SE1551055A1

SE1551055A1 - Method and system for controlling driving of a vehicle alonga road

Info

Publication number: SE1551055A1
Application number: SE1551055A
Authority: SE
Inventors: Andersson Jonny; Bredberg Linus
Original assignee: Scania Cv Ab
Priority date: 2015-08-03
Filing date: 2015-08-03
Publication date: 2017-02-04
Also published as: WO2017023197A1; SE541589C2; DE112016002947T5; BR112018000478A2

Abstract

The present invention relates to a method for controlling driving of a vehicle along a road. The method comprises the steps of: detecting (S1) the trajectory of the lane of the road along which the vehicle is travelling; and controlling (S2) driving of the vehicle along the lane based upon the detected trajectory. The method further comprises the steps of: determining (S3) the trajectory of the road along which the vehicle is travelling based on a determined current position of the vehicle and extracted map information of the extension of the road along which the vehicle is travelling; and comparing (S4) said detected trajectory with the trajectory determined by means of extracted map information and vehicle position. The method comprises the step of taking (S5) measures so as to ensure correct basis for said controlling of the driving if the detected trajectory differs from the trajectory determined by means of extracted map information and vehicle position to a certain extent.The present invention also relates to a system for controlling driving of a vehicle along a road. The present invention also relates to a computer program and a computer program product.(Fig. 4)

Description

METHOD AND SYSTEM FOR CONTROLLING DRIVING OF A VEHICLEALONG A ROAD TECHNICAL FIELD The invention relates to a method for controlling driving of a vehicle along aroad according to the preamble of claim 1. The invention also relates to asystem for controlling driving of a vehicle along a road. The invention alsorelates to a vehicle. The invention in addition relates to a computer programand a computer program product.

BACKGROUND ART For controlling driving of a vehicle along a road vehicles are equipped with aforward looking camera for detecting the trajectory of the lane of the roadalong which the vehicle is travelling, usually by detecting the road markersmarking the lane in which the vehicle is travelling. The driving of the vehiclealong the lane is controlled based upon the thus detected trajectory. Suchcontrol of the driving of the vehicle is called Lane Keep Assistance, LKA.

A problem with such a lane keep assistance function is that it sometimes isdifficult to visually detect road marks, e.g. in connection to road exits andentrances where it may be difficult to determine which markers to follow, i.e.base the control of the driving on. Road marks may also be worn away fromthe road, be hidden under snow or the like, and be merged together due toreduction of number of lanes. There may also be temporary road marks dueto e.g. roadworks.

Automatically following false road marks or other lines by means of a lanekeep assistance function may in worst case lead to severe accidents.Automatically following road marks may also lead to the vehicle taking off at a road exit that is not intended by the driver which will be annoying for the driver and time consuming.

US200928436O discloses a system for detecting position of vehicle in trafficlane on highway and issuing alarm to alert driver and prevent accident. Thesystem is configured to identify lane markers in real time using contrastidentification, mapping position of markers, and comparing current mappedposition with most recent image data so as to improve the ability of the system to provide correct warnings.

There is however a need for improving control of driving of a vehicle along aroad in connection to utilising lane keep assistance.

OBJECTS OF THE INVENTION An object of the present invention is to provide a method for controllingdriving of a vehicle along a road which improves safety and accuracy inkeeping the vehicle in the lane of the road along which the vehicle istravelling.

Another object of the present invention is to provide a system for controllingdriving of a vehicle along a road which improves safety and accuracy inkeeping the vehicle in the lane of the road along which the vehicle istravelling.

SUMMARY OF THE INVENTION These and other objects, apparent from the following description, areachieved by a method, a system, a vehicle, a computer program and acomputer program product, as set out in the appended independent claims.

Preferred embodiments of the method and the system are defined inappended dependent claims.

Specifically an object of the invention is achieved by a method for controllingdriving of a vehicle along a road. The method comprises the steps of:detecting the trajectory of the lane of the road along which the vehicle istravelling; and controlling driving of the vehicle along the lane based upon thedetected trajectory. The method further comprises the steps of: determiningthe trajectory of the road along which the vehicle is travelling based on adetermined current position of the vehicle and extracted map information ofthe extension of the road along which the vehicle is travelling; and comparingsaid detected trajectory with the trajectory determined by means of extractedmap information and vehicle position. The method comprises the step oftaking measures so as to ensure correct basis for said controlling of thedriving if the detected trajectory differs from the trajectory determined bymeans of extracted map information and vehicle position to a certain extent.

Hereby safety and accuracy in keeping the vehicle in the lane of the roadalong which the vehicle is travelling is improved in that the map data andvehicle position provides additional information to determine correct basis forthe control. Thus, the risk of the vehicle taking off at a road exit not intendedis hereby reduced. Further, the risk of the vehicle departing from the roadalong which the vehicle is travelling by following an incorrect road mark isreduced.

According to an embodiment of the method said measures in the step oftaking measures are chosen depending on the extent of the differencebetween the detected trajectory and the trajectory determined by means ofextracted map information and vehicle position. Hereby unnecessary measures may be avoided.

According to an embodiment the method comprises the step of terminating said controlling of the driving if said difference between the detected trajectory and the trajectory determined by means of extracted mapinformation and vehicle position exceeds a certain extent. Hereby measuresare taken when there is determined that there is a need, i.e. when thedifference needs to be taken into consideration in order to avoid incorrectcontrol of the driving of the vehicle along the road.

