SE1250212A1 - Procedure and system for determining vehicle position - Google Patents

Procedure and system for determining vehicle position Download PDF

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Publication number
SE1250212A1
SE1250212A1 SE1250212A SE1250212A SE1250212A1 SE 1250212 A1 SE1250212 A1 SE 1250212A1 SE 1250212 A SE1250212 A SE 1250212A SE 1250212 A SE1250212 A SE 1250212A SE 1250212 A1 SE1250212 A1 SE 1250212A1
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SE
Sweden
Prior art keywords
vehicle
lane
determining
relative
distance
Prior art date
Application number
SE1250212A
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Swedish (sv)
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SE537900C2 (en
Inventor
Joseph Ah-King
Jon Andersson
Paer Degerman
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Scania Cv Ab
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Filing date
Publication date
Application filed by Scania Cv Ab filed Critical Scania Cv Ab
Priority to SE1250212A priority Critical patent/SE537900C2/en
Priority to CN201380020057.1A priority patent/CN104334440B/en
Priority to PCT/SE2013/050181 priority patent/WO2013133752A1/en
Priority to EP13757023.0A priority patent/EP2822839A4/en
Publication of SE1250212A1 publication Critical patent/SE1250212A1/en
Publication of SE537900C2 publication Critical patent/SE537900C2/en

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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • 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
    • B60W40/072—Curvature of the road
    • 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 or light 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
    • 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 for navigation systems
    • 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

Abstract

SAMMANDRAG Uppfinningen hanfor sig till ett forfarande for bestamning av ett fordons (1) position relativt fordonets fardvags vagbana (10), innefattande stegen att: fortlOpande bestamma (Si) avstand mellan atminstone ett sidoparti hos fordonet och topografiska karaktaristika (30, 32; 130, 132; 230, 232) hos fordonets fardvag invid namnda sidoparti; och baserat pa salunda bestamda avstand bedoma (S2) fordonets sidoposition. Fareliggande uppfinning hanfer sig ocksá till ett system fel' bestamning av ett fordons position relativt fordonets fardvags vagbana. FOreliggande uppfinning hanfor sig ocksâ till ett motorfordon. Foreliggande uppfinning hanfor sig ocksa till ett datorprogram och en datorprogramprodukt. (Fig. 3) SUMMARY The invention relates to a method for determining the position of a vehicle (1) relative to the vehicle's lane lane (10), comprising the steps of: continuously determining (Si) the distance between at least a side portion of the vehicle and topographical characteristics (30, 32; 130, 132; 230, 232) at the vehicle's carriageway next to the said side section; and based on the distance thus determined, assess (S2) the lateral position of the vehicle. The present invention also relates to a system for incorrectly determining the position of a vehicle relative to the lane of the vehicle. The present invention also relates to a motor vehicle. The present invention also relates to a computer program and a computer program product. (Fig. 3)

Description

1 FORFARANDE OCH SYSTEM FOR BESTAMNING AV FORDONS POSITION TEKNISKT OMRADE Uppfinningen hanfOr sig till ett fOrfarande far bestdmning av fordonsposition enligt ingressen till patentkrav 1. Uppfinningen hdnfor sig dven till ett system far bestamning av fordonsposition enligt ingressen till patentkrav 9. Uppfinningen hanfar sig ocksa till ett motorfordon. Uppfinningen hdnfar sig dessutom till ett datorprogram och en datorprogramprodukt. TECHNICAL FIELD The invention relates to a method for determining the vehicle position according to the preamble of claim 1. The invention also relates to a system for determining the vehicle position according to the preamble of claim 9. The invention relates to a system for determining the vehicle position according to the preamble of claim 9. motor vehicle. The invention further relates to a computer program and a computer program product.

BAKGRUND Vissa fordon är idag utrustade med kameror och/eller andra sensorer som är anordnade att avkdnna filmarkeringarna pa fordonets fardvegs vdgbana, framfor eller bakom fordonet, for att bedOma i vilken fil och var i filen pa vagbanan fordonet befinner sig. Denna signal kan sedan anvdndas fOr att varna om fordonet ofrivilligt rat' sig ut ur filen och/eller anvandas fel' att reglera fordonet i filen. BACKGROUND Some vehicles today are equipped with cameras and / or other sensors that are arranged to detect the file markings on the vehicle's roadway, in front of or behind the vehicle, to assess in which lane and where in the lane on the lane the vehicle is located. This signal can then be used to warn if the vehicle has involuntarily slipped out of the lane and / or is used incorrectly to control the vehicle in the lane.

Dessa sensorer kan ha problem att se vagmarkeringarna tillfdlligt eller under Idngre tider p.g.a. slitna eller obefintliga vagmarkeringar eller vintervdglag. These sensors may have trouble seeing the road markings temporarily or during earlier times due to worn or non-existent road markings or winter vdglag.

SYFTE MED UPPFINNINGEN Ett syfte med foreliggande uppfinning är att astadkomma ett forfarande f6r bestdmning av fordonsposition utmed fordonets fdrdvdgs vdgbana som dr effektivt och majliggar saker bestdmning. 2 Ett ytterligare syfte med foreliggande uppfinning ãr att astadkomma ett system fOr bestamning av fordonsposition utmed fordonets fardvags vagbana som är effektivt och mOjliggor saker bestamning. OBJECT OF THE INVENTION An object of the present invention is to provide a method for determining vehicle position along the roadway of the vehicle's vehicle which is efficient and capable of determining things. A further object of the present invention is to provide a system for determining vehicle position along the vehicle's carriageway which is efficient and enables things to be determined.

SAMMANFATTNING AV UPPFINNINGEN Dessa och andra syften, vilka framgar av nedanstaende beskrivning, astadkommes medelst ett fOrfarande, ett system, ett motorfordon, ett datorprogram och en datorprogramprodukt av inledningsvis angivet slag och som vidare uppvisar sardragen angivna i den kannetecknande delen av bifogade sjalvstandiga patentkrav 1, 9, 17, 18 och 19. FOredragna utforingsformer av forfarandet och systemet är definierade i bifogade osjalvstandiga patentkrav 2-8 och 10-16. SUMMARY OF THE INVENTION These and other objects, which will become apparent from the following description, are accomplished by a method, system, motor vehicle, computer program, and computer program product of the kind initially indicated and further having the features set forth in the characterizing portion of the appended independent 9, 17, 18 and 19. Preferred embodiments of the method and system are defined in appended dependent claims 2-8 and 10-16.

