EP3326165A1 - Système de suivi de voie - Google Patents

Système de suivi de voie

Info

Publication number
EP3326165A1
EP3326165A1 EP16744711.9A EP16744711A EP3326165A1 EP 3326165 A1 EP3326165 A1 EP 3326165A1 EP 16744711 A EP16744711 A EP 16744711A EP 3326165 A1 EP3326165 A1 EP 3326165A1
Authority
EP
European Patent Office
Prior art keywords
objects
vehicle
data
radar
lane keeping
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.)
Ceased
Application number
EP16744711.9A
Other languages
German (de)
English (en)
Inventor
Hartmut Runge
Robert Klarner
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Deutsches Zentrum fuer Luft und Raumfahrt eV
Original Assignee
Deutsches Zentrum fuer Luft und Raumfahrt eV
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Deutsches Zentrum fuer Luft und Raumfahrt eV filed Critical Deutsches Zentrum fuer Luft und Raumfahrt eV
Publication of EP3326165A1 publication Critical patent/EP3326165A1/fr
Ceased legal-status Critical Current

Links

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
    • 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
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • 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
    • 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
    • B60W2420/408—Radar; Laser, e.g. lidar
    • 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
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system

Definitions

  • the invention relates to a lane departure warning system, a vehicle having a lane keeping assistance system of the same kind, and a method for the transverse control of a vehicle.
  • Lane keeping systems are known in the art. Simple lane keeping systems generate, for example, haptic signals on the steering wheel when the vehicle threatens to leave a current traffic lane. Thus, the driver can correct the lateral control of the vehicle by appropriate steering inputs. More complex lane keeping systems are
  • a given trajectory for example a lane, a predetermined lane change, a predetermined entry or exit.
  • lane keeping systems are based essentially on the detection and evaluation of optical environment data, in particular road markings.
  • the lane markings may not be recognizable because of pollution, snow cover, or other environmental influences (eg dense fog).
  • the object of the invention is to provide an improved lane keeping assistance system.
  • a first aspect of the invention relates to a lane keeping assistance system for a vehicle.
  • Provision of a desired trajectory ST (t) of the vehicle in the road traffic network a second interface for providing georeferenced position data P 0 RJ, POLJ of objects OR, a right-hand boundary and georeferenced
  • Position data of objects OL, a left lane boundary, and of 2D or 3D Radar signatures RSORJ and RSou of these objects OR ,, OL ,, for the road section of the road network traveled by the vehicle, wherein the georeferenced position data P 0 RJ, POLJ have a position accuracy ⁇ 2, where: ⁇ 2 ⁇ 1, i 1, 2, 3 a radar system for scanning a right and a left side environment of the vehicle to determine distances D 0 R ZU objects present on the right side of the vehicle and their radar signatures RS 0 R, and of distances D 0 i_ to left side of the vehicle existing objects OL and their radar signatures RSOL, an evaluation unit, based on the first position P1 (t), the data provided: P 0 RJ, POLJ, RSORJ and RSOLJ and the data obtained: D 0 R, RSOR, D 0 i_, RSOL, first an identification of the determined objects OR and OL as objects OR ,
  • Positioning accuracy ⁇ 2 and a control device for lateral control of the vehicle, with the transverse control of the vehicle taking into account the
  • Target trajectory ST (t) and the position P2 (t) takes place.
  • the first means is advantageously designed for determining the position P1 (t) on the basis of data from a satellite navigation system, or on the basis of optical environment data of the vehicle, or on the basis of radar data, or based on dead reckoning data, or a combination thereof.
  • the first means comprises a GPS, Galileo and / or GLONASS receiving unit.
  • the position P1 (t) is with a
  • Position accuracy ⁇ 1: P1 (t) P1 (t) ⁇ ⁇ 1 determined, which, for example, in a GPS-based navigation system in a range between 5 and 150 m can vary. This position accuracy is not sufficient in particular for autonomous vehicle operation.
  • the desired trajectory ST (t) of the vehicle is advantageously provided via the first interface by a navigation system or a central system of the vehicle or by an external central traffic control center (for example a central server to which the vehicle is connected for data exchange).
