EP2822839A1 - Method and system for determining vehicle position - Google Patents
Method and system for determining vehicle positionInfo
- Publication number
- EP2822839A1 EP2822839A1 EP13757023.0A EP13757023A EP2822839A1 EP 2822839 A1 EP2822839 A1 EP 2822839A1 EP 13757023 A EP13757023 A EP 13757023A EP 2822839 A1 EP2822839 A1 EP 2822839A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- vehicle
- roadway
- determining
- relative
- lateral position
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000004590 computer program Methods 0.000 claims abstract description 12
- 230000004888 barrier function Effects 0.000 claims description 7
- 238000012545 processing Methods 0.000 description 16
- 238000010586 diagram Methods 0.000 description 5
- 238000013459 approach Methods 0.000 description 4
- 238000012790 confirmation Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 230000000295 complement effect Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000005693 optoelectronics Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- 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
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
-
- 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
Definitions
- the invention concerns a method for determining vehicle position in accordance with the preamble of claim 1.
- the invention also concerns a system for determining vehicle position in accordance with the preamble of claim 9.
- the invention also concerns a motor vehicle.
- the invention further concerns a computer program and a computer program product.
- Some vehicles are equipped with cameras and/or other sensors that are arranged to detect lane markings on the roadway of the vehicle route, in front of or behind the vehicle, to determine in which lane and where in said lane on the roadway the vehicle is located. This signal can then be used to issue a warning if the vehicle involuntarily moves out of the lane, and/or used to control the vehicle in the lane.
- One object of the invention is to achieve a method for determining vehicle position along the roadway of the vehicle route that is effective and enables reliable determination.
- a further object of the present invention is to achieve a system for determining vehicle position along the roadway of the vehicle route that is effective and enables reliable determination.
- these purposes are achieved by using a method for determining the position of a vehicle relative to the roadway of the vehicle route in accordance with the features in claim 1.
- An effective means of determining the position of the vehicle relative to the roadway of the vehicle route is thereby achieved that can be utilized alone or as a complement to other determination of the position of the vehicle relative to the roadway of the vehicle route, such as detecting road markings along the roadway of the vehicle route.
- a more reliable determination of the position of the vehicle relative to the roadway of the vehicle route is thereby enabled.
- the method comprises the features in claim 2. Effective estimation of the distance between the vehicle side and side of the road is enabled by utilizing such topographical characteristics. According to one embodiment, the method comprises the features in claim 3. Such devices enable effective estimation of the distance. According to one embodiment, the method comprises the features in claim 4. Information is thereby obtained as to whether the vehicle is situated in a lane on the roadway and, if so, which lane and the vehicles position in the lane.
- the method comprises the features in claim 5.
- this information can be utilized to learn the position of the vehicle relative to the roadway, for example as redundancy to information known about the position of the vehicle from detecting road markings so that, if road markings are undetectable for a section along the roadway, the estimated distance can be used to keep track of the position of the vehicle.
- the method comprises the features in claim 6. This is an effective way of determining the position of the vehicle. According to one embodiment, the method comprises the features in claim 7. The confirmation can be made by the driver when he/she knows that the vehicle is in the correct position/correct lane on the roadway.
- the method comprises the features in claim 8.
- the determination is made via GPS and map data that can include road width, whereupon this information can be updated continuously so that any changes in the characteristics of the roadway can be taken into account, thereby enabling reliable determination of the position of the vehicle based on said distances.
- the system comprises the features in claim 10. Effective distance estimation between vehicle side and the side of the road is achieved by utilizing such topographic characteristics.
- the system comprises the features in claim 11. Such devices enable effective estimation of the distance.
- the system comprises the features in claim 12. Information is thereby obtained as to whether the vehicle is situated in a lane on the roadway and, if so, which lane and its position in the lane.
- the system comprises the features in claim
- the system comprises the features in claim
- the system comprises the features in claim
- the system comprises the features in claim
- the determination is made via GPS and map data that can include road width, whereupon this information can be updated continuously so that any changes in the characteristics of the roadway can be taken into account, thereby enabling reliable determination of the position of the vehicle based on said distances.