According to an embodiment of the method the step of detecting thetrajectory of the lane of the road along which the vehicle is travellingcomprises detecting characteristics along the road. By thus detectingcharacteristics along the road an efficient way of determining the trajectory ofthe road is obtained.

According to an embodiment of the method said characteristics along theroad comprises road marks defining said lane comprising solid lines anddashed lines, and/or crash barriers, and/or a road side. By thus detectingroad marks an efficient way of determining the lane of the road and itstrajectory is obtained for keeping the vehicle in the correct lane. By thusdetecting crash barriers and/or the road side an efficient way of determiningthe road along which the and its trajectory for keeping the vehicle on theroad. The complementary information in order to improve control of driving of the road marks, crash barriers and road side constitutes vehicle so as to keeping the vehicle on the road and correct lane.

According to an embodiment of the method the step of taking measurescomprises changing the basis for said control from said detected trajectory ofthe lane of the road along which the vehicle is travelling to the trajectorydetermined by means of extracted map information and vehicle position if thedifference between the detected trajectory and the trajectory determined bymeans of extracted map information and vehicle position exceeds a certainextent. By thus changing the basis for the control of the driving of the vehicleincorrect control of the vehicle may be avoided thus improving safety andreduces risk of taking off at wrong road exits/entrances.

According to an embodiment of the method the step of changing the basis forsaid control comprises step of changing the characteristic forming the basisfor the detection of said trajectory of the lane of the road to a characteristiccorresponding to the trajectory determined by means of extracted mapinformation and vehicle position. By thus changing the characteristic incorrectcontrol of the vehicle may be avoided thus improving safety and reduces riskof taking off at wrong road exits/entrances.

According to an embodiment the method comprises the step of qualifying thetrajectory determined by means of extracted map information and vehicleposition by comparing the thus determined trajectory with the detectedtrajectory; if the thus determined trajectory and the detected trajectorysubstantially corresponds to each other, the thus determined trajectory isqualified. Hereby an efficient way of determining the correctness of the mapinformation and vehicle position is obtained.

Specifically an object of the invention is achieved by a system for controllingdriving of a vehicle along a road. The system comprises means for detectingthe trajectory of the lane of the road along which the vehicle is travelling; andmeans for controlling driving of the vehicle along the lane based upon thedetected trajectory. The system further comprises means for determining thetrajectory of the road along which the vehicle is travelling based on adetermined current position of the vehicle and extracted map information ofthe extension of the road along which the vehicle is travelling; and means forcomparing said detected trajectory with the trajectory determined by meansof extracted map information and vehicle position. The system comprisesmeans for taking measures so as to ensure correct basis for said controllingof the driving if the detected trajectory differs from the trajectory determinedby means of extracted map information and vehicle position to a certainextent.

According to an embodiment of the system said measures in the means fortaking measures are chosen depending on the extent of the difference between the detected trajectory and the trajectory determined by means ofextracted map information and vehicle position.

According to an embodiment the system comprises means for terminatingsaid controlling of the driving if said difference between the detectedtrajectory and the trajectory determined by means of extracted mapinformation and vehicle position exceeds a certain extent.

According to an embodiment of the system the means for detecting thetrajectory of the Iane of the road along which the vehicle is travellingcomprises detecting characteristics along the road.

According to an embodiment of the system said characteristics along theroad comprises road marks defining said Iane comprising solid lines anddashed lines, and/or crash barriers, and/or a road side.

According to an embodiment of the system the means for taking measurescomprises means changing the basis for said control from said detectedtrajectory of the Iane of the road along which the vehicle is travelling to thetrajectory determined by means of extracted map information and vehicleposition if the difference between the detected trajectory and the trajectorydetermined by means of extracted map information and vehicle positionexceeds a certain extent.

According to an embodiment of the system the means for changing the basisfor said control comprises means for changing the characteristic forming thebasis for the detection of said trajectory of the Iane of the road to acharacteristic corresponding to the trajectory determined by means ofextracted map information and vehicle position.

According to an embodiment the system comprises means for qualifying thetrajectory determined by means of extracted map information and vehicleposition by comparing the thus determined trajectory with the detectedtrajectory; if the thus determined trajectory and the detected trajectory substantially corresponds to each other, the thus determined trajectory isqualified.

The system for controlling driving of a vehicle along a road is adapted toperform the methods as set out herein.

The system according to the invention has the advantages according to thecorresponding method claims.

Specifically an object of the invention is achieved by a computer program forcontrolling driving of a vehicle along a road, said computer programcomprising program code which, when run on an electronic control unit oranother computer connected to the electronic control unit, causes theelectronic control unit to perform methods as set out herein.

Specifically an object of the invention is achieved by a computer programproduct comprising a digital storage medium storing the computer program.

BRIEF DESCRIPTION OF THE DRAWINGS For a better understanding of the present invention reference is made to the following detailed description when read in conjunction with theaccompanying drawings, wherein like reference characters refer to like parts throughout the several views, and in which: Fig. 1 schematically illustrates a side view of a vehicle according to thepresent invention; Fig. 2a schematically illustrates a road where three lanes merge into two lanes; Fig. 2b schematically illustrates a road with a road exit; Fig. 2c schematically illustrates a road where the lanes have been redirecteddue to a road construction ahead; Fig. 3 schematically illustrates a block diagram of a system for controllingdriving of a vehicle along a road according to an embodiment of the present invention; Fig. 4 schematically illustrates a block diagram of a method for controllingdriving of a vehicle along a road according to an embodiment of the presentinvention; and Fig. 5 schematically illustrates a computer according to an embodiment of thepresent invention.

