SE537900C2 - Procedure and system for determining vehicle position - Google Patents

Procedure and system for determining vehicle position Download PDF

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Publication number
SE537900C2
SE537900C2 SE1250212A SE1250212A SE537900C2 SE 537900 C2 SE537900 C2 SE 537900C2 SE 1250212 A SE1250212 A SE 1250212A SE 1250212 A SE1250212 A SE 1250212A SE 537900 C2 SE537900 C2 SE 537900C2
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SE
Sweden
Prior art keywords
vehicle
lane
determining
distance
relative
Prior art date
Application number
SE1250212A
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Swedish (sv)
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SE1250212A1 (en
Inventor
Joseph Ah-King
Jon Andersson
Pär Degerman
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Scania Cv Ab
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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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/072—Curvature of the road
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, 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
    • 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 (S1) avstand mellan atminstone ett sidoparti hos fordonet och topografiska karaktaristika (30, 32; 130, 132; 230, 232) hos fordonets fardvag invid namnda sidoparti; och baserat p6 s6lunda bestamda avstand bedoma (S2) fordonets sidoposition. Foreliggande uppfinning hanfor sig ocksa till ett system for bestamning av ett fordons position relativt fordonets fardvags vagbana. Foreliggande uppfinning hanfor sig ocksa till ett motorfordon. Foreliggande uppfinning hanfor sig ocksa till ett datorprogram och en datorprogramprodukt. SUMMARY The invention relates to a method for determining the position of a vehicle (1) relative to the vehicle's carriageway (10), comprising the steps of: continuously determining (S1) the distance between at least one 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 the lateral position (S2) of the vehicle. The present invention also relates to a system for 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.

Description

Uppfinningen hanfor sig till ett forfarande for bestamning av ett fordons (1) position relativt fordonets fardvags vagbana (10), innefattande stegen att: fortlopande bestamma (S1) 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 bedorna (S2) fordonets sidoposition. The invention relates to a method for determining the position of a vehicle (1) relative to the carriageway (10) of the vehicle, comprising the steps of: continuously determining (S1) the distance between at least one 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, the side position (S2) of the vehicle.

Foreliggande uppfinning hanfor sig ocksa till ett system for bestamning av ett fordons position relativt fordonets fardvags vagbana. Foreliggande uppfinning hanfOr sig ocksa till ett motorfordon. Fareliggande uppfinning hanfor sig ocksa till ett datorprogram och en datorprogramprodukt. The present invention also relates to a system for 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.

SAMMANDRAG Uppfinningen hanfor sig till ett forfarande for bestamning av ett fordons (1) position relativt fordonets fardvags vagbana (10), innefattande stegen att: fortlopande bestamma (S1) avstand mellan atminstone ett sidoparti hos fordonet och topografiska karaktaristika (30, 32; 130, 132; 230, 232) hos fordonets fardvag invid namnda sidoparti; och baserat p6 s6lunda bestamda avstand bedoma (S2) fordonets sidoposition. SUMMARY The invention relates to a method for determining the position of a vehicle (1) relative to the vehicle's carriageway (10), comprising the steps of: continuously determining (S1) the distance between at least one 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 the lateral position (S2) of the vehicle.

Foreliggande uppfinning hanfor sig ocksa till ett system for bestamning av ett fordons position relativt fordonets fardvags vagbana. Foreliggande uppfinning hanfor sig ocksa till ett motorfordon. Foreliggande uppfinning hanfor sig ocksa till ett datorprogram och en datorprogramprodukt. The present invention also relates to a system for 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.

FORFARANDE OCH SYSTEM FOR BESTAMNING AV FORDONSPOSITION TEKNISKT OMRADE Uppfinningen hanfor sig till ett forfarande far bestamning av fordonsposition enligt ingressen till patentkrav 1. Uppfinningen hanfor sig aven till ett system for bestamning av fordonsposition enligt ingressen till patentkrav 7. Uppfinningen hanfor sig ocksa till ett motorfordon. Uppfinningen hanfOr sig dessutom till ett datorprogram och en datorprogramprodukt. TECHNICAL FIELD The invention relates to a method for determining vehicle position according to the preamble of claim 1. The invention also relates to a system for determining vehicle position according to the preamble of claim 7. The invention also relates to a 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 aft avkanna filmarkeringarna pa fordonets fardvags vagbana, framfOr eller bakom fordonet, kir aft bedoma i vilken fil och var i filen pa vagbanan fordonet befinner sig. Denna signal kan sedan anvandas for aft varna om fordonet ofrivilligt ror sig ut ur filen och/eller anvandas for aft 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 lane lane, 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 involuntarily moves out of the lane and / or used to even control the vehicle in the lane.