  • the setpoint trajectory ST (t) depends on the time t and indicates the setpoint travel path ahead of the vehicle, preferably in georeferenced coordinates.
  • other reference systems are conceivable.
  • a setpoint trajectory ST (t k ) specified for a time step t k can be provided in modified form via the first interface for a coming time step t k + 1 , in order, for example, to have a time-varying traffic situation, the time-varying position P1 (t). and / or P2 (t) of the vehicle, also in relation to surrounding objects time-varying vehicle condition (eg, energy supply), a given new destination, etc. to be considered.
  • a target trajectory ST (t) can be changed in particular due to the behavior of other road users and suddenly occurring unknown obstacles. How a target trajectory ST (t) is changed is not the subject of the present application. Rather, it is assumed here that a setpoint trajectory ST of a preceding setpoint driving route for the vehicle is provided at each time t or for each time step t k .
  • the georeferenced position data P 0 RJ, POLJ of objects OR, OL, and the associated 2D or 3D radar signatures RSORJ and RSOLJ of these objects OR, OL ,, for the vehicle, in particular the one ahead, are used via the second interface Section of the road network, advantageous from one
  • the provision of the data P 0 RJ, POLJ, RSORJ and RSOLJ from the external central server has the particular advantage that the central server acts as a central database, which is easier to update than a plurality of storage units in vehicles.
  • the georeferenced position data P 0 RJ, POLJ provided via the second interface advantageously have a position accuracy ⁇ 2 of ⁇ 0.5 m or ⁇ 0.4 m or ⁇ 0.3 m or ⁇ 0.25 m or ⁇ 0.20 m or ⁇ 0, 15 m or 0, 10 m or ⁇ 0.05 m.
  • the radar system determines the distances D 0 R / DOL ZU OR / OL and the radar signatures RSOR / RSOL available to the right / left of the vehicle.
  • the distances D 0 R, D 0 L advantageously indicate the horizontal distance of the objects OR, OL relative to a longitudinal axis of the vehicle.
  • the radar system advantageously enables the determination of the distances D 0 R / D 0 L with an accuracy of ⁇ 0.4 m, or ⁇ 0.3 m, or ⁇ 0.25 m, or ⁇ 0.20 m, or ⁇ 0.15 m, or ⁇ 0, 10 m, or ⁇ 0.05 m.
  • Radar system also advantageously allows the detection of radar signatures RSOR / RSOL as 2D or 3D radar signatures.
  • an associated 2D or 3D radar signature RSORJ / RSOLJ is known in addition to the georeferenced position data P 0 RJ, POLJ, so that the data acquired by the radar system and the data are compared via a comparison Data provided via the second interface, an identification of the detected by the radar system objects OR / OL as each one of the objects OR ,, OL, is possible.
  • This identification is carried out by the evaluation unit. It is based on the first Position P1 (t), the data provided: P 0 RJ, POLJ, RSORJ and RSOLJ and the data obtained: D 0 R, RSOR, D 0 L, RSOL, first determines whether the determined
  • Radar signatures RSOR, RSOL can be uniquely assigned to the provided data. If such a unique assignment has been determined, the objects OL OR are considered objects OR, OL, identified.
  • Position accuracy ⁇ 2 has. This one dimension (direction) is defined by the vector of the respectively determined horizontal distance between the vehicle and the respective object OR / OL. In a coordinate system of the vehicle, in which in
  • the position P2 (t) of the vehicle can therefore be specified at least along the y-axis with a position accuracy ⁇ 2.
  • the position P2 (t) is only determined if at least one lateral object OR or OL could be uniquely identified. Since the objects OR / OL are arranged partially irregular in the lateral environment of the traveled road section, the position is typically determined not continuously but punctually.
  • the identification of the objects OL OR as objects OR ,, OL in the evaluation unit a plausibility check, in the probabilities W (OR), W (OL) of a unique identification of objects OR, OL as in each case one of the objects OR ,, OL, based on the determined radar signatures RSOR and RSOL, the provided radar signatures RSORJ and RSOLJ and the position P1 (t) are determined.
  • the second position P2 (t) only those detected objects OR, OL are used whose probabilities W (OR), W (OL) are above a predetermined limit value G1.
  • a warning signal WARN is generated.
  • the generated warning signal WARN is advantageous for identifying unidentified or unidentified objects OR, OL used, which are stored in a data log of the evaluation.
  • This plausibility check can be used to detect, in particular, whether there was a clear view of the lateral surroundings of the vehicle or of the roadway, or whether the lateral surroundings are obscured by, for example, other vehicles moving laterally next to the vehicle.
