. Perhaps the vehicle warning system will simply give the driver a false sense of security that may cause him or her to be more likely to relax and / or engage in attention-grabbing activities or deal with their mobile phone or the like than would the vehicle no warning system at all

Yet another problem that can arise for the driver is that the road, including lane marking lines on the road, is covered with snow in winter, for example. When driving, perhaps especially in an open rural landscape and / or poor visibility due to snowfall, darkness, etc., it may be difficult for the driver to see the road at all, which may cause the vehicle to dig into a ditch. Existing warning systems are of little or no help in such situations as the camera is unable to detect lane marking lines.

Further, in existing warning systems, the camera is sometimes unable to distinguish between real lane marking lines on the road and fake lines on the road resulting from tire marks such as mud, rubber bumps due to vehicle braking / slippage of tires on the road, or simply fading or graffiti ,

As a result, warning systems may be induced to generate false warnings and / or accident avoidance measures in the form of evasive maneuvers that may surprise surrounding road users and thus cause near misses. Furthermore, repeated false warnings of this type can irritate the driver and entice him, as a result, his warning system switch off, which then destroys the purpose of the warning system.

It is clear that there is still much work to be done to achieve a reliable warning system in a vehicle to warn the driver that he is crossing lane marking lines.

Summary of the invention

It is therefore an object of this invention to improve a warning system in a vehicle to solve at least one of the above problems and thus to achieve vehicle improvement.

According to a first aspect of the invention, this object is achieved by a method in a computing unit in a vehicle for determining the lane position of the vehicle on a road. The method includes determining the geographic position of the vehicle. The method further includes detecting a reference object associated with the road by a sensor. The method further comprises comparing stored track related data for the determined geographic location with the identified reference asset at that geographic location in a cartographic database. The method further comprises determining the lane position of the vehicle by matching the detected lane-related reference object with stored lane-related data for the particular geographic location of the vehicle.

According to a second aspect of the invention, this object is achieved by a method in a computing unit in a vehicle, wherein the computing unit is configured to determine the track position of the vehicle on a road. The computing unit includes a signal receiver configured to receive a signal from a sensor included in the vehicle, the signal representing a recognized reference object associated with the road. The computing unit further includes a processor circuit configured to determine the geographic location of the vehicle. The processor circuitry is also adapted to compare stored lane-related data for the particular geographic location with a detected reference object at that geographic location and to determine the lane position of the vehicle by matching the detected reference object with lane-related data for the geographic location of the vehicle.

Comparing reference points in the surroundings of the vehicle with the stored track-related data for the corresponding geographical position thus enables a determination of the positions of the lane lines on a road and a determination of the position of the vehicle in relation thereto. This allows better access to the lane departure warning function in situations where the function is most needed, ie. H. in poor visibility and poor road conditions, such as when the lane markings on the road are covered with snow, for example. According to certain embodiments, the number of false warnings is also reduced because lane detections such as tire marks in the snow may be filtered out and rejected by the method, e.g. B. if on the basis of information from cartographic data, the distance between two recognized lanes is nonsensical. An improved warning system for a lane departure is thus achieved in a vehicle, which leads to a vehicle improvement.

Other advantages and additional novel features will become apparent from the following detailed description of the invention.

List of figures

The invention will now be described in more detail with reference to the attached figures, which illustrate various embodiments of the invention:

1 1 illustrates an embodiment of a vehicle having a computing unit according to one embodiment.

2A Figure 11 illustrates a road section viewed from above with intact lane marking lines on the road and a reference object associated with the road.

2 B Figure 10 illustrates a road section, viewed in cross-section from the end of the road, with intact lane marking lines on the road and a reference object associated with the road.

3A Figure 11 illustrates a top-viewed road section with partially covered lane marking lines on the road, a roadside reference object, and a vehicle according to one embodiment.

3B Figure 12 illustrates a road section, as seen in cross-section from the end of the road, with partially covered lane marking lines on the road, a roadside reference object, and a vehicle according to one embodiment.