Dessa sensorer kan ha problem aft se vagmarkeringarna tillfalligt eller under langre tider p.g.a. slitna eller obefintliga vagmarkeringar eller vintervaglag. These sensors may have problems seeing the road markings accidentally or for extended periods due to worn or non-existent road markings or winter road layers.

SYFTE MED UPPFINNINGEN Ett syfte med foreliggande uppfinning är aft astadkomma ett forfarande for bestamning av fordonsposition utmed fordonets fardvags vagbana som ar effektivt och majliggar saker bestamning. 1 Ett ytterligare syfte med foreliggande uppfinning är aft 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 vehicle's carriageway 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, eft datorprogram och en datorprogramprodukt av inledningsvis angivet slag och som vidare uppvisar sardragen angivna i den kannetecknande delen av bifogade sjalvstandiga patentkrav 1, 7, 13, 14 och 15. Foredragna ufforingsformer av forfarandet och systemet ar definierade i bifogade osjalvstandiga patentkrav 2-6 och 8-12. SUMMARY OF THE INVENTION These and other objects, which will be 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 patent claims. 7, 13, 14 and 15. Preferred embodiments of the method and system are defined in the appended dependent claims 2-6 and 8-12.

Enligt uppfinningen uppnas syftena med ett forfarande for bestamning av ett fordons position relativt fordonets fardvags vagbana, enligt sardragen i krav 1. Harigenom erhalles ett effektivt satt aft bestamma fordonets position relativt fordonets fardvags vagbana, vilket kan utnyttjas enskilt eller som komplement till annan bestamning av fordonets position relativt fordonets fardvags vagbana, sasom avkanning av vagmarken utmed fordonets fardvags vagbana. Harvid mojliggors foljaktligen en sakrare bestamning av fordonets position relativt fordonets fardvags vagbana. Harvid erhalles information huruvida fordonet befinner sig i en fil pa vagbanan och i sa fall vilken fil och dess position i filen. Genom att utnyttja kand fordonsposition hos fordonet fOr bestamning av avstandet och utnyttja ansatsen aft detta avstand till topografiska karaktaristika är konstant under en viss tidsperiod kan denna information utnyttjas fer aft veta fordonets position relativt vagbanan, exempelvis som redundans till kand information om fordonets position fran avkanning av vagmarkeringar sa aft om vagmarkeringar under ett pat utmed vagbanan ej är detekterbara, det bestamda avstandet kan anvandas for aft halla reda pa fordonets position. 2 Enligt en utforingsform innefattar forfarandet sardragen i krav 2. Genom utnyttjande av dylika topografiska karaktaristika mojliggors effektiv avstandsbestamning mellan fordonssida och vagkant. 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. This provides an efficient way to determine the vehicle's position relative to the vehicle's lane 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 lane along the vehicle's lane lane. As a result, a more accurate determination of the vehicle's position relative to the vehicle's carriageway is possible. This provides information on whether the vehicle is in a lane on the lane and, if so, which lane and its position in the lane. By using the known vehicle position of the vehicle to determine the distance and using the approach that this distance to topographic characteristics is constant over a certain period of time, this information can be used to know the vehicle's position relative to the lane, for example as redundancy to known information about the vehicle's position. road markings so that if road markings under a path along the roadway are not detectable, the determined distance can be used to keep track of the vehicle's position. According to one embodiment, the method comprises the features of claim 2. By utilizing such topographical characteristics, efficient determination of the distance between the vehicle side and the edge of the vehicle is possible.

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. Detta är ett effektivt satt aft bestamma fordonets position. According to one embodiment, the method comprises the features of claim 4. This is an efficient means of determining the position of the vehicle.

Enligt en utforingsform innefattar forfarandet sardragen i krav 5. Kvitteringen kan gores av foraren dá denne vet aft fordonet befinner sig pa raft position/i raft fil pa vagbanan. According to one embodiment, the method comprises the features of claim 5. The acknowledgment can be made by the driver when he knows that the vehicle is in the raft position / in the raft lane on the roadway.