DETAILED DESCRIPTION Hereinafter the term “|ink” refers to a communication link which may be aphysical connector, such as an optoelectronic communication wire, or a non-physical connector such as a wireless connection, for example a radio or microwave link.

Hereinafter the term “trajectory of the road” and “trajectory of the lane of theroad” comprises the extension of the road/lane, the course of the road/laneand comprises the curvature of the road/lane.

Hereinafter the term “certain extent” in e.g. the context “if the detectedtrajectory differs from the trajectory determined by means of extracted mapinformation and vehicle position to a certain extent measures are taken so asto ensure correct basis for said controlling of the driving” refers to a thedegree of the difference between a detected trajectory detected by e.g. acamera on the vehicle and the trajectory determined by means of extractedmap information and vehicle position. “Certain extent” could for example bethat the detected trajectory corresponds to a road exit whereas the trajectory determined by means of extracted map information and vehicle positioncorresponds to the road continuing straight ahead. “Certain extent” could forexample be that the detected trajectory is a false trajectory e.g. due to a falseroad mark detected and interpreted as the trajectory whereas the trajectorydetermined by means of extracted map information and vehicle positioncorresponds to the road continuing straight ahead. lf the detected trajectoryonly differs from the trajectory determined by means of extracted mapinformation and vehicle position to such a degree that they substantiallymatch no measures are taken because the difference is not to a “certainextent”.

Fig. 1 schematically illustrates a side view of a vehicle 1 according to thepresent invention. The exemplified vehicle 1 is a heavy vehicle in the shapeof a truck. The vehicle according to the present invention could be anysuitable vehicle such as a bus or a car. The vehicle comprises a system I forcontrolling driving of the vehicle 1 along a road R.

Fig. 2a schematically illustrates a road R where three lanes L1, L2, L3, a firstlane L1 in which a vehicle 1 is travelling, a second lane L2 adjacent to thefirst lane L1 and a third lane L3 adjacent to the second lane L2. The treelanes L1, L2, L3 merge into two lanes L2, L3 such that the first lane isexcluded. The road R is delimited by left and right solid road markers lVlS1,MS2. The first lane L1 is delimited by the solid road marker MS1 and a leftdashed road marker l\/ID1, the second lane is delimited by the dashed roadmarker l\/lD1 and a dashed road marker MD2, and the lane L3 is delimited bythe dashed road marker MD2 and the solid road marker l\/lS2. When the roadR is merged the second lane L2 is delimited by solid road mark MS1 anddashed road mark l\/lD2.

Fig. 2b schematically illustrates a road R with two lanes L1, L2, a first lane L1in which a vehicle 1 is travelling and a second lane L2 adjacent to the firstlane L1. The road R comprises a road exit L1e exiting from the first lane. Thefirst lane L1 is delimited by the solid road marker MS and a left dashed road marker MD1, the second lane is delimited by the dashed road marker MD1and a dashed road marker MD2. The solid road marker MS is interrupted bythe road exit L1 e being delimited by solid road marks l\/lSa, MSb.

Fig. 2c schematically illustrates a road with two lanes L1, L2, a first lane L1 inwhich a vehicle 1 is travelling and a second lane L2 adjacent to the first laneL1. The lanes L1, L2 have been redirected and formed into temporary lanesLfa, L2a at a certain position due to a road construction C ahead, thetemporary lanes Lfa, L2a bypassing the construction work. The first lane L1is delimited by the solid road marker MS and a left dashed road marker I\/|D1,the second lane is delimited by the dashed road marker MD1 and a dashedroad marker MD2. The temporary lanes L1, L2 are delimited by temporarysolid road marks MSa, lVlSb, MSc.

The trajectory of the lane of the road along which the vehicle is travelling isdetected by means of detecting means such as one or more camera unitslooking ahead of the vehicle, according to an embodiment detecting roadmarks delimiting the lane. Driving of the vehicle along the lane is controlledbased upon the thus detected trajectory. The trajectory of the road alongwhich the vehicle is travelling is further determined based on a determinedcurrent position of the vehicle and extracted map information of the extensionof the road along which the vehicle is travelling.

The detected trajectory is compared with the trajectory determined by meansof extracted map information and vehicle position.

This comparison is according to an embodiment done firstly to qualify thetrajectory determined by means of extracted map information and vehicleposition. lf the thus determined trajectory and the detected trajectorysubstantially corresponds to each other, the thus determined trajectory isqualified. 11 lf the determined trajectory is qualified detected trajectory is compared withthe trajectory determined by means of extracted map information and vehicleposition. This comparison may be performed continuously or intermittently. lf the detected trajectory differs from the trajectory determined by means ofextracted map information and vehicle position to a certain extent measuresare taken so as to ensure correct basis for said controlling of the driving.

Thus for the situation in fig. 2a the detected trajectory may result in a falsedetection when the lanes L1 and L2 merge whereas the map informationcomprises correct information about the trajectory, this resulting in adifference requiring an action. When it is determined from the mapinformation and vehicle position that the lanes are merging the basis may bechanged for control from said detected trajectory of the lane of the road alongwhich the vehicle is travelling to the trajectory determined by means ofextracted map information and vehicle position.

The same holds for the situation in fig. 2b.|n order to avoid risking the vehicle1 taking off at the exit L1e, which could be the case if the detection is basedon the right road mark MS in the form of a solid line, the basis is changed tothe trajectory determined by means of extracted map information and vehicleposition. The detection of the trajectory could then be changed to the leftroad mark MD1 in the form of dashed road marks.