Enligt uppfinningen uppnas syftena med ett fOrfarande fOr bestamning av ett fordons position relativt fordonets fardvags vagbana, enligt sardragen i krav 1. Harigenom erhdlles ett effektivt salt att bestamma fordonets position relativt fordonets fdrdvdgs vagbana, vilket kan utnyttjas enskilt eller som komplement till annan bestamning av fordonets position relativt fordonets fardvags vagbana, sasom avkanning av vdgmdrken utmed fordonets fardvags vagbana. Harvid mojliggors foljaktligen en sakrare bestamning av fordonets position relativt fordonets fdrdvdgs vagbana. According to the invention, the objects are achieved with a method for determining the position of a vehicle relative to the vehicle's lane lane, according to the features of claim 1. Thereby an effective salt is obtained to determine the position of the vehicle relative to the vehicle's vehicle lane, which can be used alone or as a complement to other vehicle position relative to the vehicle's lane lane, such as surveying of the vehicle lanes along the vehicle's lane lane. Consequently, a more accurate determination of the vehicle's position relative to the vehicle's vehicle lane is possible.

Enligt en utfOringsform innefattar forfarandet sardragen i krav 2. Genom utnyttjande av dylika topografiska karaktdristika majliggiirs effektiv avstandsbestamning mellan fordonssida och vagkant. According to one embodiment, the method comprises the features of claim 2. By utilizing such topographical characteristic features, the effective distance determination between vehicle side and carriage edge can be determined.

Enligt en utfOringsform innefattar fOrfarandet sardragen i krav 3. Dylika organ mOjliggor effektiv bestamning av avstandet. According to one embodiment, the method comprises the features of claim 3. Such means enable efficient determination of the distance.

Enligt en utforingsform innefattar fOrfarandet sardragen i krav 4. Harvid erhdlles information huruvida fordonet bet inner sig i en fil pa vagbanan och i sã fall vilken fil och dess position i filen. 3 Enligt en utforingsform innefattar fOrfarandet sardragen i krav 5. Genom att utnyttja kdnd fordonsposition hos fordonet fOr bestdmning av avstandet och utnyttja ansatsen att detta avstand till topografiska karaktdristika ãr konstant under en viss tidsperiod kan denna information utnyttjas fOr att veta fordonets position relativt vagbanan, exempelvis som redundans till kand information om fordonets position fran avkdnning av vagmarkeringar sa. att om vdgmarkeringar under ett parti utmed vagbanan ej dr detekterbara, det bestamda avstandet kan anvandas for att halla reda pa fordonets position. According to one embodiment, the method comprises the features of claim 4. In this case, information is obtained as to whether the vehicle is inside a lane on the lane and, if so, which lane and its position in the lane. According to one embodiment, the method comprises the features of claim 5. By using the known vehicle position of the vehicle to determine the distance and utilizing the approach that this distance to topographic characteristics is constant for a certain period of time, this information can be used to know the vehicle's position relative to the lane, e.g. as redundancy to kand information about the vehicle's position from the detection of road markings said. that if road markings under a section along the roadway are not detectable, the specified distance can be used to keep track of the position of the vehicle.

Enligt en utforingsform innefattar forfarandet sardragen i krav 6. Detta är ett effektivt sdtt att bestamma fordonets position. According to one embodiment, the method comprises the features of claim 6. This is an effective way of determining the position of the vehicle.

Enligt en utforingsform innefattar forfarandet sardragen i krav 7. Kvitteringen kan gOras av fOraren da denne vet att fordonet bef inner sig pa ratt position/i rdtt fil pa vagbanan. According to one embodiment, the method comprises the features of claim 7. The acknowledgment can be made by the driver as he knows that the vehicle is in the right position / in the red lane on the lane.

Enligt en utforingsform innefattar forfarandet sardragen i krav 8. According to one embodiment, the method comprises the features of claim 8.

Bestamningen astadkommes genom GPS och kartdata som kan inbegripa vdgbredd, varvid denna information kan uppdateras kontinuerligt sa att eventuella dndringar hos vdgbanans karaktdristika kan beaktas, vilket mOjliggor sdker bestdmning av fordonets position genom namnda avstand. The determination is achieved by GPS and map data which may include road width, whereby this information can be updated continuously so that any changes in the road track's character statistics can be taken into account, which makes it possible to determine the vehicle's position by said distance.

Enligt uppfinningen uppnas syftena aven med ett system for bestamning av ett fordons position relativt fordonets fdrdvdgs vdgbana, enligt sardragen i krav 9. Hdrigenom erhalles ett effektivt sdtt att bestamma fordonets position relativt fordonets fardvags vdgbana, vilket kan utnyttjas enskilt eller som komplement till annan bestdmning av fordonets position relativt fordonets fardvags vagbana, sasom avkdnning av vdgmarken utmed fordonets fardvags vagbana. Harvid mOjliggOrs feljaktligen en sdkrare bestamning av fordonets position relativt fordonets fardvags vdgbana. According to the invention, the objects are also achieved with a system for determining the position of a vehicle relative to the vehicle's path of travel, according to the features of claim 9. This provides an effective way of determining the position of the vehicle relative to the vehicle's path, which can be used alone or as a complement to other determination of the position of the vehicle relative to the vehicle's lane lane, such as the survey of the roadside along the vehicle's lane lane. In this case, a more accurate determination of the vehicle's position relative to the vehicle's roadway is possible.

Enligt en utforingsform innefattar systemet sardragen i krav 10. Genom utnyttjande av dylika topografiska karaktdristika majliggOrs effektiv avstandsbestamning mellan fordonssida och vdgkant. 4 Enligt en utforingsform innefattar systemet sardragen i krav 11. Dylika organ mOjliggor effektiv bestamning av avstandet. According to one embodiment, the system comprises the features of claim 10. By utilizing such topographic character traits, effective distance determination between vehicle side and sidewall is possible. According to one embodiment, the system comprises the features of claim 11. Such means enable efficient determination of the distance.

Enligt en utf6ringsform innefattar systemet sardragen i krav 12. Hdrvid erhdlles information huruvida fordonet bef inner sig i en fil pa vagbanan och i sâ fall vilken fil och dess position i filen. According to one embodiment, the system comprises the features of claim 12. This provides information as to whether the vehicle is in a lane on the lane and, if so, which lane and its position in the lane.

Enligt en utforingsform innefattar systemet sardragen i krav 13. Genom att utnyttja kand fordonsposition hos fordonet fOr bestamning av avstandet och utnyttja ansatsen att detta avstand till topografiska karaktdristika är konstant under en viss tidsperiod kan denna information utnyttjas fOr att veta fordonets position relativt vagbanan, exempelvis som redundans till kand information om fordonets position frail avkanning av vagmarkeringar sã att om vdgmarkeringar under ett parti utmed vagbanan ej dr detekterbara, det bestamda avstandet kan anvandas for att halt reda pd fordonets position. According to one embodiment, the system comprises the features of claim 13. By utilizing the known vehicle position of the vehicle for determining the distance and utilizing the approach that this distance to topographical characteristics is constant over a certain period of time, this information can be used to know the vehicle's position relative to the lane, e.g. redundancy to known information about the position of the vehicle from scanning of road markings so that if road markings under a section along the roadway are not detectable, the determined distance can be used to keep track of the position of the vehicle.