Enligt en utforingsform innefattar forfarandet sardragen i krav 6. Bestamningen astadkommes genom GPS och kartdata som kan inbegripa vagbredd, varvid denna information kan uppdateras kontinuerligt sa att eventuella andringar hos vagbanans karaktaristika kan beaktas, vilket mojliggor saker bestamning av fordonets position genom namnda avstand. According to one embodiment, the method comprises the features of claim 6. The determination is achieved by GPS and map data which may include lane width, whereby this information may be continuously updated so that any changes in lane characteristics may be taken into account, allowing things to determine vehicle position by said distance.

Enligt uppfinningen uppnas syftena aven med ett system for bestamning av ett fordons position relativt fordonets fardvags vagbana, enligt sardragen i krav 7. Flarigenom erhalles ett effektivt satt all bestamma fordonets position relativt fordonets fardvags vagbana, vilket kan utnyttjas enskilt eller som komplement till annan bestamning av fordonets position relativt fordonets fardvags vagbana, sasom avkanning av vagmarken utmed fordonets fardvags vagbana. Harvid mojliggors foljaktligen en sakrare bestamning av fordonets position relativt fordonets fardvags vagbana. Harvid erhalles information huruvida fordonet befinner sig i en fil pa vagbanan och i sa fall vilken fil och dess position i filen. Genom aft utnyttja kand fordonsposition hos fordonet for bestamning av avstandet och utnyttja ansatsen att detta avstand till topografiska karaktaristika är konstant under en viss tidsperiod kan denna information utnyttjas for all vete fordonets position relativt vagbanan, exempelvis som redundans till kand information om fordonets 3 position fran avkanning av vagmarkeringar sa att om vagmarkeringar under ett parti utmed vagbanan ej är detekterbara, det bestamda avstandet kan anvandas for att Walla reda pa fordonets position.Enligt en utforingsform innefattar systemet sardragen i krav 8. Genom utnyttjande av dylika topografiska karaktaristika majliggOrs effektiv avstandsbestamning mellan fordonssida och vagkant. According to the invention, the objects are also achieved with a system for determining the position of a vehicle relative to the vehicle's lane lane, according to the features of claim 7. In this way, an efficient way is obtained to determine the position of the vehicle relative to the vehicle's lane, 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 surveying of the lane along the vehicle's lane lane. As a result, a more accurate determination of the vehicle's position relative to the vehicle's carriageway is possible. This provides information on whether the vehicle is in a lane on the lane and, if so, which lane and its position in the lane. By using the vehicle position of the vehicle to determine the distance and using the approach that this distance to topographic characteristics is constant for a certain period of time, this information can be used for all wheat position of the vehicle relative to the roadway, for example as redundancy to information about the position of the vehicle. of road markings so that if road markings under a section along the roadway are not detectable, the determined distance can be used to find out the position of the vehicle. According to one embodiment, the system comprises the features of claim 8. By utilizing such topographic characteristics vagkant.

Enligt en utforingsform innefattar systemet sardragen i krav 9. Dylika organ mojliggor effektiv bestamning av avstandet. According to one embodiment, the system comprises the features of claim 9. Such means enable efficient determination of the distance.

Enligt en ufforingsform innefattar systemet sardragen i krav 10. Della är ett effektivt salt att bestamma fordonets position. According to one embodiment, the system comprises the features of claim 10. Della is an effective salt for determining the position of the vehicle.

Enligt en utforingsform innefattar systemet sardragen i krav 11. Kvitteringen kan goras av -Waren da denne vet att fordonet befinner sig pa ratt position/i rail fil pa vagbanan. According to one embodiment, the system comprises the features of claim 11. The acknowledgment can be made by -Waren as he knows that the vehicle is in the right position / in the rail lane on the roadway.

Enligt en utforingsform innefattar systemet sardragen i krav 12. Bestamningen astadkommes genom GPS och kartdata som kan inbegripa vagbredd, varvid denna information kan uppdateras kontinuerligt sá att eventuella andringar hos vagbanans karaktaristika kan beaktas, vilket mojliggor saker bestamning av fordonets position genom namnda avstand. According to one embodiment, the system comprises the features of claim 12. The determination is achieved by GPS and map data which may include lane width, this information being continuously updated so that any changes in lane characteristics may be considered, allowing things to determine vehicle position by said distance.