For the situation in fig. 2c the difference between the detected trajectory andthe trajectory determined by means of extracted map information and vehicleposition may exceed a certain extent wherein the controlling of the drivingaccording to an embodiment is terminated in order to avoid risking thevehicle 1 driving straight into the road construction. Termination of thecontrolling of the driving means that automatic controlling of the driving of thevehicle along the lane based upon the detected trajectory is terminated, thisaccording to an embodiment being done be deactivating a means for thuscontrolling the vehicle. Termination of the controlling of the driving results in 12 the driver taking over the control of the vehicle. According to anotherembodiment the map information comprises the temporary lanes L1a, L2adelimited by the temporary solid road marks IVISa, l\/ISb, MSc, wherein thebasis is changed to the trajectory determined by means of extracted mapinformation and vehicle position where detection of the trajectory then couldbe changed to the road mark MSa and/or MSb. According to anotherembodiment a characteristics along the road comprising a sign of anupcoming road construction is detected wherein the basis is changed to thetrajectory according to the temporary solid road marks l\/lSa, l\/ISb, l\/lSc. Thetemporary solid road marks MSa, l\/lSb, l\/lSc are according to an embodimentof a different colour than the road marks l\/IS delimiting the road Ft, whereinaccording to an embodiment also the colour of the road marks is taken intoaccount.

The measures taken so as to ensure correct basis for the controlling of thedriving of the vehicle along the road R are thus, as exemplified above,chosen depending on the extent of the difference between the detectedtrajectory and the trajectory determined by means of extracted mapinformation and vehicle position. lf the extent of the difference between thedetected trajectory and the trajectory determined by means of extracted mapinformation and vehicle position exceeds a certain extent, e.g. if the detectedtrajectory runs in a completely different direction than the trajectorydetermined by means of extracted map information and vehicle position, the control is terminated.

Fig. 3 schematically illustrates a system I for controlling driving of a vehiclealong a road according to an embodiment of the present invention.

The system I comprises an electronic control unit 100.

The system I comprises means 110 for detecting the trajectory of the Iane ofthe road along which the vehicle is travelling. The means 110 for detecting 13 the trajectory of the Iane of the road along which the vehicle is travelling isconfigured to detect the trajectory of the road.

The means 110 for detecting the trajectory of the Iane of the road alongwhich the vehicle is travelling may be any suitable detecting means. Themeans 110 for detecting the trajectory of the Iane of the road along which thevehicle is travelling comprises according to an embodiment one or morecamera units. The one or more camera units comprise according to anembodiment an lR-camera unit. The means 110 for detecting the trajectory ofthe Iane of the road along which the vehicle is travelling comprises accordingto an embodiment one or more laser scanner units. The means 110 fordetecting the trajectory of the Iane of the road along which the vehicle istravelling comprises according to an embodiment one or more radar units.

The means 110 for detecting the trajectory of the Iane of the road alongwhich the vehicle is travelling comprises detecting characteristics along theroad.

The characteristics along the road comprise according to an embodimentroad marks defining the Iane comprising solid lines and dashed lines. Thecharacteristics along the road comprise according to an embodiment crashbarriers. The characteristics along the road comprise according to anembodiment a road side.

The means 110 for detecting the trajectory of the Iane of the road alongwhich the vehicle is travelling comprises detecting the width of the Iane onwhich the vehicle is travelling.

The means 110 for detecting the trajectory of the Iane of the road alongwhich the vehicle is travelling comprises detecting the curvature of the Ianeon which the vehicle is travelling. The curvature of the Iane is according to anembodiment determined by means of detecting means such as one or morecamera units for detecting road markers in front of the vehicle along the road.The curvature of the Iane is according to an embodiment determined by 14 means of determining the lateral speed of the vehicle. The lateral speed ofthe vehicle is according to an embodiment determined by means of anaccelerometer.

The means 110 is according to an embodiment configured to determine thenumber of lanes of the road on which the vehicle is travelling.

The system I comprises means 120 for controlling driving of the vehicle alongthe lane based upon the detected trajectory. The means 120 for controllingdriving of the vehicle along the lane based upon the detected trajectorycomprises according to an embodiment an electronic control unit operablyconnected to the means 110 and configured to receive information of thetrajectory of the lane from the means and process the information. Themeans 120 comprises according to an embodiment a steering actuatormember for controlling the steering of the vehicle so as to keep the vehicle inthe lane based upon the detected trajectory. The means 120 is according toan embodiment configured to send control signals to a steering actuatormember for controlling the steering of the vehicle so as to keep the vehicle inthe lane based upon the detected trajectory.

The system I comprises means 130 for determining the trajectory of the roadalong which the vehicle is travelling based on a determined current positionof the vehicle and extracted map information of the extension of the roadalong which the vehicle is travelling.

The means 130 for determining the trajectory of the road along which thevehicle is travelling based on a determined current position of the vehicle andextracted map information of the extension of the road along which thevehicle is travelling comprises according to an embodiment a mapinformation unit 132 comprising map data comprising information about thetrajectory of the road on which the vehicle is travelling comprising curves,road exits, road entrances and the surroundings of the road.

The means 130 for determining the trajectory of the road along which thevehicle is travelling based on a determined current position of the vehicle andextracted map information of the extension of the road along which thevehicle is travelling comprises according to an embodiment means 134 fordetermining the position of the vehicle. The means 134 for determining theposition of the vehicle comprises according to an embodiment a globalpositioning system, GPS, for continuously determining the position of thevehicle along the road on which it is travelling.