Enligt en utforingsform innefattar systemet sardragen i krav 14. Detta är ett effektivt satt att bestamma fordonets position. According to one embodiment, the system comprises the features of claim 14. This is an effective way of determining the position of the vehicle.

Enligt en utforingsform innefattar systemet sardragen i krav 15. Kvitteringen kan gOras av fOraren dâ denne vet att fordonet bef inner sig pa ran position/i raft fil pd vagbanan. According to one embodiment, the system comprises the features of claim 15. The acknowledgment can be made by the driver when he knows that the vehicle is in the off position / in the raft lane on the roadway.

Enligt en utfOringsform innefattar systemet sardragen i krav 16. According to one embodiment, the system comprises the features of claim 16.

Bestamningen astadkommes genom GPS och kartdata som kan inbegripa vagbredd, varvid denna information kan uppdateras kontinuerligt sa att eventuella dndringar hos vagbanans karaktdristika kan beaktas, vilket mOjliggOr sdker bestamning av fordonets position genom namnda avstand. The determination is achieved by GPS and map data which may include lane width, whereby this information can be updated continuously so that any changes in the lane character characteristics can be taken into account, which makes it possible to determine the position of the vehicle by said distance.

FIGURBESKRIVNING Foreliggande uppfinning kommer att fOrstas bath-0 med hanvisning till foljande detaljerade beskrivning last tillsammans med de bifogade ritningarna, dar lika hanvisningsbeteckningar hanfor sig till lika delar genomgaende i de manga vyerna, och i vilka: Fig. 1 schematiskt illustrerar ett motorfordon enligt en utfOringsform av foreliggande uppfinning; Fig. 2 schematiskt illustrerar ett blockschema av ett system for bestamning av fordonsposition enligt en utfOringsform av foreliggande uppfinning; Fig. 3 schematiskt illustrerar en vy sedd ovanifran av ett motorfordon som fardas pa. en vagbana; Fig. 4a-b schematiskt illustrerar en vy sedd bakifran av ett motorfordon som 10 fardas pa en vagbana; Fig. 5 schematiskt illustrerar ett blockschema av ett fOrfarande enligt en utforingsform av fOreliggande uppfinning; och Fig. 6 schematiskt illustrerar en dator enligt en utfOringsform av foreliggande uppf inning. DESCRIPTION OF THE DRAWINGS The present invention will be understood to be understood as referring to the following detailed description of the cargo taken in conjunction with the accompanying drawings, in which like reference numerals appear in like manner throughout the many views, and in which: Fig. 1 schematically illustrates a motor vehicle according to one embodiment; of the present invention; Fig. 2 schematically illustrates a block diagram of a vehicle position determination system according to an embodiment of the present invention; Fig. 3 schematically illustrates a view seen from above of a motor vehicle traveling on. in vagbanis; Figs. 4a-b schematically illustrate a rear view of a motor vehicle traveling on a lane; Fig. 5 schematically illustrates a block diagram of a method according to an embodiment of the present invention; and Fig. 6 schematically illustrates a computer according to an embodiment of the present invention.

BESKRIVNING AV UTFORINGSFORMER Hari hanfor sig termen "lank" till en kommunikationslank som kan vara en fysisk ledning, sasom en opto-elektronisk kommunikationsledning, eller en icke-fysisk ledning, sasom en tradlos anslutning, till exempel en radio- eller 20 mikrovagslank. DESCRIPTION OF EMBODIMENTS The term "lank" refers to a communication link which may be a physical line, such as an optoelectronic communication line, or a non-physical line, such as a wireless connection, for example a radio or microwave line.

Hari hanfor sig termen "topografiska karaktaristika" i uttrycket "topografiska karaktaristika hos fordonets fardvag" till vilken som heist lamplig referenspunkt invid ett sidoparti hos fordonet for bestamning av avstand, inbegripande objekt, i form av vagracken, och/eller sidomarkeringar, och/eller vagbaneavslutning, och/eller vegetation, och/eller i anslutning till vagbanan ferefintliga slantpartier, och/eller stangselpartier. 6 Hari hanfOr sig termen "sidoparti hos fordonet" till hoger och/eller vanster sida hos fordonet och/eller sidoparti i langdled, dvs. i fordonets langdutstrackning, utmed en sida has fordonet. Does the term "topographical characteristics" in the expression "topographical characteristics of the vehicle's carriageway" refer to the appropriate point of reference next to a side section of the vehicle for determining distance, including objects, in the form of carriage racks, and / or side markings, and / or lane markings; , and / or vegetation, and / or adjoining ridge sections, and / or fence sections in connection with the roadway. 6 In this case, the term "side section of the vehicle" refers to the right and / or left side of the vehicle and / or the longitudinal side section, ie. in the longitudinal extension of the vehicle, along one side has the vehicle.

Fig. 1 illustrerar schematiskt ett motorfordon 1 enligt en utforingsform av foreliggande uppfinning. Det exemplifierade fordonet 1 utgOrs av ett tungt fordon i form av en lastbil med en hytt 2. Fordonet kan alternativ utgOras av vilket som heist lampligt fordon sasom en buss eller en personbil. Fordonet inbegriper ett system I for bestamning av fordonsposition enligt foreliggande uppf inning. Fig. 1 schematically illustrates a motor vehicle 1 according to an embodiment of the present invention. The exemplary vehicle 1 consists of a heavy vehicle in the form of a truck with a cab 2. The vehicle can alternatively be constituted by any raised vehicle such as a bus or a passenger car. The vehicle includes a vehicle position determination system I according to the present invention.

Fig. 2 illustrerar schematiskt ett blockschema av ett system I far bestamning av fordonsposition enligt en utforingsform av foreliggande uppf inning. Fig. 2 schematically illustrates a block diagram of a system for determining vehicle position according to an embodiment of the present invention.

Systemet I innefattar en elektronisk styrenhet 100 f6r namnda bestamning. System I comprises an electronic control unit 100 for said determination.

Systemet I innefattar avstandsbestamningsmedel 110 far att fortlepande bestamma avstand mellan atminstone ett sidoparti has fordonet och topografiska karaktaristika has fordonets fardvag invid namnda sidoparti. System I includes distance determining means 110 for continuously determining the distance between at least one side portion of the vehicle and the topographic characteristics of the vehicle's carriageway adjacent said side portion.

Namnda avstandsbestamningsmedel inbegriper sidosensororgan. Namnda sidosensororgan utgors enligt en variant av kameraorgan, radarorgan och/eller lasermatorgan. Vilket som heist lampligt avstandsbestamningsmedel far att fortlopande bestamma avstand mellan namnda sidoparti och namnda topografiska karaktaristika kan anvandas. Said distance determining means includes side sensor means. Said side sensor means are constituted according to a variant of camera means, radar means and / or laser feed means. Whichever means suitable distance determining means may continuously determine the distance between said side portion and said topographical characteristics can be used.