- Fig. 1 schematically illustrates a motor vehicle according to an embodiment of the present invention
- Fig. 2 schematically illustrates a block diagram of a system for determining vehicle position according to an embodiment of the present invention
- Fig. 3 schematically illustrates a top view of a motor vehicle that is traveling on a roadway
- Figs. 4a-b schematically illustrate a rear view of a motor vehicle that is traveling on a roadway;
- Fig. 5 schematically illustrates a block diagram of a method according to an embodiment of the present invention.
- Fig. 6 schematically illustrates a computer according to an embodiment of the present invention.
- link refers herein to a communications link, which can be a physical line, such as an opto-electronic communication line, or a non- physical line, such as a wireless connection, for example a radio or microwave link.
- topographic characteristics in the expression “topographic characteristics of the vehicle route” refers herein to any suitable reference point proximate to a side section of the vehicle for estimating distance, including objects, in the form of road barriers, and/or side markings, and/or roadway terminations, and/or existing sloped sections, and/or fence sections, in connection with the roadway.
- side section of the vehicle refers herein to the right and/or left side of the vehicle and/or a lengthwise side section, i.e. in the longitudinal direction of the vehicle, along one side of the vehicle.
- Fig. 1 schematically illustrates a motor vehicle 1 according to an embodiment of the present invention.
- the exemplified vehicle 1 consists of a heavy vehicle in the form of a truck with a cab 2.
- the vehicle can alternatively consist of any suitable vehicle, such as a bus or automobile.
- the vehicle contains a system I for determining vehicle position according to the present invention.
- Fig. 2 schematically illustrates a block diagram of a system I for determining vehicle position according to an embodiment of the present invention.
- the system I comprises an electronic control unit 100 for said determination.
- the system I comprises distance-estimating means 110 for continuously estimating distances between at least one side section of the vehicle and topographic characteristics of the vehicle route proximate to said side section.
- Said distance-estimating means comprise side sensor devices.
- Said side sensor devices consist according to one embodiment of camera devices, radar devices and/or laser measuring devices. Any suitable distance-estimating means for continuously estimating distances between said side section and said topographic characteristics can be used.
- the system I further comprises, according to one variant, vehicle position- determining means 120 for determining the lateral position of the vehicle relative to said roadway.
- said vehicle position-determining means comprise road marking-detecting means 122 for detecting road markings on said roadway.
- Said road marking-detecting means 122 according to one variant comprise camera devices.
- said vehicle position-determining means 120 comprise confirming means 124 for confirming a desired lateral position of the vehicle relative to said roadway. Said confirmation is made according to one variant in that, for example, the driver manually confirms the position of the vehicle by means of said confirming means 124 when the driver is aware of the current lateral position of the vehicle and that the current lateral position of the vehicle is the desired one, i.e. that the vehicle is in the correct lane on the roadway.
- said vehicle position-determining means 120 comprise route-determining means 126 to furnish predetermined characteristics of the roadway along the vehicle route and the position of the vehicle along the vehicle route.
- Said route-determining means 126 according to one variant comprise a map information unit 126a containing said characteristics of the roadway, wherein said characteristics of the roadway according to one variant comprise information about the width of the road, the number of lanes, the width of the lanes, and the distance from the side of the road to topographic characteristics such as road barriers or the like.
- Said route-determining means further comprise a geographical position-determining system 126b, such as GPS.
- Said vehicle position-determining means 120 can comprise one or more of said road marking-detecting means 122, said confirming means 124 and said route-determining means 126.
- the system comprises vehicle position-processing means 130 for processing information regarding the position of the vehicle along the roadway of the vehicle route.
- Said vehicle position-processing means 130 comprise warning means arranged to warn the driver if, for example, the vehicle is deviating from the lane in which it is traveling.
- Said vehicle position-processing means 130 according to one variant comprise vehicle position-correcting means to correct the position of the vehicle if the vehicle deviates from the desired position on the roadway, for example, by deviating from the lane in which it is traveling.
- Said vehicle position-processing means 130 can comprise both said warning means and said vehicle position- correcting means.
- the electronic control unit 100 is signal-connected to said distance- estimating means 110 via a link 105.