By means of the map information unit 132 and the means 134 fordetermining the position of the vehicle it is thus facilitated to continuouslyidentifying the position of the vehicle and the trajectory of the road alongwhich the vehicle is travelling including the trajectory of the road along whichthe vehicle is travelling a certain distance ahead of the vehicle.

The system I comprises means 140 for comparing the detected trajectorydetected with the means 110 with the trajectory determined by means of themeans 130, i.e. by means of extracted map information and vehicle position.The means 140 for comparing the detected trajectory with the trajectorydetermined by means of extracted map information and vehicle positioncomprises according to an embodiment an electronic control unit. The means140 for comparing the detected trajectory with the trajectory determined bymeans of extracted map information and vehicle position comprisesaccording to an embodiment the electronic control unit 100.

The system I comprises means 150 to determine if and to what extent thedetected trajectory differs from the trajectory determined by means ofextracted map information and vehicle position. The means 150 to determineif and to what extent the detected trajectory differs from the trajectorydetermined by means of extracted map information and vehicle position isarranged to determine whether the difference exceeds a certain first extent.The means 150 to determine if and to what extent the detected trajectorydiffers from the trajectory determined by means of extracted map information 16 and vehicle position is arranged to determine whether the difference exceedsa certain second extent, said second extent being higher than the firstextentThe certain first extent is thus lower than the certain second extent.

The system I comprises means 160 for taking measures so as to ensurecorrect basis for the controlling of the driving if the detected trajectory differsfrom the trajectory determined by means of extracted map information andvehicle position to a certain extent.

The measures in the means 160 for taking measures are chosen dependingon the extent of the difference between the detected trajectory and thetrajectory determined by means of extracted map information and vehicleposition.

The means 160 for taking measures comprises means 162 for changing thebasis for the control from the detected trajectory of the lane of the road alongwhich the vehicle is travelling to the trajectory determined by means ofextracted map information and vehicle position if the difference between thedetected trajectory and the trajectory determined by means of extracted mapinformation and vehicle position exceeds the certain first extent but is belowthe certain second extent. The change of basis due to difference exceedingthe certain first extent may for example be to change detection of road marksto road marks corresponding to the trajectory and lane determined by meansof extracted map information and vehicle position.

The means 162 for changing the basis for the control comprises means 162afor changing the characteristic forming the basis for the detection of thetrajectory of the lane of the road to a characteristic corresponding to thetrajectory determined by means of extracted map information and vehicleposition.

The system I comprises means 170 for terminating the controlling of thedriving if the difference between the detected trajectory and the trajectorydetermined by means of extracted map information and vehicle position 17 exceeds the certain second extent. This could be the case if there are falseroad marks or other marks on the road, if there is a road construction withtemporary road marks, in the case of snow/ice on the road or the like.Terminating of the controlling of the driving results in the operator manuallycontrolling the vehicle.

The system I comprises means 180 for qualifying the trajectory determinedby means of extracted map information and vehicle position by comparingthe thus determined trajectory with the detected trajectory; if the thusdetermined trajectory and the detected trajectory substantially corresponds toeach other, the thus determined trajectory is qualified.

The electronic control unit 100 is operably connected to the means 110 fordetecting the trajectory of the lane of the road along which the vehicle istravelling via a link 10. The electronic control unit 100 is via the link 10arranged to receive a signal from said means 110 representing data fordetected trajectory of the lane of the road along which the vehicle is travellingcomprising data of the trajectory of the road.

The electronic control unit 100 is operably connected to the means 120 forcontrolling driving of the vehicle along the lane based upon the detectedtrajectory via a link 20a. The electronic control unit 100 is via the link 20aarranged to send a signal to said means 120 representing data for detectedtrajectory of the lane of the road along which the vehicle is travelling.

The electronic control unit 100 is operably connected to the means 120 forcontrolling driving of the vehicle along the lane based upon the detectedtrajectory via a link 20b. The electronic control unit 100 is via the link 20barranged to receive a signal from said means 120 representing data forcontrolling driving of the vehicle along the lane based upon the detectedtrajectory.

The electronic control unit 100 is operably connected to the means 130 fordetermining the trajectory of the road along which the vehicle is travelling 18 based on a determined current position of the vehicle and extracted mapinformation of the extension of the road along which the vehicle is travellingvia a link 30. The electronic control unit 100 is via the link 30 arranged toreceive a signal from said means 130 representing data for trajectorydetermined based on a determined current position of the vehicle andextracted map information.

The electronic control unit 100 is operably connected to the map informationunit 132 comprising map data comprising information about the trajectory ofthe road on which the vehicle is travelling via a link 32. The electronic controlunit 100 is via the link 32 arranged to receive a signal from said mapinformation unit 132 representing map data comprising information about thetrajectory of the road on which the vehicle is travelling.

The electronic control unit 100 is operably connected to the means 134 fordetermining the position of the vehicle via a link 34. The electronic controlunit 100 is via the link 34 arranged to receive a signal from said means 134representing data for position of the vehicle.

The electronic control unit 100 is operably connected to the means 140 forcomparing the detected trajectory with the trajectory determined by means ofextracted map information and vehicle position via a link 40a. The electroniccontrol unit 100 is via the link 40a arranged to send a signal to said means140 representing data for detected trajectory and data for determinedtrajectory.