Systemet I innefattar enligt en variant vidare fordonspositionsbestamningsmedel 120 far att bestamma fordonets sidoposition relativt namnda vagbana. According to a variant, the system I further comprises vehicle position determining means 120 for determining the lateral position of the vehicle relative to said lane.

Enligt en variant inbegriper namnda fordonspositionsbestamningsmedel vagmarkeringsavkanningsmedel 122 far att avkanna vagmarkeringar hos 25 namnda vagbana. Namnda vagmarkeringsavkanningsmedel 122 inbegriper enligt en variant kameraorgan. According to a variant, said vehicle position determining means includes road marking sensing means 122 for sensing road markings of said lane. Said road marking sensing means 122 according to a variant comprises camera means.

Enligt en variant inbegriper namnda fordonspositionsbestamningsmedel 120 kvitteringsmedel 124 fOr att kvittera Onskad sidoposition has fordonet relativt 7 namnda vagbana. Namnda kvittering sker enligt en variant genom att exempelvis fOraren medelst namnda kvitteringsmedel 124 manuellt kvitterar fordonets position dâ foraren kanner till den aktuella sidopositionen hos fordonet och att den aktuella sidopositionen hos fordonet är den 6nskade, dvs. att fordonet befinner sig rat i filen pa vagbanan. According to a variant, said vehicle position determining means 120 includes acknowledgment means 124 for acknowledging desired side position, the vehicle has relative to said lane. Said acknowledgment takes place according to a variant in that, for example, the driver by means of said acknowledgment means 124 manually acknowledges the position of the vehicle when the driver knows the current side position of the vehicle and that the current side position of the vehicle is the desired one, ie. that the vehicle is in the lane on the lane.

Enligt en variant inbegriper namnda fordonspositionsbestamningsmedel 120 fardvagsbestamningsmedel 126 for att tillhandahalla fOrutbestamda karaktaristika hos vagbanan utmed fordonets fardvag samt fordonets position utmed fordonets fardvag. According to a variant, said vehicle position determining means 120 includes carriage determining means 126 for providing predetermined characteristics of the carriageway along the vehicle's carriageway and the position of the vehicle along the vehicle's carriageway.

Namnda fardvagsbestamningsmedel 126 inbegriper enligt en variant en kartinformationsenhet 126a inbegripande namnda karaktaristika hos vagbanan, dar namnda karaktaristika hos vagbanan enligt en variant inbegriper information om vagbanans bredd, antal filer, filernas bredd, avstand fran vagkant till topografiska karaktaristika sasom exempelvis vagracken eller dylikt. Namnda fardvagsbestamningsmedel inbegriper vidare ett geografiskt lagesbestamningssystem 126b, exempelvis GPS. Said lane detecting means 126 according to a variant comprises a map information unit 126a including said characteristics of the lane, where said characteristics of the lane according to a variant include information about the width of the lane, number of lanes, file width, distance from lane edge to topographic characteristics. Said vehicle determining means further comprises a geographical location determining system 126b, for example GPS.

Namnda fordonspositionsbestamningsmedel 120 kan inbegripa en eller flera av namnda vagmarkeringsavkanningsmedel 122, namnda kvitteringsmedel 124 och namnda fardvagsbestamningsmedel 126. Said vehicle position determining means 120 may include one or more of said road marking sensing means 122, said acknowledgment means 124 and said carriage way determining means 126.

Systemet innefattar fordonspositionshanteringsmedel 130 for att hantera information r6rande fordonets position utmed fordonets fardvags vagbana. Namnda fordonspositionshanteringsmedel 130 inbegriper enligt en variant varningsmedel anordnat att varna foraren om exempelvis fordonet avviker fran 6nskad position pa vagbanan, exempelvis avviker fran filen det fardas i. The system includes vehicle position management means 130 for handling information regarding the position of the vehicle along the lane of the vehicle. Said vehicle position handling means 130 comprises, according to a variant, warning means arranged to warn the driver if, for example, the vehicle deviates from the desired position on the carriageway, for example deviates from the lane in which it is driven.

Namnda fordonspositionshanteringsmedel 130 inbegriper enligt en variant fordonspositionskorrigeringsmedel far att korrigera fordonets position om fordonet avviker fran onskad position pa vagbanan, exempelvis avviker fran filen det fardas i. Namnda fordonspositionshanteringsmedel 130 kan 8 inbegripabadenamndavarningsmedelochnamnda fordonspositionskorrigeringsmedel. Said vehicle position handling means 130 includes, according to a variant, vehicle position correcting means for correcting the position of the vehicle if the vehicle deviates from the desired position on the lane, for example deviates from the lane it is traveling in. Said vehicle position handling means 130 may include both named warning means and said vehicle means.

Den elektroniska styrenheten 100 är signalansluten till namnda avstandsbestamningsmedel 110 via en lank 105. Den elektroniska styrenheten 100 dr via lanken 105 anordnad att mottaga en signal fran avstandsbestamningsmedlet 110 representerande avstandsdata mellan sidoparti hos fordonet och topografiska karaktaristika hos fordonets fardvag invid namnda sidoparti. The electronic control unit 100 is signal connected to said distance determining means 110 via a lane 105. The electronic control unit 100 via the lane 105 is arranged to receive a signal from the distance determining means 110 representing distance data between the side portion of the vehicle and topographical characteristics of the vehicle lane adjacent said side lane.

Den elektroniska styrenheten 100 är signalansluten till namnda fordonspositionsbestamningsmedel 120 via en lank 115. Den elektroniska styrenheten 100 är via lanken 115 anordnad att mottaga en signal fran fordonspositionsbestamningsmedlet 120 representerande sidopositionsdata far fordonets sidoposition relativt namnda vagbana. The electronic control unit 100 is signal connected to said vehicle position determining means 120 via a lane 115. The electronic control unit 100 is arranged via the lane 115 to receive a signal from the vehicle position determining means 120 representing side position data of the vehicle's side position relative to said lane.

Enligt en variant är den elektroniska styrenheten 100 signalansluten till namnda vagmarkeringsavkanningsmedel 122 via en lank 116. Den elektroniska styrenheten 100 ãr via lanken 116 anordnad att mottaga en signal fran vagmarkeringsavkanningsmedlet 122 representerande vagmarkeringsdata for fordonets sidoposition relativt namnda avkanda vagmarkering. According to a variant, the electronic control unit 100 is signal connected to said lane marking means 122 via a lane 116. The electronic control unit 100 is arranged via the lane 116 to receive a signal from the lane marking sensing means 122 representing lane marking data for the side position of the vehicle relative to said deflected lane marking.

Enligt en variant dr den elektroniska styrenheten 100 signalansluten till namnda kvitteringsmedel 124 via en lank 117. Den elektroniska styrenheten 100 dr via lanken 117 anordnad att mottaga en signal fran kvitteringsmedlet 124 representerande kvitteringsdata att sidopositionen far fordonet relativt vagbanan är korrekt. According to a variant, the electronic control unit 100 signals connected to said acknowledgment means 124 via a line 117. The electronic control unit 100 is arranged via the line 117 to receive a signal from the acknowledgment means 124 representing acknowledgment data that the side position of the vehicle relative to the lane is correct.