FIGURBESKRIVNING Foreliggande uppfinning kommer att forstas battre med hanvisning till foljande detaljerade beskrivning last tillsammans med de bifogade ritningarna, där lika hanvisningsbeteckningar hanfor sig till lika delar 25 genomgaende i de manga vyerna, och i vilka: 4 Fig. 1 schematiskt illustrerar ett motorfordon enligt en utforingsform av foreliggande uppfinning; Fig. 2 schematiskt illustrerar ett blockschema av ett system far 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 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 uppfinning. DESCRIPTION OF THE DRAWINGS The present invention will be better understood by reference to the following detailed description of the drawings taken in conjunction with the accompanying drawings, in which like reference numerals appear in like parts 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 system for determining vehicle position according to an embodiment of the present invention; Fig. 3 schematically illustrates a top view of a motor vehicle traveling on a lane; 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 Had 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 mikrovagslank. DESCRIPTION OF EMBODIMENTS He referred to the term "lank" for a communication line 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 forefintliga slantpartier, och/eller stangselpartier. 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 adjacent parts of the ridge, and / or fence portions.

Had hanfor sig termen "sidoparti hos fordonet" till Niger och/eller vanster sida hos fordonet och/eller sidoparti i langdled, dvs. i fordonets langdutstrackning, utmed en sida hos fordonet. Had he introduced the term "side section of the vehicle" to Niger and / or left side of the vehicle and / or side section in the longitudinal direction, ie. in the longitudinal extension of the vehicle, along one side of the vehicle.

Fig. 1 illustrerar schematiskt ett motorfordon 1 enligt en utf6ringsform av fOreliggande uppfinning. Det exemplifierade fordonet 1 utgors av ett tungt fordon i form av en lastbil med en hytt 2. Fordonet kan altemativ utgoras av vilket som heist lampligt fordon sasom en buss eller en personbil. Fordonet inbegriper ett system I for bestamning av fordonsposition enligt foreliggande uppfinning. 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 other suitable 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 for bestamning av fordonsposition enligt en utforingsform av foreliggande uppfinning. Fig. 2 schematically illustrates a block diagram of a system I for determining vehicle position according to an embodiment of the present invention.

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

Systemet I innefattar avstandsbestamningsmedel 110 for att fortlopande bestamma avstand mellan atminstone ett sidoparti hos fordonet och topografiska karaktaristika hos fordonets fardvag invid namnda sidoparti. Namnda avstandsbestamningsmedel inbegriper sidosensororgan. Namnda sidosensororgan utgors enligt en variant av kameraorgan, radarorgan och/eller lasermatorgan. Vilket som heist lampligt avstandsbestamningsmedel for att fortlopande bestamma avstand mellan namnda sidoparti och namnda topografiska karaktaristika kan anvandas. System I includes distance determining means 110 for continuously determining the distance between at least one side portion of the vehicle and topographical characteristics of the vehicle's carriageway adjacent said side portion. 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. Any suitable distance determining means for continuously determining the distance between said side portion and said topographical characteristics can be used.

Systemet I innefattar enligt en variant vidare fordonspositionsbestamningsmedel 120 for 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 for att avkanna vagmarkeringar hos 25 namnda vagbana. Namnda vagmarkeringsavkanningsmedel 122 inbegriper enligt en variant kameraorgan. According to a variant, said vehicle position determining means comprises 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 6nskad sidoposition hos fordonet relativt 6 namnda vagbana. Namnda kvittering sker enligt en variant genom aft exempelvis foraren medelst namnda kvitteringsmedel 124 manuellt kvitterar fordonets position da foraren kanner till den aktuella sidopositionen hos fordonet och aft den aktuella sidopositionen hos fordonet är den onskade, dvs. aft fordonet befinner sig ran i filen pa vagbanan. According to a variant, said vehicle position determining means 120 includes acknowledgment means 124 for acknowledging the desired side position of the vehicle relative to said lane. Said acknowledgment takes place according to a variant by aft, for example the driver by means of said acknowledgment means 124 manually acknowledges the position of the vehicle as the driver knows the current side position of the vehicle and aft the current side position of the vehicle is the desired one, ie. the vehicle is found in the lane on the roadway.

Enligt en variant inbegriper namnda fordonspositionsbestamningsmedel 120 fardvagsbestamningsmedel 126 for aft tillhandahalla farutbestamda karaktaristika hos vagbanan utmed fordonets fardvag samt fordonets position utmed fordonets fardvag. According to a variant, said vehicle position determining means 120 includes travel vehicle 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 aft hantera information rorande fordonets position utmed fordonets fardvags vagbana. Namnda fordonspositionshanteringsmedel 130 inbegriper enligt en variant varningsmedel anordnat all varna foraren om exempelvis fordonet avviker fran onskad position pa vagbanan, exempelvis avviker fran filen det fardas i. The system includes vehicle position management means 130 for handling information concerning the position of the vehicle along the vehicle's lane lane. 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 for att korrigera fordonets position om fordonet avviker fran onskad position pa vagbanan, exempelvis avviker fran filen det fardas I. Namnda fordonspositionshanteringsmedel 130 kan 7 inbegripa135clenamndavamingsmedelochnamnda 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 roadway, for example deviating from the lane it travels in. Said vehicle position handling means 130 may include 135