The electronic control unit 100 is operably connected to the means 140 forcomparing the detected trajectory with the trajectory determined by means ofextracted map information and vehicle position via a link 40b. The electroniccontrol unit 100 is via the link 40b arranged to receive a signal from saidmeans 140 representing comparison data for comparison of the detectedtrajectory with the trajectory determined by means of extracted map information and vehicle position. 19 The electronic control unit 100 is operably connected to the means 150 todetermine if and to what extent the detected trajectory differs from thetrajectory determined by means of extracted map information and vehicleposition via a link 50. The electronic control unit 100 is via the link 50arranged to receive a signal from said means 150 representing data for whatextent the detected trajectory differs from the trajectory determined by meansof extracted map information and vehicle position.

The electronic control unit 100 is operably connected to the means 160 fortaking measures so as to ensure correct basis for the controlling of thedriving if the detected trajectory differs from the trajectory determined bymeans of extracted map information and vehicle position to a certain extentvia a link 60a. The electronic control unit 100 is via the link 60a arranged tosend a signal to said means 160 representing data for what extent thedetected trajectory differs from the trajectory determined by means ofextracted map information and vehicle position.

The electronic control unit 100 is operably connected to the means 160 fortaking measures so as to ensure correct basis for the controlling of thedriving if the detected trajectory differs from the trajectory determined bymeans of extracted map information and vehicle position to a certain extentvia a link 60b. The electronic control unit 100 is via the link 60b arranged toreceive a signal from said means 160 representing data for taking measuresso as to ensure correct basis for the controlling of the driving.

The electronic control unit 100 is operably connected to the means 162 forchanging the basis for the control from the detected trajectory of the lane ofthe road along which the vehicle is travelling to the trajectory determined bymeans of extracted map information and vehicle position if the differencebetween the detected trajectory and the trajectory determined by means ofextracted map information and vehicle position exceeds a certain first extentvia a link 62:1. The electronic control unit 100 is via the link 62:1 arranged to send a signal to said means 162 representing data for difference exceeding acertain first extent.

The electronic control unit 100 is operably connected to the means 162 forchanging the basis for the control from the detected trajectory of the lane ofthe road along which the vehicle is travelling to the trajectory determined bymeans of extracted map information and vehicle position if the differencebetween the detected trajectory and the trajectory determined by means ofextracted map information and vehicle position exceeds a certain first extentvia a link 62:2. The electronic control unit 100 is via the link 62:2 arranged toreceive a signal from said means 162 representing data for changing thebasis for the control.

The electronic control unit 100 is operably connected to the comprisesmeans 162a for changing the characteristic forming the basis for thedetection of the trajectory of the lane of the road to a characteristiccorresponding to the trajectory determined by means of extracted mapinformation and vehicle position via a link 62a. The electronic control unit 100is via the link 62a arranged to receive a signal from said means 162arepresenting data for changing the characteristic forming the basis for thedetection of the trajectory of the lane of the road to a characteristiccorresponding to the trajectory determined by means of extracted map information and vehicle position.

The electronic control unit 100 is operably connected to the means 170 forterminating the controlling of the driving if the difference between thedetected trajectory and the trajectory determined by means of extracted mapinformation and vehicle position exceeds a certain second extent via a link70a. The electronic control unit 100 is via the link 70a arranged to send asignal to said means 170 representing data for difference exceeding a certainsecond extent, the second extent being greater than the certain first extent. 21 The electronic control unit 100 is operably connected to the means 170 forterminating the controlling of the driving if the difference between thedetected trajectory and the trajectory determined by means of extracted mapinformation and vehicle position exceeds a certain second extent via a link70b. The electronic control unit 100 is via the link 70b arranged to receive asignal from said means 170 representing data for terminating the controllingof the driving.

The electronic control unit 100 is operably connected to the means 180 forquaiifying the trajectory determined by means of extracted map informationand vehicle position by comparing the thus determined trajectory with thedetected trajectory via a link 80a. The electronic control unit 100 is via thelink 80a arranged to send a signal to said means 180 representing data fordetected trajectory and data for determined trajectory.

The electronic control unit 100 is operably connected to the means 180 forquaiifying the trajectory determined by means of extracted map informationand vehicle position by comparing the thus determined trajectory with thedetected trajectory via a link 80b. The electronic control unit 100 is via thelink 80b arranged to receive a signal from said means 180 representing datafor quaiifying the trajectory determined by means of extracted mapinformation and vehicle, the means 180 being configured to send the data forquaiifying the trajectory determined by means of extracted map informationand vehicle if the thus determined trajectory and the detected trajectorysubstantially corresponds to each other.

Fig. 4 schematically illustrates a block diagram of a method for controllingdriving of a vehicle along a road according to an embodiment of the present invention.

According to the embodiment the method for controlling driving of a vehiclealong a road comprises a step S1. ln this step the trajectory of the lane of theroad along which the vehicle is travelling is detected. 22 According to the embodiment the method for controlling driving of a vehiclealong a road comprises a step S2. ln this step driving of the vehicle along thelane controlled based upon the detected trajectory.

According to the embodiment the method for controlling driving of a vehiclealong a road comprises a step S3. ln this step the trajectory of the road alongwhich the vehicle is travelling is determined based on a determined currentposition of the vehicle and extracted map information of the extension of theroad along which the vehicle is travelling.

According to the embodiment the method for controlling driving of a vehiclealong a road comprises a step S4. ln this step said detected trajectory iscompared with the trajectory determined by means of extracted map information and vehicle position.

According to the embodiment the method for controlling driving of a vehiclealong a road comprises a step S5. ln this step measures are taken so as toensure correct basis for said controlling of the driving if the detectedtrajectory differs from the trajectory determined by means of extracted mapinformation and vehicle position to a certain extent.