  • the probabilities W (OR), W (OL) are below the limit G1, since the determined radar signatures and the determined distances of a vehicle traveling on a neighboring lane are slightly different from the limit values G1
  • data dependent on the current position P1 (t) / P2 (t) and the direction of travel of the vehicle are provided via the second interface for the road section traveled by the vehicle, in particular the road section ahead.
  • the second interface only currently relevant data are provided via the second interface, so that the number of radar signature comparisons with eligible objects OR ,, OL, limited, and thus in the evaluation required computation times are reduced.
  • the transverse control of the vehicle is advantageously carried out autonomously, i. without steering intervention of the driver.
  • the longitudinal control of the vehicle is preferably carried out under Nutzug known vehicle longitudinal control systems.
  • the proposed lane keeping assistance system can be advantageously deactivated by the driver, preferably by a manual input or a voice input.
  • the transverse control is advantageously automatically deactivated if a system fault was detected, for example by a defect in one of the parts of the proposed lane keeping assistance system or in unusable measurement data of the radar system over a predefinable period of time.
  • the transverse control of the vehicle is based on an additional
  • Lane markings, curbs, etc. are advantageous for verifying the data determined by the radar system and / or if these known systems allow their own determination of a geo-referenced position of the vehicle in the determination the position P2 (t) taken into account.
  • the objects OR ,, OL are advantageously fixedly arranged, for example, guard rails, crash barrier vertical beams, curbs, concrete deflectors, masts, metal fences, noise barriers, Side walls or radar reflectors, retroreflectors, corner reflectors, traffic pole masts, gantries, emergency telephones.
  • Such objects each have specific 2D / 3D radar signatures that are detectable and identifiable by the radar system of the vehicle.
  • the provided radar signatures RSORJ, RSOLJ of the objects OR ,, OL generated on the basis of radar signatures, which were detected by means of an aircraft-borne or a satellite-borne sensor in plan view of the earth's surface and then converted into horizontally detectable radar signatures.
  • Aircraft-borne or satellite-borne radar sensors allow the detection of a road network of a country in a short time, depending on the size, for example, within a day.
  • a high-frequency update of the corresponding radar targets of the lateral environment of roadways can be ensured.
  • Warning signal WARN is generated, the evaluation unit for these time steps t k determined a position P2 '(t k ), for which applies:
  • data are provided via a third interface, which enable an optical and / or ultrasound characterization of the objects OR ,, OL.
  • the vehicle advantageously has an optical system OPT and / or an ultrasound system US, with which the right and the left lateral surroundings of the vehicle can be scanned, and with the corresponding distances D RO R, OPT, D R O , US CLOSED to the right of the vehicle existing objects OR and corresponding distances D L , OR, OPT, D L , OR, US to the left side of the vehicle existing objects OL can be determined.
  • the optical system OPT and / or the ultrasound system US is advantageously designed to be based on the optical data or ultrasound data acquired by the respective system identify the detected objects as objects OR, or OL ,,, respectively.
  • the evaluation unit advantageously takes into account the determined distances D R , O R, OPT, D R , O R, US, D L , OR, OPT, D L , OR, US for determining the second position P2 (t) respectively identified objects OR ,, OL ,.
  • the objects OR and OL detected by the radar system are thus first verified by means of an optical system OPT and / or an ultrasound system US.
  • a refinement of the lane keeping assistance system is characterized in that it is transmitted to a central station that objects OR and / or OL were determined with the radar system at positions P1 (t) or P2 (t), which are not objects OR, and / or OL , are identifiable and / or that with the radar system at positions P1 (t) or P2 (t) no objects OR and / or OL were determined, but which should be present as objects OR, and / or OL.
  • the central office is advantageously the point that provides the geo-referenced position data P 0 RJ, POLJ of objects OR, and OL, as well as associated 2D or 3D radar signatures RSORJ and RSou to the vehicle via the second interface.
  • the lane-keeping assistance system is automatically automated to the