4A FIG. 10 illustrates a road section viewed from the perspective of the driver in the vehicle, with the road section at least partially covered, according to one embodiment Lane marking lines on the road and has a reference object belonging to the road.

4B 10 illustrates an enlargement on a display screen in the vehicle, according to an embodiment, on which screen the driver may view the position of the vehicle relative to the lane marking lines on the road.

5 shows a flowchart illustrating an embodiment of the invention.

6 is an illustration of a computing unit according to an embodiment of the invention.

Detailed description of the invention

The invention is defined as a method and a computing unit for determining the lane position of the vehicle on the road, which may be implemented in any of the embodiments described below. However, this invention may be embodied in many different forms and is not to be considered as limited to the embodiments described herein, which are instead intended to elucidate and clarify various aspects of the invention.

Additional aspects and features of the invention may be derived from the following detailed description when considered in conjunction with the accompanying drawings. However, the figures are to be considered as illustrative only of various embodiments of the invention and not as limiting the invention, which is limited solely by the appended claims. Furthermore, the figures are not necessarily to scale, and are intended to conceptually illustrate the aspects of the invention, unless expressly stated otherwise.

1 shows a vehicle 100 in one direction of travel 105 , This direction of travel 105 refers to an existing or planned direction of travel 105 ie the vehicle 100 can in the direction of travel 105 be in motion or standing, ready for a planned movement in the direction of travel 105 ,

The vehicle 100 contains a computing unit 110 and a sensor 120 , The arithmetic unit 110 is set up to track the vehicle on a road 130 based on information to be determined by the sensor 120 detected and to the arithmetic unit 110 be determined.

The sensor 120 can be in or on the vehicle 100 be mounted, z. B. in or at the driver's cab. The sensor 120 For example, a 3D camera, a time-of-flight camera (ToF camera), a stereo camera, a light field camera, a camera, a radar device, a laser measuring device such as Light Detection And Ranging (LIDAR, photo-guided positioning and distance measurement), sometimes referred to as LADAR or laser radar, or include or consist of a similar device arranged to determine distance.

A LIDAR is an optical measuring device that measures reflected light properties to determine the distance to distant objects and / or other properties of the same. The technology is reminiscent of radar (Radio Detection and Ranging, radio-aided location and distance measurement), but light is used instead of radio waves. The distance to an object is typically measured by measuring the time delay between a transmitted laser pulse and the recorded reflection from the object.

A ToF camera is a type of camera that captures an image sequence and measures a distance to an object based on the known speed of light by measuring the amount of time that the light signal takes to pass between the camera and the object , z. Example by measuring the phase shift between a transmitted light signal and a received reflection of the light signal from the object.

In certain embodiments, more than one sensor may be used 120 at the vehicle 100 be mounted. An advantage of more than two sensors 120 is that more reliable distance determinations can be made and by an additional sensor a larger area can be monitored. In such embodiments with more than one sensor 120 can the sensor 120 According to various embodiments consist of the same type of sensors or other types of sensors.

As noted above, the vehicle contains 100 also a computing unit 110 which is set up to take measurement data from the sensor 120 receive and perform calculations based on these measurement data. For example, a distance from the vehicle 100 to the lane markings on the road and / or other to the road 130 belonging reference objects by the sensor 120 measured and to the arithmetic unit 110 which can compare the measured value with the track-related data for the corresponding road section and thereby determine where the lane markings of the road are located and determine whether the vehicle 100 the lane markings passes over.

With the help of a cartographic database and a specific geographic location, eg. As a GPS position, it is possible to detect how many lanes the corresponding road 130 Has. If the sensor 120 one or a plurality of lane markers or other reference object near the road 130 can successfully recognize, a model of the corresponding road section can serve to estimate where the other lane markings should be.

The sensor 120 may also be arranged to detect distances to reference objects such as occurring objects, such as a center line, a road sign, a wall, a building, a tree, or the like, and thereby allow the modeled lane marking lines to be placed at proper intervals, the detected objects are referred to as a reference.