Enligt en variant dr den elektroniska styrenheten 100 signalansluten till namnda fardvagsbestamningsmedel 126 via en lank 118. Den elektroniska styrenheten 100 är via lanken 118 anordnad att mottaga en signal fran fdrdvdgsbestamningsmedlet 126 representerande vagbanekaraktaristika vid aktuell position utmed fordonets fardvag. 9 Den elektroniska styrenheten 100 är anordnad att pa basis av namnda avstandsdata och namnda sidopositionsdata bedoma fordonets aktuella sidoposition relativt fordonets fardvags vagbana. According to a variant, the electronic control unit 100 signals connected to the said vehicle determining means 126 via a lane 118. The electronic control unit 100 is arranged via the lane 118 to receive a signal from the vehicle determining means 126 representing lane characteristics at the current position along the vehicle's lane. The electronic control unit 100 is arranged to assess, on the basis of said distance data and said side position data, the current side position of the vehicle relative to the vehicle's carriageway.

Enligt en variant är den elektroniska styrenheten 100 signalansluten till namnda fordonspositionshanteringsmedel 130 via en lank 135. Den elektroniska styrenheten 100 är via lanken 135 anordnad att sanda en signal fran fordonspositionshanteringsmedlet 130 representerande sidopositionsdata relativt fordonets fardvags vagbana vid aktuell position utmed fordonets fardvag. According to a variant, the electronic control unit 100 is signal connected to said vehicle position handling means 130 via a lane 135. The electronic control unit 100 is arranged via the lane 135 to transmit a signal from the vehicle position handling means 130 representing side position data relative to the vehicle's carriageway at the current position along the vehicle's carriageway.

Enligt en variant är den elektroniska styrenheten 100 anordnad att, med ansatsen att avstandet till namnda topografiska karaktaristika hos fordonets fardvag invid namnda sidoparti, exempelvis vagracke eller dylikt, är konstant utmed fardvagen, atminstone under en tidsperiod/stracka, medelst namnda signal representerande avstandsdata och sidopositionsdata fran namnda vagmarkeringsavkanningsmedel 122 bestamma fordonets position i filen pa vagbanan. According to a variant, the electronic control unit 100 is arranged that, with the approach that the distance to said topographical characteristics of the vehicle's carriageway next to said side section, for example carriageway or the like, is constant along the carriageway, at least for a period / distance, by said signal representing distance data and side position from said road marking detecting means 122 determine the position of the vehicle in the lane on the roadway.

Detta astadkommes enligt en variant genom att jamfOra avstandsdata med positionsdata, ddr ett specifikt avstand till namnda topografiska karaktaristika motsvarar Onskad position pa vagbanan, varvid denna position kan bibehalles genom att fortlOpande bestamma avstand mellan atminstone ett sidoparti hos fordonet och topografiska karaktaristika hos fordonets fardvag invid namnda sidoparti. This is achieved according to a variant by comparing distance data with position data, where a specific distance to said topographic characteristics corresponds to the desired position on the roadway, this position can be maintained by continuously determining the distance between at least one side portion of the vehicle and the topographic characteristics of the vehicle. sidoparti.

For det fall signalen representerande sidopositionsdata fran avkanning medelst namnda vagmarkeringsavkanningsmedel 122 fOrsvinner ett tag pa en vagstracka pa grund av att vagmarkeringarna inte är detekterbara mOjliggors harvid att med namnda avstandsdata bestamma fordonets position utmed fordonets fardvags vagbana. In the event that the signal representing lateral position data from sensing by means of said road marking sensing means 122 disappears for a while on a carriageway due to the fact that the road markings are not detectable, it is possible to determine the position of the vehicle along said vehicle's carriageway with said distance data.

Enligt en variant är den elektroniska styrenheten 100 anordnad att, med ansatsen att avstandet till namnda topografiska karaktaristika hos fordonets fardvag invid ndrrinda sidoparti, exempelvis vagrdcke oiler dylikt, ãr konstant utmed fdrdvdgen, atminstone under en tidsperiod/stracka, medelst ndmnda signal representerande avstandsdata och kvitteringsdata fran ndmnda kvitteringsmedel 124 bestamma fordonets position i filen pa vagbanan, varvid fordonets position utmed fordonets fardvags vagbana bestdms medelst ndmnda avstandsdata. According to a variant, the electronic control unit 100 is arranged that, with the approach that the distance to said topographical characteristics of the vehicle's carriageway next to the changing side portion, for example carriage deck or the like, is constant along the carriageway, at least for a period / distance, by means of said signal. from said acknowledgment means 124 determine the position of the vehicle in the lane on the lane, the position of the vehicle along the lane of the vehicle's lane being determined by said distance data.

Enligt en variant inbegrips narrinda avstandsbestamningsmedel 110 i en elektronisk styrenhet och ndmnda fordonspositionsbestamningsmedel 120 i ytterligare en elektronisk styrenhet. According to a variant, narrina distance determining means 110 are included in an electronic control unit and said vehicle position determining means 120 in a further electronic control unit.

Fig. 3 illustrerar schematiskt en vy sedd ovanifran av ett motorfordon 1 som fardas pa en vagbana 10, och fig. 4a-b en vy sedd bakifran av ett motorfordon 1 som fdrdas pa en vagbana 10. Fig. 3 schematically illustrates a view seen from above of a motor vehicle 1 traveling on a lane 10, and Figs. 4a-b a view seen from behind of a motor vehicle 1 traveling on a lane 10.

Fig. 3 illustrerar en vagbana 10 mod tva filer 10a, 10b, sidovagmarkeringar 12 och vagmarkeringar 14 som avdelar vagbanan i filer. Fordonet 1 fardas pa vdgbanan 10 i en av filerna 10a. Fordonet 1 innefattar ett fOrsta sidosensororgan 20 anordnat vid ett sidoparti pa den ena sidan 1a hos fordonet 1 fOr att fortlOpande bestamma avstand mellan sidopartiet hos fordonet 1 och topografiska karaktdristika 30 hos fordonets fdrdvdg invid namnda sidoparti, och ett andra sidosensororgan 22 anordnat vid ett sidoparti pa den motstaende andra sidan lb hos fordonet fOr att fortlepande bestdmma avstand mellan sidopartiet hos fordonet och topografiska karaktdristika 32 hos fordonets fdrdvdg invid ndmnda sidoparti. Respektive sensororgan 20, 22 är anordnat att detektera avstandet mellan sidoparti och topografisk karaktdristika 30, 32 via detekteringsfdlt 20a, 22a. Narrinda sidosensororgan kan utgOras av kameraorgan, radarorgan och/eller lasermatorgan. Fig. 3 illustrates a lane 10 towards two lanes 10a, 10b, side lane markings 12 and lane markings 14 which divide the lane into files. The vehicle 1 travels on the lane 10 in one of the lanes 10a. The vehicle 1 comprises a first side sensor means 20 arranged at a side portion on one side 1a of the vehicle 1 for continuously determining the distance between the side portion of the vehicle 1 and the topographical characteristics 30 of the vehicle's vehicle adjacent said side portion, and a second side sensor side member 22 the opposite other side lb of the vehicle to continuously determine the distance between the side portion of the vehicle and the topographic characteristics 32 of the vehicle's front adjacent the said side portion. Respective sensor means 20, 22 are arranged to detect the distance between side portion and topographical character statistics 30, 32 via detection field 20a, 22a. Narrinda side sensor means may be camera means, radar means and / or laser feed means.