  • the radar system has a plurality of laterally scanning radar sensors, which are arranged distributed laterally of the vehicle along the vehicle longitudinal axis. Shadowing or obscuring a free radar view of the objects can be partially compensated. For example, when the vehicle is traveling in a middle lane, the side radar view in the front area of the vehicle may be obscured by another laterally preceding vehicle. In this case, radar sensors located in the rear side of the vehicle may still have a free lateral radar view.
  • a refinement of the lane keeping assistance system is characterized in that the evaluation unit for identifying the objects OR and OL detected by the radar system as objects OR ,, OL, with a counter Z L the number ANZ 0 i_ of the objects OL detected on the left side, and with a Counter Z R the number ANZ 0 R of the side right detected objects OR detected, the sizes ANZ 0 i_ and ANZ 0 R in determining the
  • Vehicle position P2 (t) are taken into account. This is advantageous for estimating a longitudinal position on the section of road traveled by the vehicle, in particular in the case of a plurality of identical ones adjacent to the current roadway Radar targets OL, OR (eg guard rail mountings).
  • the count is restarted when one of the objects detected by the radar system has been uniquely identified.
  • Another aspect of the invention relates to a vehicle, in particular a motor vehicle, with a lane keeping assistance system, as described above.
  • Another aspect of the invention relates to a method for the transverse control of a
  • Road network providing georeferenced position data P 0 RJ, POLJ of objects OR, a right lane boundary and georeferenced ones
  • Position data of objects OL, a left-hand lane boundary, and of 2D or SD radar signatures RSORJ and RSOLJ of these objects OR, OL ,, for the road section of the road network traveled by the vehicle, the georeferenced position data P 0 RJ, POLJ a position accuracy ⁇ 2 of ⁇ 0, 15 m, where: ⁇ 2 ⁇ 1, i 1, 2, 3, by means of a radar system scanning a right and a left side environment of the vehicle to determine distances D 0 R ZU laterally right of the vehicle existing objects OR and their radar signatures RSOR, and of distances D 0 i_ to objects OL to the left of the vehicle and their radar signatures RSOL, based on the first position P 1 (t),
  • Position accuracy at least in one dimension has the position accuracy .DELTA. ⁇ 2, and performing the lateral control of the vehicle taking into account the target trajectory ST (t) and the position P2 (t).
  • the object of the invention is further achieved by a computer system having a data processing device, wherein the data processing device is configured such that a method as described above, on the
  • Data processing device is executed.
  • the object of the invention is achieved by a digital storage medium with electronically readable control signals, wherein the control signals can interact with a programmable computer system so that a method as described above, is performed.
  • the object of the invention is achieved by a computer program product with program code stored on a machine-readable carrier for carrying out the method, as described above, when the program code is stored on a computer
  • Data processing device is executed.
  • the invention relates to a computer program with program codes for carrying out the method, as described above, when the program runs on a data processing device. This can be the
  • Data processing device may be configured as any known from the prior art computer system.
  • Fig. 1 is a schematic structure of an inventive
  • Fig. 2 is a schematic flowchart of a method according to the invention.
  • Fig. 1 shows a schematic structure of an inventive
  • FIG. 2 shows a schematic flow chart of a method according to the invention for the transverse control of a vehicle.
  • the method comprises the following steps.
  • a target trajectory ST (t) of the vehicle is provided in the road network.
  • a step 203 georeferenced position data P 0 RJ, POLJ of objects OR, a right-hand one are provided
  • a scanning of a right and a left side environment of the vehicle to determine distances D 0 R ZU objects present on the right side of the vehicle and their radar signatures RSOR, and of distances D 0 L ZU side of the vehicle
  • a step 205 based on the first position P1 (t), the data provided: P 0 RJ, POLJ, RSORJ and RSOLJ and the data obtained: D 0 R, RSOR, D 0 L , RSOL, a determination of a second position P2 (t) of the vehicle whose positional accuracy at least in one dimension
  • Position accuracy ⁇ 2 has.
  • the transverse control of the vehicle takes place taking into account the desired trajectory ST (t) and the position P2 (t).