- the electronic control unit 100 is arranged via the link 105 to receive a signal from the distance-estimating means 110 representing distance data between the side section of the vehicle and topographic characteristics of the vehicle route proximate to said side section.
- the electronic control unit 100 is signal-connected to said vehicle position- determining means 120 via a link 115.
- the electronic control unit 100 is arranged via the link 115 to receive a signal from the vehicle position- determining means 120 representing lateral position data for the lateral position of the vehicle relative to said roadway.
- the electronic control unit 100 is signal-connected to said road marking-detecting means 122 via a link 116.
- the electronic control unit 100 is arranged via the link 116 to receive a signal from the road marking-detecting means 122 representing road marking data for the lateral position of the vehicle relative to said detected road marking.
- the electronic control unit 100 is signal-connected to said confirming means 124 via a link 117.
- the electronic control unit 100 is arranged via the link 117 to receive a signal from the confirming means 124 representing data confirming that the lateral position of the vehicle relative to the roadway is correct.
- the electronic control unit 100 is signal-connected to said route-determining means 126 via a link 118.
- the electronic control unit 100 is arranged via the link 118 to receive a signal from the route- determining means 126 representing roadway characteristics at the current position along the vehicle route.
- the electronic control unit 100 is arranged so as to determine, based on said distance data and said lateral position data, the current lateral position of the vehicle relative to the roadway of the vehicle route.
- the electronic control unit 100 is signal-connected to said vehicle position-processing means 130 via a link 135.
- the electronic control unit 100 is arranged via the link 135 to send a signal from the vehicle position-processing means 130 representing lateral position data relative to the roadway of the vehicle route at the current position along the vehicle route.
- the electronic control unit 100 is arranged so as to determine, taking the approach that the distance to said topographic characteristics of the vehicle route proximate to said side section, such as road barriers or the like, is constant along the route, at least for a period of time/stretch, and by means of said signal representing distance data and lateral position data from said road marking-detecting means 122, the position of the vehicle in the lane on the roadway. This is achieved according to one variant by comparing distance data with position data, where a specific distance to said topographic characteristics corresponds to a desired position on the roadway, whereupon this position can be maintained by continuously estimating distances between at least one side section of the vehicle and topographic characteristics of the vehicle route proximate to said side section.
- the electronic control unit 100 is arranged so as to determine, taking the approach that the distance to said topographic characteristics of the vehicle route proximate to said side section, such as road barriers or the like, is constant along the route, at least for a period of time/stretch, and by means of said signal representing distance data and confirmation data 124, the position of the vehicle in the lane on the roadway, whereupon the position of the vehicle along the roadway of the vehicle route is determined by means of said distance data.
- said distance-estimating means 110 are contained in one electronic control unit and said vehicle position-determining means 120 in another electronic control unit.
- Fig. 3 schematically illustrates a top view of a motor vehicle 1 that is traveling on a roadway 10, and Figs. 4a-b a rear view of a motor vehicle 1 that is traveling on a roadway 10.
- Fig. 3 illustrates a roadway 10 with two lanes 10a, 10b, roadside markings 12 and road markings 14 that divide the roadway into lanes.
- the vehicle 1 is traveling on the roadway 10 in one of the lanes 10a.
- the vehicle 1 contains a first side sensor device 20 arranged on a side section on the one side 1a of the vehicle 1 so as to continuously estimate distances between the side section of the vehicle 1 and topographic characteristics 30 of the vehicle route proximate to said side section, and a second side sensor device 22 arranged on a side section on the opposite other side 1 b of the vehicle so as to continuously measure distances between the side section of the vehicle and topographic characteristics 32 of the vehicle route proximate to said side section.
- Respective sensing devices 20, 22 are arranged to detect the distance between side section and topographic characteristics 30, 32 via detection fields 20a, 22a.
- Said side sensor devices can consist of camera devices, radio devices and/or laser measuring devices.
- the vehicle contains road marking-detecting means 40, according to one variant camera devices 40, to detect road markings 12, 14 on said roadway 10.
- Said road marking-detecting means 40 are arranged to detect road markings via a field of vision 40a.
- Said road marking-detecting means 40 can be arranged on the front of the vehicle and/or the back of the vehicle for said detecting of road markings 12, 14.