Fordonet innefattar vagmarkeringsavkanningsmedel 40, enligt en variant kameraorgan 40, fOr att avkanna vagmarkeringar 12, 14 hos ndmnda vagbana 10. Ndmnda vagmarkeringsavkanningsmedel 40 är anordnat att 11 avkannavagmarkeringarviaettsynfalt40a.Namnda vagmarkeringsavkanningsmedel 40 kan vara anordnat pa frontsidan hos fordonet och/eller pa baksidan hos fordonet fOr namnda avkanning av vagmarkeringar 12, 14. The vehicle comprises road marking means 40, according to a variant camera means 40, for sensing road markings 12, 14 of said lane 10. Said road marking means 40 is arranged so that 11 can detect road markings by a visible 40a. said scanning of vaginal markings 12, 14.

Sidosensororgan 20, 22 och kameraorgan 40 inbegrips tillsammans med en elektronisk styrenhet i ett system exempelvis enligt fig. 2. Genom att medelst signal fran vagmarkeringsavkanningsmedlet 40 representerande positionsdata bestamma fordonets position och sedan jamfora med avstandsdata fran sidosensororgan 20, 22 kan, genom att fortlOpande bestamma avstandet mellan atminstone ett sidoparti hos fordonet 1 och topografiska karaktaristika 30, 32 hos fordonets fardvag invid namnda sidoparti, fordonets 1 position bed6mas aven om vagmarkeringarna 14 inte ãr synliga for vagmarkeringsavkanningsmedlet 40. Side sensor means 20, 22 and camera means 40 are included together with an electronic control unit in a system, for example according to Fig. 2. By determining the position of the vehicle by means of a signal from the road marking sensing means 40 and then comparing with distance data from side sensor means 20, 22 can continuously determine the distance between at least one side portion of the vehicle 1 and the topographical characteristics 30, 32 of the vehicle's carriageway next to said side portion, the position of the vehicle 1 is judged even if the road markings 14 are not visible to the road marking detecting means 40.

I fig. 4a utg6rs namnda topografiska karaktaristika hos fordonets fardvag invid namnda sidoparti av vagracken 130, 132 pa respektive sida om vagbanan. I fig. 4b utgOrs namnda topografiska karaktaristika hos fordonets fardvag invid det ena sidopartiet av ett slantparti 230 som kan utgoras av en sluttning fran pa sidan av vagbanan eller ett dike eller motsvarande, och invid det andra motstaende sidopartiet av vegetation 232 i form av trad. In Fig. 4a, the said topographical characteristics of the vehicle's carriageway next to said side portion of the carriage racks 130, 132 on each side of the carriageway are constituted. In Fig. 4b the said topographical characteristics of the vehicle's carriageway next to one side portion of a slope 230 which may be a slope from the side of the roadway or a ditch or the like, and next to the other opposite side portion of vegetation 232 are in the form of trees.

Fig. 5 schematiskt illustrerar ett blockschema av ett ferfarande fer bestamning av ett fordons position relativt fordonets fardvdgs vagbana enligt en utfOringsform av foreliggande uppfinning. Fig. 5 schematically illustrates a block diagram of a method for determining the position of a vehicle relative to the vehicle's vehicle lane according to an embodiment of the present invention.

Enligt en utforingsform innefattar forfarandet for bestamning av ett fordons position relativt fordonets fardvags vagbana ett forsta steg Si. I detta steg bestams fortlOpande avstand mellan atminstone ett sidoparti hos fordonet och topografiska karaktaristika hos fordonets fardvag invid namnda sidoparti. According to one embodiment, the method for determining the position of a vehicle relative to the vehicle's lane lane comprises a first step Si. In this step, the continuous distance between at least one side portion of the vehicle and the topographical characteristics of the vehicle's carriageway adjacent said side portion is determined.

Enligt en utforingsform innefattar forfarandet for bestamning av ett fordons position relativt fordonets fardvags vagbana ett andra steg S2. I detta steg bedOms, baserat pa salunda bestamda avstand, fordonets sidoposition. 12 Med hanvisning till fig. 6, visas ett diagram av ett utforande av en anordning 500. Styrenheten 100 som beskrivs med hanvisning till fig. 2 kan i ett utforande innefatta anordningen 500. Anordningen 500 innefattar ett ickeflyktigt minne 520, en databehandlingsenhet 510 och ett las/skriv-minne 550. According to one embodiment, the method for determining the position of a vehicle relative to the vehicle's lane lane comprises a second step S2. In this step, based on the distance thus determined, the lateral position of the vehicle is assessed. Referring to Fig. 6, there is shown a diagram of an embodiment of a device 500. The controller 100 described with reference to Fig. 2 may in one embodiment include the device 500. The device 500 includes a non-volatile memory 520, a data processing unit 510, and a read / write memory 550.

Det icke-flyktiga minnet 520 har en fOrsta minnesdel 530 van i ett datorprogram, sã som ett operativsystem, är lagrat fOr att styra funktionen hos anordningen 500. Vidare innefattar anordningen 500 en buss-controller, en seriell kommunikationsport, 1/0-organ, en ND-omvandlare, en tids- och datum inmatnings- och overfOringsenhet, en handelseraknare och en avbrytningscontroller (ej visade). Det icke-flyktiga minnet 520 bar ocksa en andra minnesdel 540. The non-volatile memory 520 has a first memory portion 530 used in a computer program, such as an operating system, stored to control the operation of the device 500. Further, the device 500 includes a bus controller, a serial communication port, I / O means, an ND converter, a time and date input and transfer unit, a trade calculator and an interrupt controller (not shown). The non-volatile memory 520 also carried a second memory portion 540.