Thus, according to certain embodiments, this allows better access to the warning function on lane departure in situations where the function is most needed, ie. H. in poor visibility and poor road conditions. According to certain embodiments, the number of false warnings is also reduced because incorrect lines can be filtered out and rejected by the method, e.g. B. if on the basis of information from cartographic data, the distance between two recognized lanes is nonsensical.

In the case of a muddy road 130 in which asphalt is exposed in the tire tracks, measuring points are likely to be missing where the asphalt is exposed. Without anything else, exposing for the sensor 120 be calibrated to occur, and then, according to various embodiments, it is possible to use an IR-based sensor 120 to use as an asphalt detector on a snow-covered road or as a tire track detector to obtain an indirect knowledge of the road, or a sensor 120 indicating if there really are lines or something else.

2A shows a geographical position 140 the street 130 with a variety of intact lane marking lines 150 , a center line plank 160 and a ditch 170 at the side of the road 130 , viewed from a bird's eye view. These features of the road 130 , ie lane marking lines 150 , the center plank 160 and the ditch 170 can than to the street 130 belonging reference objects 150 . 160 . 170 be designated.

2 B shows the same geographic location as in 2A illustrated but viewed in cross-section from the end of the road section.

3A shows a section of road 130 on which certain lane marking lines 150 z. B. are covered with snow, sand or the like or are difficult to see due to wear or inadequate maintenance.

Here we also see an embodiment of the vehicle 100 with the sensor 120 that's specific to the road 130 belonging reference objects 150 . 160 . 170 detects (see broken lines).

For example, the sensor 120 in this example successfully a distance from the vehicle 100 to a guardrail 160 , a distance from the vehicle to a lane marking line 150 that the sensor 120 successfully recognizes, and a ditch or a snowdrift 170 recognize and determine. Based on these measurements, an imaging and matching process can be performed with corresponding reference objects 150 . 160 . 170 at the appropriate geographic location based on cartographic data from a cartographic database. Thus, for example, virtual lane marking lines may be provided in accordance with certain embodiments 150 the driver of the vehicle 100 be displayed or clarified, for. On a display screen in the vehicle 100 , projected onto the windshield, on the driver's glasses or the like.

In this example, the sensor detects 120 three to the street 130 belonging reference objects 150 . 160 . 170 , This is only to be considered as a non-limiting example, which is not necessary per se to the vehicle position with respect to the lane marking lines 150 in the street 130 to be clearly determined. For example, for a more reliable location, more than three reference objects may be detected, or fewer reference objects, ie two or one, if the conditions do not permit detection of more than, for example, a reference object.

3B shows the same road section as in 3A illustrated but viewed in cross-section from the end of the road section.

4A illustrates a road section, according to an embodiment from the perspective of the driver in the vehicle 100 considered, with the road section at least partially covered Lane marking lines 150 in the street 130 and to the street 130 belonging reference objects 150 . 160 . 170 having. In this embodiment, the arithmetic unit 110 a display screen 115 include or be associated with. In such an embodiment, the driver may thus be on the display screen 115 an illustration of his vehicle 100 in relation to lane marking lines 150 in the street 130 along the corresponding road section.

A non-limiting example of the latter is in 4B shown an enlargement of the display screen 115 in the vehicle 100 According to an embodiment, the driver illustrates the position of the vehicle relative to lane marking lines 150 in the street 130 able to see.

5 illustrates an example of an embodiment of the invention. The schedule in 5 clarifies a procedure 500 in a computing unit 110 in a vehicle 100 for determining the track position of the vehicle 100 on a street 130 ,

According to certain embodiments, the method is performed only when the lane marker line 150 in the street 130 is hidden when the weather conditions cause the sensor 120 has limited range, and / or if the road surface gives rise to incorrect detection 502 the lane marking line 150 gives. If it can be confirmed that the sensor 120 all lane marking lines 150 in the street 130 without comparing it with the collected data in a database, this step can be skipped, saving processor capacity and time. The main advantage of the process 500 first becomes apparent under the opposite conditions, ie when the road 130 is hidden when the weather conditions cause the sensor 120 has a limited range, and / or the road surface cause for a false detection 502 the lane marking line 150 there, as the procedure 500 eliminate or at least reduce such deficiencies.