- Side sensor devices 20, 22 and camera devices 40 are contained along with an electronic control unit in a system, for example, according to Fig. 2.
- an electronic control unit for example, according to Fig. 2.
- said topographic characteristics of the vehicle route proximate to said side section consist of road barriers 130, 132 on respective sides of the roadway.
- said topographic characteristics of the vehicle route proximate to the one side section consist of a sloped section 230 that can consist of an upward incline from one side of the roadway or a ditch or the equivalent, and of vegetation 232 in the form of trees proximate to the other opposite side section.
- Fig. 5 schematically illustrates a block diagram of a method for determining the position of a vehicle relative to the roadway of the vehicle route according to an embodiment of the present invention.
- the method for determining the position of a vehicle relative to the roadway of the vehicle route comprises a first step S1. In this step, distances between at least one side section of the vehicle and topographic characteristics of the vehicle route proximate to said side part are estimated continuously.
- the method for determining the position of a vehicle relative to the roadway of the vehicle route comprises a second step S2. In this step the lateral position of the vehicle is determined based on distances so determined.
- a diagram is presented of an embodiment of an apparatus 500.
- the control unit 100 described with reference to Fig. 2 can, in an embodiment, comprise the apparatus 500.
- the apparatus 500 contains a non-volatile memory 520, a data-processing unit 510 and a read/write memory 550.
- the non-volatile memory 520 has a first memory section 530 in which a computer program, such as an operating system, is stored in order to control the function of the apparatus 500.
- the apparatus 500 further contains a bus controller, a serial communication port, I/O devices, an A/D converter, a time and date input and transfer unit, an event counter and a termination controller (not shown).
- the non-volatile memory 520 also has a second memory section 540.
- a computer program P contains routines to enable determination of the position of a vehicle relative to the roadway of the vehicle route according to the inventive method.
- the program P contains routines for continuously estimating distances between at least one side section of the vehicle and topographic characteristics 30, 32; 130, 132; 230, 232 of the vehicle route proximate to said side section.
- the program P contains routines for determining the lateral position of the vehicle based on distances so estimated.
- the program P can be stored in an executable form or in a compressed form in a memory 560 and/or in a read/write memory 550.
- the data-processing unit 510 executes a certain part of the program that is stored in the memory 560, or a certain part of the program that is stored in the read/write memory 550.
- the data-processing device 510 can communicate with a data port 599 via a data bus 515.
- the non-volatile memory 520 is intended to communicate with the data-processing unit 510 via a data bus 512.
- the separate memory 560 is intended to communicate with the data-processing unit 510 via a data bus 511.
- the read/write memory 550 is arranged to communicate with the data- processing unit 510 via a data bus 514. For example, the links associated with the control unit 100 can be connected to the data port 599.
- the data-processing unit 510 When data are received at the data port 599, they are stored temporarily in the second memory section 540. Once received input data have been stored temporarily, the data-processing unit 510 is arranged so as to execute code in a manner as described above.
- the received signals at the data port 599 can be used by the apparatus 500 to continuously estimate distances between at least one side section of the vehicle and topographic characteristics 30, 32; 130, 132; 230, 232 of the vehicle route proximate to said side section.
- the received signals at the data port 599 can be used by the apparatus 500 to determine the lateral position of the vehicle based on distances so estimated.
- Parts of the methods described herein can be carried out by the apparatus 500 with the help of the data-processing unit 510, which runs the program stored in the memory 560 or the read/write memory 550.
- the apparatus 500 runs the program, the methods described herein are carried out.