Det tillhandahalles ett datorprogram P som innefattar rutiner for att mojliggora bestamning av ett fordons position relativt fordonets fardvags vagbana enligt det innovativa forfarandet. Programmet P innefattar rutiner for att fortlOpande bestamma avstand mellan atminstone ett sidoparti hos fordonet och topografiska karaktaristika 30, 32; 130, 132; 230, 232 has fordonets fardvag invid namnda sidoparti. Programmet P innefattar rutiner for att baserat pa salunda bestamda avstand bedoma fordonets sidoposition. Programmet P kan vara lagrat pa ett exekverbart vis eller pa komprimerat vis i ett minne 560 och/eller i ett las/skrivminne 550. A computer program P is provided which includes routines for enabling the determination of a vehicle's position relative to the vehicle's carriageway according to the innovative method. The program P includes routines for continuously determining the distance between at least one side portion of the vehicle and topographic characteristics 30, 32; 130, 132; 230, 232 has the vehicle's carriageway next to the said side section. The program P includes routines for judging the lateral position of the vehicle based on the distance determined. The program P can be stored in an executable manner or in a compressed manner in a memory 560 and / or in a read / write memory 550.

Nar det är beskrivet att databehandlingsenheten 510 utfOr en viss funktion ska det forstas att databehandlingsenheten 510 utf6r en viss del av programmet vilket är lagrat i minnet 560, eller en viss del av programmet som ar lagrat i las/skrivminnet 550. When it is described that the data processing unit 510 performs a certain function, it should be understood that the data processing unit 510 performs a certain part of the program which is stored in the memory 560, or a certain part of the program which is stored in the read / write memory 550.

Databehandlingsanordningen 510 kan kommunicera mod en dataport 599 via en databuss 515. Det icke-flyktiga minnet 520 är avsett for kommunikation mod databehandlingsenheten 510 via en databuss 512. Det separata minnet 560 är avsett att kommunicera med databehandlingsenheten 510 via en databuss 511. Las/skrivminnet 550 ar anordnat att kommunicera med 13 databehandlingsenheten 510 via en databuss 514. Till dataporten 599 kan t.ex. lankarna fOrbundna med styrenheten 100 anslutas. The data processing device 510 can communicate with a data port 599 via a data bus 515. The non-volatile memory 520 is intended for communication 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. Read / write memory 550 are arranged to communicate with the data processing unit 510 via a data bus 514. To the data port 599, e.g. The links connected to the control unit 100 are connected.

NI& data mottages pd dataporten 599 lagras det temporart i den andra minnesdelen 540. Nar mottaget indata temporart har lagrats, är databehandlingsenheten 510 iordningstalld att utfOra exekvering av kod pa ett vis som beskrivits ovan. De mottagna signalerna pd. dataporten 599 kan anyandas av anordningen 500 fOr att fortlOpande bestamma aystand mellan dtminstone ett sidoparti hos fordonet och topografiska karaktdristika 30, 32; 130, 132; 230, 232 hos fordonets fardvag invid namnda sidoparti. De mottagna signalerna pd. dataporten 599 kan anvandas av anordningen 500 far att baserat pa salunda bestamda avstand bedoma fordonets sidoposition. When data is received at the data port 599, it is temporarily stored in the second memory part 540. Once the received input data has been temporarily stored, the data processing unit 510 is ready to perform code execution in a manner described above. The received signals pd. the data port 599 may be used by the device 500 to continuously determine the distance between at least one side portion of the vehicle and topographic characteristics 30, 32; 130, 132; 230, 232 of the vehicle's carriageway next to the said side section. The received signals pd. the data port 599 can be used by the device 500 to assess the lateral position of the vehicle based on the distance thus determined.

Delar av metoderna beskrivna hari kan utf6ras av anordningen 500 med hjalp av databehandlingsenheten 510 som kor programmet lagrat i minnet 560 eller las/skrivminnet 550. Nar anordningen 500 kor programmet, exekveras hari beskrivna ferfaranden. Parts of the methods described herein may be performed by the device 500 using the data processing unit 510 which runs the program stored in the memory 560 or read / write memory 550. When the device 500 runs the program, the methods described herein are executed.

Beskrivningen ovan av de fOredragna utforingsformerna av foreliggande uppfinning har tillhandahdllits i illustrerande och beskrivande syfte. Den dr inte avsedd att vara uttommande eller begransa uppfinningen till de beskrivna varianterna. Uppenbarligen kommer manga modifieringar och variationer att framgâ fOr fackmannen. UtfOringsformerna har valts och beskrivits for att bast fOrklara principerna av uppfinningen och dess praktiska tilldmpningar, och claimed mojliggora for en fackman att forsta uppfinningen for olika utforingsformer och med de olika modifieringarna som ãr lampliga for det avsedda bruket. 14 The above description of the preferred embodiments of the present invention has been provided for illustrative and descriptive purposes. It is not intended to be exhaustive or to limit the invention to the variations described. Obviously, many modifications and variations will occur to those skilled in the art. The embodiments have been selected and described in order to best explain the principles of the invention and its practical application, and are claimed to enable one skilled in the art to understand the invention for various embodiments and with the various modifications which are appropriate to the intended use. 14

Claims (19)