The procedure 500 can be a number of steps 501 to 507 include determining the track position on the road 130 in a correct way. However, it should be noted that certain of the steps described 501 to 507 may be performed in a chronological order that differs somewhat from the numerical order, and that certain of them may be performed in parallel according to various embodiments. Further, certain of the described steps become 501 to 507 performed only in certain embodiments, such as 503 . 506 and or 507 , The procedure 500 includes the following steps:

step 501

The geographical position 140 of the vehicle is determined. Such a determination of the current geographical position 140 The vehicle may be based on a satellite positioning system such as the Global Positioning System (GPS), a triangulation using signals emitted from base stations in a mobile network with known positions, driving distance data, data of the trip meter in connection with a road number, a wireless sensor signal and / or manual input by, for example, the driver of the vehicle.

step 502

One to the street 130 belonging reference object 150 . 160 . 170 is from the sensor 120 recognized.

In certain embodiments, this may be to the street 130 belonging reference object 150 . 160 . 170 from a lane marking line 150 in the street 130 consist.

In certain embodiments, the reference object 150 . 160 . 170 from an object near the road 160 . 170 exist, such as a central busbar 160 a ditch 170 , a street sign, a building, an exit ramp, a wall, a light pole or the like.

According to various embodiments, the sensor 120 For example, consist of a camera, a 3D camera, a time-of-flight camera, a stereo camera, a light field camera, a radar, a laser gauge, a LIDAR, a distance measuring device based on ultrasonic waves. According to various embodiments, the sensor 120 furthermore for communication with the arithmetic unit 110 be set up over a wireless or wired interface.

step 503

This process step may be useful in some, not necessarily all embodiments of the process 500 be performed.

A distance to a reference object 150 . 160 . 170 will be at the given 501 geographical position 140 with the help of the sensor 120 measured.

step 504

A comparison is made between the track related data for the particular one 501 geographical position 140 that are stored in a cartographic database and recognized 502 Underlying 150 . 160 . 170 at this geographical position 140 ,

step 505

The track position of the vehicle 100 is determined by matching the recognized 502 to the street 130 belonging reference object 150 . 160 . 170 with stored track-related data for the particular 501 geographical position 140 of the vehicle 100 certainly.

In certain embodiments, the determination of the lane position of the vehicle 100 by matching the detected 502 Underlying 150 . 160 . 170 the determination of a misrecognition 502 a lane marking line 150 in the street 130 and ignoring the misrecognition 502 include when the track position 505 is determined. Such a determination of misrecognition 502 a lane marking line 150 may include a confirmation that the distances between the detected 502 Lane marking line 150 and the existing lane markings according to cartographic data for the geographical location 140 do not match or that the number of recognized 502 and the existing lane marking lines 150 do not match.

step 506

This process step may be performed on some, not necessarily all embodiments of the process.

A warning signal is generated when it is detected 505 that the vehicle 100 a lane marking line 150 in the street 130 has run over.

step 507

This process step may be useful in some, not necessarily all embodiments of the process 500 be performed.

In certain embodiments, a lateral position correction may be generated when determined 505 that the vehicle 100 a lane marking line 150 in the street 130 overruns.

6 shows an embodiment of a system 600 , which is adapted to a lane position of a vehicle 100 on a street 130 to determine. The system 600 includes at least one sensor 120 , a cartographic database 640 and a computing unit 110 which are adapted to communicate with each other via a wired or wireless interface. The system 600 can also have a tracking unit 650 included, which is set up the geographical position of the vehicle 100 to determine. The locating unit 650 may for example consist of a GPS receiver or other satellite-based unit, which is set up for a position determination.