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
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
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 |
---|---|
EP2822839A1 true EP2822839A1 (en) | 2015-01-14 |
EP2822839A4 EP2822839A4 (en) | 2017-07-12 |
Family
ID=49117109
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP13757023.0A Withdrawn EP2822839A4 (en) | 2012-03-07 | 2013-02-28 | Method and system for determining vehicle position |
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 |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH1031799A (en) * | 1996-07-15 | 1998-02-03 | Toyota Motor Corp | Automatic traveling controller |
DE10337845B4 (en) * | 2003-08-18 | 2019-08-01 | Robert Bosch Gmbh | Control arrangement for a motor vehicle and method for determining a driving position on a roadway |
DE10354290A1 (en) * | 2003-11-20 | 2005-06-02 | Daimlerchrysler Ag | Lane alignment apparatus, selection apparatus and method for detecting the lane of a vehicle |
DE102005039895A1 (en) * | 2005-08-23 | 2007-03-01 | Siemens Ag | Lane Departure Warning and / or Lane Keeping System |
DE102007027495A1 (en) * | 2007-06-14 | 2008-12-18 | Daimler Ag | Motor vehicle's e.g. lorry, driver assisting method, involves varying lateral distance limits for lateral distance to detected objects by driver independent of distance limits for lateral distance to left and right traffic lane boundaries |
KR20110139898A (en) * | 2010-06-24 | 2011-12-30 | 주식회사 만도 | Mehtod and apparatus for controlling lane keeping and alarm apparatus for departure from lane |
DE102010063420A1 (en) * | 2010-12-17 | 2012-06-21 | Bayerische Motoren Werke Aktiengesellschaft | Driver assistance system with a sensor arrangement for detecting the distance of the own vehicle to a foreign object |
CN201951453U (en) * | 2011-01-11 | 2011-08-31 | 江苏晓山信息产业股份有限公司 | Expressway automobile safety system |
-
2012
- 2012-03-07 SE SE1250212A patent/SE537900C2/en unknown
-
2013
- 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
Non-Patent Citations (1)
Title |
---|
See references of WO2013133752A1 * |
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 |
CN104334440B (en) | 2017-10-13 |
SE1250212A1 (en) | 2013-09-08 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2013133752A1 (en) | Method and system for determining vehicle position | |
CN109661563B (en) | Position capturing method and system | |
JP5997797B2 (en) | Vehicle map data processing device | |
CN106097755B (en) | Method for identifying parking spaces and/or free spaces | |
US9117098B2 (en) | On-board traffic density estimator | |
US10890453B2 (en) | Vehicle localization device | |
CN109477728B (en) | Method and device for determining the lateral position of a vehicle relative to a road surface roadway | |
US20110320163A1 (en) | Method and system for determining road data | |
US11465646B2 (en) | Vehicle traveling control apparatus | |
US20130147955A1 (en) | Warning system, vehicular apparatus, and server | |
CN110865374A (en) | Positioning system | |
US20050278112A1 (en) | Process for predicting the course of a lane of a vehicle | |
CN104346944A (en) | Wayfinding method and device | |
CN105206090A (en) | Vehicle positioning method | |
CN102822880A (en) | Driving assist device | |
CN107176167B (en) | Method and system for estimating road boundaries | |
JP5200568B2 (en) | In-vehicle device, vehicle running support system | |
CN102602393A (en) | Method and system for the lane monitoring of a motor vehicle, motor vehicle, and infrastructure device | |
SE538984C2 (en) | Determination of lane position | |
WO2017023197A1 (en) | Method and system for controlling driving of a vehicle along a road | |
US20190265267A1 (en) | System, method, and computer-readable storage medium for determining road type | |
CN105579316A (en) | Method and device for determining a roadway course of a roadway of a vehicle | |
JP6985949B2 (en) | In-vehicle electronic control device | |
US11702072B2 (en) | Motor vehicle driving assistance using minimum lateral shift of fluctuating relevant object | |
CN112512885A (en) | Driving assisting method and device and automobile |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
|
17P | Request for examination filed |
Effective date: 20141007 |
|
AK | Designated contracting states |
Kind code of ref document: A1 Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR |
|
AX | Request for extension of the european patent |
Extension state: BA ME |
|
DAX | Request for extension of the european patent (deleted) | ||
RA4 | Supplementary search report drawn up and despatched (corrected) |
Effective date: 20170609 |
|
RIC1 | Information provided on ipc code assigned before grant |
Ipc: B60W 30/12 20060101ALI20170602BHEP Ipc: B60W 40/072 20120101ALI20170602BHEP Ipc: G08G 1/16 20060101ALI20170602BHEP Ipc: B62D 15/02 20060101AFI20170602BHEP |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE APPLICATION HAS BEEN WITHDRAWN |
|
18W | Application withdrawn |
Effective date: 20171229 |