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Mathematical Physics (AREA)
  • Traffic Control Systems (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Navigation (AREA)

Abstract

L'invention concerne un système de suivi de voie pour un véhicule, comportant : un moyen (101) de détermination d'une première position actuelle P1(t) du véhicule dans un réseau de circulation routière avec une précision de position ∆P1: P1(t) = P1(t) ± ∆P1 ; une première interface (102) pour la fourniture d'une trajectoire cible ST(t) du véhicule dans le réseau de circulation routière ; une seconde interface (103) pour la fourniture de données de position géoréférencées POR,i, POL,i d'objets ORi d'une délimitation de voie de circulation sur la droite et de données de position géoréférencées d'objets OLi d'une délimitation de voie de circulation sur la gauche, et des signatures de radar 2D ou 3D RSOR,i et RSOL,i de ces objets ORi, OLi, pour la portion de voie, parcourue par le véhicule, du réseau de circulation routier, les données de position géoréférencées POR,i, POL,i présentant une précision de position ∆P2, avec ∆P2 < ∆P1, i = 1, 2, 3, …. ; un système radar (104) pour le balayage d'un environnement latéral droit et gauche du véhicule pour déterminer des distances DOR à des objets OP présents sur le côté droit du véhicule et leurs signatures radar RSOR, et des distances DOL à des objets OL présents sur le côté gauche du véhicule OL et leurs signatures radar RSOL ; une unité d'évaluation (105) avec laquelle sur la base de la première position P1(t), des données fournies : POR,i, POL,i, RSOR,i et RSOL,i et des données déterminées : DOR, RSOR, DOL, RSOL a lieu d'abord une identification des objets détectés OR et OL en tant qu'objets ORi, OLi et sur la base de cette identification est déterminée une seconde position P2(t) du véhicule dont la précision de position présente au moins dans une dimension la précision de position ∆P2 ; et une unité de régulation (106) pour la régulation latérale du véhicule avec laquelle la régulation latérale du véhicule a lieu en tenant compte de la trajectoire cible ST(t) et de la position P2(t).
EP16744711.9A 2015-07-22 2016-07-22 Système de suivi de voie Ceased EP3326165A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015111925.0A DE102015111925B4 (de) 2015-07-22 2015-07-22 Spurhalteassistenzsystem für ein Fahrzeug
PCT/EP2016/067584 WO2017013260A1 (fr) 2015-07-22 2016-07-22 Système de suivi de voie

Publications (1)

Publication Number Publication Date
EP3326165A1 true EP3326165A1 (fr) 2018-05-30

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP16744711.9A Ceased EP3326165A1 (fr) 2015-07-22 2016-07-22 Système de suivi de voie

Country Status (4)

Country Link
US (1) US10836385B2 (fr)
EP (1) EP3326165A1 (fr)
DE (1) DE102015111925B4 (fr)
WO (1) WO2017013260A1 (fr)

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CN107082071A (zh) * 2016-02-15 2017-08-22 宝马股份公司 用于防止意外离开行车道的方法和辅助装置
DE102017205880A1 (de) * 2017-04-06 2018-10-11 Robert Bosch Gmbh Verfahren und Vorrichtung zum Betreiben eines automatisierten Fahrzeugs
DE102019214628A1 (de) * 2019-09-25 2021-03-25 Zf Friedrichshafen Ag Validierung von Umfelderfassung mittels Satelitenbildern und SAR-Radardaten
DE102020131996A1 (de) 2020-12-02 2022-06-02 Bayerische Motoren Werke Aktiengesellschaft Absichern einer geografischen Position
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US10836385B2 (en) 2020-11-17
DE102015111925A1 (de) 2017-01-26

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