According to various embodiments, the wireless interface may be based on, for example, one of the following technologies: Global System for Mobile Communications (GSM), Enhanced Data Rate for GSM Evolution, Universal Mobile Telecommunications System (UMTS) (Universal Mobile Telecommunication System), Code Division Access (CDMA), Time Division Synchronous CDMA (TD-CDMA), Long Term Evolution (LTE) (Long-Term Evolution), Wireless Fidelity (Wi-Fi), defined by the standards 802.11a, ac, b, g and / or n of the Institute of Electrical and Electronics Engineers (IEEE), Internet Protocol (IP), Bluetooth and / or Near Field Communication (NFC) or similar communication technology.

According to certain embodiments, the arithmetic unit 110 , database 640 and the sensor 120 set up for communication and information transmission via a wired interface. Such a wired interface may include a communication bus system consisting of one or a plurality of communication buses for connecting a number of electronic control units (ECUs) or control units / controls and various components and sensors located on the vehicle 100 are located. The communication bus of the vehicle may be, for example, one or a plurality of cables, a data bus such as a Controller Area Network (CAN) bus, a Media Oriented Systems Transport (MOST) or other bus configuration, or a wireless connection, e.g. , B. according to one of the above-mentioned techniques for wireless communication.

In various embodiments, the sensor 120 in the vehicle 100 For example, consist of a camera, a 3D camera, a time-of-flight camera, a stereo camera, a light field camera, a radar, a laser measuring device, a LIDAR and / or a distance measuring device based on ultrasonic waves.

The arithmetic unit 110 is set up, at least parts of the procedure 500 perform, about the track position of the vehicle on a road 130 to determine.

To correctly determine the lane position of the vehicle, the computing device includes 110 a number of components, which are described in greater detail in the text below. Some of these described secondary components appear in some, but not necessarily all, embodiments. In the arithmetic unit 110 Also, additional electronics may be present which is not fully necessary to the function of the arithmetic unit 110 and the procedure 500 to understand according to the invention.

The arithmetic unit 110 includes a signal receiver 610 which is set up to receive a signal from inside the vehicle 100 contained sensor 120 to receive, with the signal a recognized to the road 130 belonging reference object 150 . 160 . 170 represents. The signal receiver 610 typically includes a receive circuit configured to receive a wireless or wired signal from the sensor 120 to receive, for. B. by one of the above listed communication interfaces.

Furthermore, the arithmetic unit contains 110 also a processor circuit 620 which is set up for the geographical position 140 of the vehicle 100 and is also set up to store tracked data for the particular geographic location 140 with a reference object 150 . 160 . 170 at the geographical position 140 to compare. Track-related data can be stored in a cartographic database 640 that in the arithmetic unit 110 may be contained or may consist of an external unit with which the arithmetic unit 110 for example, can communicate via a wireless interface, be stored and retrieved from this. Further, the processor circuit 620 set up the lane position of the vehicle 100 by determining the detected reference object 150 . 160 . 170 with stored track-related data for the geographical position 140 of the vehicle 100 compares.

The processor circuit 620 can also be set up a distance to the reference object 150 . 160 . 170 at the specific geographical position 140 based on a signal coming from a sensor 120 in the vehicle 100 is received, measure.

In certain embodiments, the processor circuitry 620 also be configured to misrecognize a lane marking line 150 in the street 130 and to ignore such misrecognition in determining the track position.

The processor circuit 620 For example, it may consist of one or a plurality of central processing units (CPU), microprocessors, or other logic designed to interpret and execute instructions and / or to read and write data. The processor circuit 620 may handle data for input, output, or data processing of data, and may also include data caching, control functions, and the like.

In certain embodiments, the computing unit may 110 also a signal transmitter 630 configured to send a control signal for triggering a warning signal and / or a lateral position correction when it is determined that the vehicle 100 a lane marking 150 in the street 130 overruns. In certain embodiments, the signal transmitter 630 be configured to send a control signal to an acceleration of the vehicle 100 to prevent and / or slowing down the vehicle 100 initiate.