PATENTKRAV 1. Forfarande for bestamning av ett fordons (1) position relativt fordonets fardvags vagbana (10), kannetecknat av stegen att:CLAIMS 1. A method for determining the position of a vehicle (1) relative to the vehicle's lane lane (10), characterized by the steps of: 1. fortlOpande bestamma (Si) avstand mellan atminstone ett sidoparti hos fordonet och topografiska karaktaristika (30, 32; 130, 132; 230, 232) hos fordonets fardvag invid namnda sidoparti; och 2. baserat pa salunda bestamda avstand bedoma (S2) fordonets sidoposition.1. continuously determine (Si) the distance between at least one side portion of the vehicle and the topographical characteristics (30, 32; 130, 132; 230, 232) of the vehicle's carriageway next to said side portion; and 2. based on the distance thus determined, assess (S2) the lateral position of the vehicle. 2. Forfarande enligt krav 1, varvid namnda topografiska karaktaristika (30, 32) inbegriper objekt, till exempel vagracken (130, 132), och/eller sidomarkeringar, och/eller vagbaneavslutning, och/eller vegetation (232), och/eller i anslutning till vagbanan forefintliga slantpartier (230), och/eller stangselpartier.A method according to claim 1, wherein said topographical characteristics (30, 32) include objects, for example the guardrail (130, 132), and / or side markings, and / or lane closure, and / or vegetation (232), and / or in connection to the carriageway existing slant sections (230), and / or fence sections. 3. Forfarande enligt krav 1, varvid steget att fortlOpande bestamma namnda avstand sker medelst sidosensororgan (20, 22; 110) hos fordonet (1), exempelvis kameraorgan, radarorgan, och/eller lasermatorgan.A method according to claim 1, wherein the step of continuously determining said distance takes place by means of side sensor means (20, 22; 110) of the vehicle (1), for example camera means, radar means, and / or laser feed means. 4. Forfarande enligt nagot av kraven 1-3, varvid namnda bedOmning av fordonets (1) sidoposition inbegriper steget att bestamma fordonets sidoposition relativt namnda vagbana (10).A method according to any one of claims 1-3, wherein said assessing the side position of the vehicle (1) comprises the step of determining the side position of the vehicle relative to said lane (10). 5. Forfarande enligt krav 4, innefattande steget att baserat pa namnda kanda fordonsposition relativt namnda vagbana (10) bestamma avstand till namnda topografiska karaktaristika (30, 32; 130, 132; 230, 232) fran vagbanan.A method according to claim 4, comprising the step of determining, based on said known vehicle position relative to said lane (10), distance to said topographical characteristics (30, 32; 130, 132; 230, 232) from the lane. 6. Forfarande enligt krav 4 eller 5, varvid steget att bestamma fordonets 25 sidoposition relativt namnda vagbana (10) inbegriper att avkanna vagmarkeringar (12, 14) hos namnda vagbana (10).A method according to claim 4 or 5, wherein the step of determining the lateral position of the vehicle 25 relative to said lane (10) comprises sensing lane markings (12, 14) of said lane (10). 7. Forfarande enligt nagot kraven 4-6, varvid steget att bestamma fordonets (1) sidoposition relativt namnda vagbana (10) inbegriper att kvittera Onskad sidoposition hos fordonet relativt namnda vagbana (10).A method according to any of claims 4-6, wherein the step of determining the side position of the vehicle (1) relative to said lane (10) comprises acknowledging the desired side position of the vehicle relative to said lane (10). 8. Forfarande enligt nagot kraven 4-7, varvid steget att bestamma fordonets (1) sidoposition relativt namnda vagbana (10) inbegriper utnyttjande av forutbestamda karaktaristika hos namnda vagbana (10) och fordonets (1) position utmed fordonets fardvag.A method according to any of claims 4-7, wherein the step of determining the lateral position of the vehicle (1) relative to said lane (10) comprises utilizing predetermined characteristics of said lane (10) and the position of the vehicle (1) along the vehicle's carriageway. 9. System far bestamning av ett fordons (1) position relativt fordonets fardvags vagbana, kannetecknat av medel (20, 22; 100, 110) far att fortlapande bestamma avstand mellan atminstone ett sidoparti hos fordonet (1) och topografiska karaktaristika (30, 32; 130, 132; 230, 232) hos fordonets fardvag invid namnda sidoparti; och medel (40; 110; 120) for att baserat pa salunda bestamda avstand bedama fordonets (1) sidoposition.A system capable of determining the position of a vehicle (1) relative to the vehicle's lane lane, characterized by means (20, 22; 100, 110) of continuously determining the distance between at least one side portion of the vehicle (1) and topographical characteristics (30, 32). ; 130, 132; 230, 232) at the vehicle's carriageway next to the said side section; and means (40; 110; 120) for judging the lateral position of the vehicle (1) based on the distance thus determined. 10. System enligt krav 9, varvid namnda topografiska karaktaristika (30, 32) inbegriper objekt, till exempel vagracken (130, 132), och/eller sidomarkeringar, och/eller vagbaneavslutning, och/eller vegetation (232), och/eller i anslutning till vagbanan forefintliga slantpartier (230), och/eller stangselpartier.A system according to claim 9, wherein said topographical characteristics (30, 32) include objects, for example the guardrail (130, 132), and / or side markings, and / or lane closure, and / or vegetation (232), and / or in connection to the carriageway existing slant sections (230), and / or fence sections. 11. System enligt krav 9 eller 10, varvid namnda medel far att fortlapande 20 bestamma namnda avstand inbegriper sidosensororgan (20, 22; 110) hos fordonet, exempelvis kameraorgan, radarorgan, och/eller lasermatorgan.A system according to claim 9 or 10, wherein said means for continuously determining said distance includes side sensor means (20, 22; 110) of the vehicle, for example camera means, radar means, and / or laser feed means. 12. System enligt nagot av kraven 9-11, varvid namnda bedomning av fordonets (1) sidoposition inbegriper model (40; 100, 120) far att bestamma fordonets (1) sidoposition relativt namnda vagbana (10).A system according to any one of claims 9-11, wherein said judging the lateral position of the vehicle (1) includes model (40; 100, 120) determining the lateral position of the vehicle (1) relative to said lane (10). 13. System enligt krav 12, innefattande medel (100) for att baserat pa namnda kanda fordonsposition relativt namnda vagbana (10) bestamma avstand till namnda topografiska karaktaristika (30, 32; 130, 132; 230, 232) fran vagbanan (10). 16A system according to claim 12, comprising means (100) for determining, based on said known vehicle position relative to said lane (10), distance to said topographical characteristics (30, 32; 130, 132; 230, 232) from the lane (10). 16 14. System enligt krav 12 eller 13, varvid namnda medel far att bestamma fordonets sidoposition relativt namnda vagbana inbegriper medel (122) for att avkanna vagmarkeringar hos namnda vagbana.A system according to claim 12 or 13, wherein said means for determining the lateral position of the vehicle relative to said lane includes means (122) for sensing lane markings of said lane. 15. System enligt nagot kraven 12-14, varvid namnda medel far att 5 bestamma fordonets sidoposition relativt namnda vagbana inbegriper medel (124) far att kvittera Onskad sidoposition hos fordonet (1) relativt namnda vagbana (10).A system according to any one of claims 12-14, wherein said means for determining the side position of the vehicle relative to said lane includes means (124) for acknowledging the desired side position of the vehicle (1) relative to said lane (10). 16. System enligt nagot kraven 12-15, varvid namnda model far att bestamma fordonets sidoposition relativt namnda vagbana inbegriper medel 10 (126) for utnyttjande av farutbestamda karaktaristika hos namnda vagbana och fordonets position utmed fordonets fardvag.A system according to any one of claims 12-15, wherein said model is allowed to determine the lateral position of the vehicle relative to said lane including means 10 (126) for utilizing vehicle-determined characteristics of said lane and the position of the vehicle along the vehicle's carriageway. 17. Motorfordon (1) innefattande ett system enligt nagot av kraven 9-16.Motor vehicle (1) comprising a system according to any one of claims 9-16. 18. Datorprogram (P) far bestamning av ett fordons position relativt fordonets fardvags vagbana, dar namnda datorprogram (P) innefattar programkod som, dá det kars av en elektronisk styrenhet (100; 500) eller en annan dator (500) ansluten till den elektroniska styrenheten (100; 500), fOrmar den elektroniska styrenheten att utfora stegen enligt krav 1-9.Computer program (P) determines the position of a vehicle relative to the vehicle's carriageway, where said computer program (P) includes program code which, when selected by an electronic control unit (100; 500) or another computer (500) connected to the electronic the control unit (100; 500), forms the electronic control unit to perform the steps according to claims 1-9. 19. Datorprogramprodukt innefattande ett digitalt lagringsmedium som lagrar datorprogrammet enligt krav 18. 1/4A computer program product comprising a digital storage medium which stores the computer program according to claim 18. 1/4
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