According to an embodiment of the method said measures in the step oftaking measures are chosen depending on the extent of the differencebetween the detected trajectory and the trajectory determined by means ofextracted map information and vehicle position.

According to an embodiment the method comprises the step of terminatingsaid controlling of the driving if said difference between the detectedtrajectory and the trajectory determined by means of extracted mapinformation and vehicle position exceeds a certain extent.

According to an embodiment of the method the step of detecting thetrajectory of the lane of the road along which the vehicle is travellingcomprises detecting Characteristics along the road. 23 According to an embodiment of the method said Characteristics along theroad comprises road marks defining said lane comprising solid lines anddashed lines, and/or crash barriers, and/or a road side.

According to an embodiment of the method the step of taking measurescomprises changing the basis for said control from said detected trajectory ofthe lane of the road along which the vehicle is travelling to the trajectorydetermined by means of extracted map information and vehicle position if thedifference between the detected trajectory and the trajectory determined bymeans of extracted map information and vehicle position exceeds a certainextent.

According to an embodiment of the method the step of changing the basis forsaid control comprises step of changing the characteristic forming the basisfor the detection of said trajectory of the lane of the road to a characteristiccorresponding to the trajectory determined by means of extracted mapinformation and vehicle position. The characteristics forming the basis for thedetection of said trajectory of the lane of the road comprises according to anembodiment road marks.

According to an embodiment the method comprises the step of qualifying thetrajectory determined by means of extracted map information and vehicleposition by comparing the thus determined trajectory with the detectedtrajectory; if the thus determined trajectory and the detected trajectorysubstantially corresponds to each other, the thus determined trajectory isqualified. The step of qualifying the trajectory determined by means ofextracted map information and vehicle position is performed prior toperforming the method steps S1-S5 above in order to secure that thetrajectory determined by means of map data and vehicle positioncorresponds to the actual road on which the vehicle is travelling.

With reference to figure 4, a diagram of an apparatus 500 is shown. Thecontrol unit 100 described with reference to fig. 3 may according to an 24 embodiment comprise apparatus 500. Apparatus 500 comprises a non-volatile memory 520, a data processing device 510 and a read/write memory550. Non-volatile memory 520 has a first memory portion 530 wherein acomputer program, such as an operating system, is stored for controlling thefunction of apparatus 500. Further, apparatus 500 comprises a bus controller,a serial communication port, I/O-means, an A/D-converter, a time date entryand transmission unit, an event counter and an interrupt controller (notshown). Non-volatile memory 520 also has a second memory portion 540.

A computer program P is provided comprising routines for controlling drivingof a vehicle along a road according to an embodiment of the presentinvention. The program P comprises routines for detecting the trajectory ofthe lane of the road along which the vehicle is travelling. The program Pcomprises routines for controlling driving of the vehicle along the lane basedupon the detected trajectory. The program P comprises routines fordetermining the trajectory of the road along which the vehicle is travellingbased on a determined current position of the vehicle and extracted mapinformation of the extension of the road along which the vehicle is travelling.The program P comprises routines for comparing said detected trajectorywith the trajectory determined by means of extracted map information andvehicle position. The program P comprises routines for taking measures soas to ensure correct basis for said controlling of the driving if the detectedtrajectory differs from the trajectory determined by means of extracted mapinformation and vehicle position to a certain extent. The computer program Pmay be stored in an executable manner or in a compressed condition in a separate memory 560 and/or in read/write memory 550.

When it is stated that data processing device 510 performs a certain functionit should be understood that data processing device 510 performs a certainpart of the program which is stored in separate memory 560, or a certain partof the program which is stored in read/write memory 550.

Data processing device 510 may communicate with a data communicationsport 599 by means of a data bus 515. Non-volatile memory 520 is adaptedfor communication with data processing device 510 via a data bus 512.Separate memory 560 is adapted for communication with data processingdevice 510 via a data bus 511. Read/write memory 550 is adapted forcommunication with data processing device 510 via a data bus 514. To thedata communications port 599 e.g. the links connected to the control units100 may be connected.

When data is received on data port 599 it is temporarily stored in secondmemory portion 540. When the received input data has been temporarilystored, data processing device 510 is set up to perform execution of code ina manner described above. The signals received on data port 599 can beused by apparatus 500 for detecting the trajectory of the lane of the roadalong which the vehicle is travelling. The signals received on data port 599can be used by apparatus 500 for controlling driving of the vehicle along thelane based upon the detected trajectory. The signals received on data port599 can be used by apparatus 500 for determining the trajectory of the roadalong which the vehicle is travelling based on a determined current positionof the vehicle and extracted map information of the extension of the roadalong which the vehicle is travelling. The signals received on data port 599can be used by apparatus 500 for comparing said detected trajectory with thetrajectory determined by means of extracted map information and vehicleposition. The signals received on data port 599 can be used by apparatus500 for comprises the step of taking measures so as to ensure correct basisfor said controlling of the driving if the detected trajectory differs from thetrajectory determined by means of extracted map information and vehicleposition to a certain extent.

Parts of the methods described herein can be performed by apparatus 500by means of data processing device 510 running the program stored in 26 separate memory 560 or read/write memory 550. When apparatus 500 runsthe program, parts of the methods described herein are executed.