According to certain embodiments, the arithmetic unit 110 also a storage unit 625 which, in certain embodiments, may consist of a storage medium for data. The storage unit 625 For example, it may consist of a memory card, a flash memory, a USD memory, a hard disk, or other similar data storage device, such as any of the group comprising ROM (read-only memory), PROM (PROM). Programmable read-only memory), Erasable PROM (erasable programmable read only memory), flash memory, EEPROM (Electrically Erasable PROM), etc. in various embodiments.

The above cartographic database 640 can in the arithmetic unit 110 be included or connectable with this. For example, the cartographic database 640 include a USB memory with cartographic data. Cartographic data, in certain embodiments, may be downloaded or updated via, for example, an Internet connection or other similar uplink. However, the cartographic database can 640 in certain embodiments, outside the vehicle 100 be arranged and for the arithmetic unit 110 via a wireless interface, eg. As one of the above listed, be accessible.

This cartographic database 640 can be constructed by, for example, certain reference vehicles driving roads in favorable weather and favorable road conditions and recording and storing road data pertaining to geographical positions.

Further, according to certain embodiments, the invention includes a computer program for determining the lane position of a vehicle 100 on a street 130 ,

The computer program is set up for the procedure 500 according to at least one of the steps described above 501 to 507 execute when the program is in a processor circuit 620 in the arithmetic unit 110 is performed.

The procedure 500 can thus according to at least one of the steps described above 501 to 507 for determining the lane position of the vehicle on a road 130 by one or a plurality of processor circuits 620 together with the computer program code for performing one, several, some or all of the steps described above 501 to 507 be implemented. A computer program that gives instructions for performing the steps 501 to 507 performs when the program enters the processor circuit 620 can be loaded thereby.

In certain embodiments, the aforementioned computer program is in the vehicle 100 set up in the storage unit 625 in the arithmetic unit 110 to be installed, z. B. via a wireless interface.

The signal receiver and / or signal transmitter described and discussed above may in certain embodiments consist of separate transmitters and receivers. However, in certain embodiments, the signal receiver 610 and signal transmitters 630 in the arithmetic unit 110 consist of a transceiver capable of transmitting and receiving radio signals, the transmitter and receiver having parts of the construction in common. The communication may be suitable for wireless transmission of information via radio waves, WLAN, Bluetooth or an infrared transceiver module. However, in certain embodiments, the signal receiver 610 Alternatively, and / or signal transmitters may be specifically adapted for wired information exchange or, according to some embodiments, for both wireless and wired communication.

All embodiments of the invention may also be a vehicle 100 include a system installed in the vehicle 600 contains, which is set up a procedure 500 according to at least one of the method steps 501 to 507 for determining the track position of the vehicle 100 on a street 130 perform.

Claims (15)