The foregoing description of the preferred embodiments of the presentinvention has been provided for the purposes of illustration and description. ltis not intended to be exhaustive or to limit the invention to the precise formsdisclosed. Obviously, many modifications and variations will be apparent topractitioners skilled in the art. The embodiments were chosen and describedin order to best explain the principles of the invention and its practicalapplications, thereby enabling others skilled in the art to understand theinvention for various embodiments and with the various modifications as are suited to the particular use contemplated.

Claims

1. A method for controlling driving of a vehicle (1) along a road (R)comprising the steps of: detecting (S1) the trajectory of the Iane (L1) of theroad (R) along which the vehicle is travelling; and controlling driving of thevehicle along the lane based upon the detected trajectory, characterized bythe steps of: - determining (S2) the trajectory of the road (R) along which the vehicle (1)is travelling based on a determined current position of the vehicle andextracted map information of the extension of the road along which thevehicle is travelling; - comparing (S3) said detected trajectory with the trajectory determined bymeans of extracted map information and vehicle position; - taking measures so as to ensure correct basis for said controlling of thedriving if the detected trajectory differs from the trajectory determined bymeans of extracted map information and vehicle position to a certain extent.

2. A method according to claim 1, wherein said measures in the step oftaking measures are chosen depending on the extent of the differencebetween the detected trajectory and the trajectory determined by means ofextracted map information and vehicle position.

3. A method according to claim 1 or 2, comprising the step of terminatingsaid controlling of the driving if said difference between the detectedtrajectory and the trajectory determined by means of extracted mapinformation and vehicle position exceeds a certain extent.

4. A method according to any preceding claims, wherein the step ofdetecting the trajectory of the Iane of the road along which the vehicle istravelling comprises detecting characteristics along the road.

5. A method according to claim 4, wherein said characteristics along theroad comprises road marks defining said Iane comprising solid lines anddashed lines, and/or crash barriers, and/or a road side. 28

6. A method according to any preceding claims, wherein the step of takingmeasures comprises changing the basis for said controlling of the drivingfrom said detected trajectory of the Iane of the road along which the vehicle istravelling to the trajectory determined by means of extracted map informationand vehicle position if the difference between the detected trajectory and thetrajectory determined by means of extracted map information and vehicleposition exceeds a certain extent.

7. A method according to claim 6, wherein the step of changing the basis forsaid control comprises step of changing the characteristic forming the basisfor the detection of said trajectory of the Iane of the road to a characteristiccorresponding to the trajectory determined by means of extracted mapinformation and vehicle position.

8. A method according to any preceding claims, comprising the step ofqualifying the trajectory determined by means of extracted map informationand vehicle position by comparing the thus determined trajectory with thedetected trajectory; if the thus determined trajectory and the detectedtrajectory substantially corresponds to each other, the thus determinedtrajectory is qualified.

9. A system (I) for controlling driving of a vehicle (1) along a road (R)comprising means (110) for detecting the trajectory of the Iane (L1) of theroad (R) along which the vehicle is travelling; and means (120) for controllingdriving of the vehicle along the Iane based upon the detected trajectory,characterized by means (130) for determining the trajectory of the roadalong which the vehicle is travelling based on a determined current positionof the vehicle and extracted map information of the extension of the roadalong which the vehicle is travelling; means (140) for comparing saiddetected trajectory with the trajectory determined by means of extracted mapinformation and vehicle position; means (160) for taking measures so as toensure correct basis for said controlling of the driving if the detected 29 trajectory differs from the trajectory determined by means of extracted mapinformation and vehicle position to a certain extent.

10. A system according to claim 9, wherein said measures in the means(160) for taking measures are chosen depending on the extent of thedifference between the detected trajectory and the trajectory determined bymeans of extracted map information and vehicle position.

11.A system according to claim 9 or 10, comprising means (170) forterminating said controlling of the driving if said difference between thedetected trajectory and the trajectory determined by means of extracted mapinformation and vehicle position exceeds a certain extent.

12. A system according to any of claims 9-11, wherein the means (110) fordetecting the trajectory of the Iane of the road along which the vehicle istravelling comprises detecting Characteristics along the road.

13. A system according to claim 12, wherein said characteristics along theroad comprises road marks defining said Iane comprising solid lines anddashed lines, and/or crash barriers, and/or a road side.

14. A system according to any of claims 9-13, wherein the means (160) fortaking measures comprises means (162) for changing the basis for saidcontrol from said detected trajectory of the Iane of the road along which thevehicle is travelling to the trajectory determined by means of extracted mapinformation and vehicle position if the difference between the detectedtrajectory and the trajectory determined by means of extracted map information and vehicle position exceeds a certain extent.

15. A system according to claim 14, wherein the means (162) for changingthe basis for said control comprises means (162a) for changing thecharacteristic forming the basis for the detection of said trajectory of the Ianeof the road to a characteristic corresponding to the trajectory determined bymeans of extracted map information and vehicle position.

16. A system according to any of claims 9-15, comprising means (180) forqualifying the trajectory determined by means of extracted map informationand vehicle position by comparing the thus determined trajectory with thedetected trajectory; if the thus determined trajectory and the detectedtrajectory substantially corresponds to each other, the thus determinedtrajectory is qualified.

17. A vehicle (1) comprising a system (I) according to any of claims 9-16.

18. A computer program (P) for controlling driving of a vehicle along a road,said computer program (P) comprising program code which, when run on anelectronic control unit (100) or another computer (500) connected to theelectronic control unit (100), causes the electronic control unit to perform thesteps according to claim 1-8.

19. A computer program product comprising a digital storage medium storingthe computer program according to claim 18.