Procedure ( 500 ) in a computing unit ( 110 ) in a vehicle ( 100 ) for determining the track position of the vehicle ( 100 ) on a street ( 130 ), characterized by: determination ( 501 ) of the geographical position ( 140 ) of the vehicle ( 100 ); Detection ( 502 ) one to the street ( 130 ) belonging reference object ( 150 . 160 . 170 ) by a sensor ( 120 ); Comparison ( 504 ) in a cartographic database ( 640 ) between track-related data for the particular ( 501 ) geographical position ( 140 ) and the recognized ( 502 ) Reference object ( 150 . 160 . 170 ) at the geographical position ( 140 ); and determination ( 505 ) the track position of the vehicle ( 100 ) by matching the detected ( 502 ) to the street ( 130 ) belonging reference object ( 150 . 160 . 170 ) with stored track-related data for the particular ( 501 ) geographical position ( 140 ) of the vehicle ( 100 ), the determination also identifying a misrecognition ( 502 ) of a lane marking ( 150 ) in the street ( 130 ) and ignoring such a misrecognition ( 502 ) in the determination ( 505 ) of the track position. Procedure ( 500 ) according to claim 1, further comprising: measurement ( 503 ) of a distance to a reference object ( 150 . 160 . 170 ) at the particular ( 501 ) geographical position ( 140 ) through the sensor ( 120 ). Procedure ( 500 ) according to one of claims 1 or 2, wherein the road ( 130 ) belonging reference object ( 150 . 160 . 170 ) from a lane marking ( 150 . 160 . 170 ) in the street ( 130 ) consists. Procedure ( 500 ) according to one of claims 1 to 3, wherein the reference object ( 150 . 160 . 170 ) from an object ( 160 . 170 ) located near the road ( 130 ) is located. Procedure ( 500 ) according to any one of claims 1 to 4, wherein the determination ( 501 ) of the geographical position ( 140 ) of the vehicle ( 100 ) is based on: a satellite-based location system, a triangulation of signals transmitted by base stations in a mobile telephone network, route planning data, a trip meter setting in connection with a road number, a wireless sensor signal and / or a manual input by the driver of the vehicle. Procedure ( 500 ) according to one of claims 1 to 5, wherein the sensor ( 120 ) consists of: a camera, a 3D camera, a time-of-flight camera, a Stereocamera, a light field camera, a radar, a laser gauge, a LIDAR, a distance measuring device based on ultrasonic waves. Procedure ( 500 ) according to any one of claims 1 to 6, further comprising: production ( 509 ) of a warning signal when it is detected ( 505 ) that the vehicle ( 100 ) a lane marking line ( 150 ) in the street ( 130 ) passes over. Procedure ( 500 ) according to any one of claims 1 to 7, further comprising: production ( 509 ) of a lateral position correction when it is detected ( 505 ) that the vehicle ( 100 ) a lane marking line ( 150 ) in the street ( 130 ) passes over. Arithmetic unit ( 110 ) in a vehicle ( 100 ) for determining the track position of the vehicle ( 100 ) on a street ( 130 ), characterized by: a signal receiver ( 610 ), which is adapted to receive a signal from one in the vehicle ( 100 ) contained sensor ( 120 ), the signal being a recognized one to the road ( 130 ) reference object ( 150 . 160 . 170 ); a processor circuit ( 620 ), which is set up to monitor the geographical position ( 140 ) of the vehicle ( 100 ), and is also adapted to store stored track related data for the particular geographic location and a recognized reference object ( 150 . 160 . 170 ) at the geographical position ( 140 ) in a cartographic database ( 640 ) and the track position of the vehicle ( 100 ) by determining the detected reference object ( 150 . 160 . 170 ) with stored track-related data for the geographical position ( 140 ) of the vehicle ( 100 ) and is further adapted to prevent misrecognition of a lane marker ( 150 ) in the street ( 130 ) and to ignore such misrecognition in determining the track position. Arithmetic unit ( 110 ) according to claim 9, wherein the processor circuit ( 620 ) is further adapted, on the basis of one of the sensors ( 120 ) receive a distance to a reference object ( 150 . 160 . 170 ) at the specific geographical position ( 140 ) to eat. Arithmetic unit ( 110 ) according to claims 9 to 10, further comprising a signal transmitter ( 630 ) arranged to send a control signal for triggering a warning signal and / or a lateral position correction if it is determined that the vehicle ( 100 ) a lane marking ( 150 ) in the street ( 130 ) passes over. Computer program for determining the track position of a vehicle ( 100 ) on a street ( 130 ) by a process ( 500 ) according to one of claims 1 to 9, when the computer program is stored in a processor circuit ( 620 ) in a computing unit ( 110 ) is carried out according to one of claims 9 to 11. System ( 600 ) for determining the track position of a vehicle ( 100 ) on a street ( 130 ), whereby the system ( 600 ) comprises: a sensor ( 120 ); a cartographic database ( 640 ); and a computing unit ( 110 ) according to one of claims 9 to 11. System ( 600 ) according to claim 13, wherein the sensor ( 120 ) consists of: a camera, a 3D camera, a time-of-flight camera, a stereo camera, a light field camera, a radar gauge, a laser gauge, a LIDAR, a distance measuring device based on ultrasonic waves. Vehicle ( 100 ) containing a system ( 600 ) according to any one of claims 14 to 15, adapted for carrying out a method ( 500 ) according to one of claims 1 to 8 for determining the track position of the vehicle ( 100 ) on a street ( 130 ).

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