Den elektroniska styrenheten 100 är signalansluten till namnda avstandsbestamningsmedel 110 via en lank 105. Den elektroniska styrenheten 100 är via lanken 105 anordnad att mottaga en signal fran avstandsbestamningsmedlet 110 representerande avst5ndsdata mellan sidoparti has 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 is arranged via the lane 105 to receive a signal from the distance determining means 110 representing distance data between the side portion of the vehicle and the topographic characteristics of the vehicle's side lane adjacent to the name.

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 for 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 for the vehicle 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 är via lanken 116 anordnad att mottaga en signal ft-5n 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 vehicle side position relative to said deflected lane marking.

Enligt en variant är den elektroniska styrenheten 100 signalansluten till namnda kvitteringsmedel 124 via en lank 117. Den elektroniska styrenheten 100 är via lanken 117 anordnad att mottaga en signal frAn kvitteringsmedlet 124 representerande kvitteringsdata att sidopositionen for fordonet relativt vagbanan är korrekt. According to a variant, the electronic control unit 100 is signal 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 är den elektroniska styrenheten 100 signalansluten till namnda fardvagsbestamningsmedel 126 via en lank 118. Den elektroniska styrenheten 100 5r via lanken 118 anordnad att mottaga en signal fran fardvagsbestamningsmedlet 126 representerande vagbanekaraktaristika vid aktuell position utmed fordonets fardvag. 8 Den elektroniska styrenheten 100 är anordnad att pa basis av namnda avstandsdata och namnda sidopositionsdata bed6ma fordonets aktuella sidoposition relativt fordonets fardvags vagbana. According to a variant, the electronic control unit 100 is signal-connected to said vehicle determining means 126 via a lane 118. The electronic control unit 100 5r via the lane 118 is arranged to receive a signal from the vehicle determining means 126 representing lane characteristics at the current position along the vehicle's vehicle. 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 carriageway of the vehicle.

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 rd vag 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, ar 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 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 red lane. 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 portion, for example carriageway or the like, is constant along the carriageway, at least for a period of time / distance, by means of said signal representing distance data 122 determine the position of the vehicle in the lane on the lane.

Detta astadkommes enligt en variant genom att jamfora avstandsdata med positionsdata, dar 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 topographical 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 topographic characteristics of the vehicle. sidoparti.

Far 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 with said distance data the position of the vehicle along the vehicle's carriageway.

Enligt en variant är den elektroniska styrenheten 100 anordnad att, med ansatsen att avstandet till namnda topografiska karaktaristika has fordonets 9 fardvag invid namnda sidoparti, exempelvis vagracke eller dylikt, är konstant utmed fardvagen, atminstone under en tidsperiod/stracka, medelst namnda signal representerande avstandsdata och kvitteringsdata frk namnda kvitteringsmedel 124 bestamma fordonets position i filen pa vagbanan, varvid fordonets position utmed fordonets fardvags vagbana bestams medelst namnda avstandsdata. According to a variant, the electronic control unit 100 is arranged that, with the approach that the distance to said topographic characteristics of the vehicle 9's carriageway next to said side portion, for example carriageway or the like, is constant along the carriageway, at least for a period / distance, by said signal representing distance data and acknowledgment data 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 means of said distance data.

Enligt en variant inbegrips namnda avstandsbestamningsmedel 110 i en elektronisk styrenhet och namnda fordonspositionsbestamningsmedel 120 i ytterligare en elektronisk styrenhet. According to a variant, said distance determining means 110 is 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 fardas pa en vagbana 10. Fig. 3 schematically illustrates a top view of a motor vehicle 1 traveling on a lane 10, and Figs. 4a-b a rear view of a motor vehicle 1 traveling on a lane 10.

Fig. 3 illustrerar en vagbana 10 med tva filer 10a, 10b, sidovagmarkeringar 12 och vagmarkeringar 14 som avdelar vagbanan i filer. Fordonet 1 fardas pa vagbanan 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 f6r aft fortlopande bestamma avstand mellan sidopartiet hos fordonet 1 och topografiska karaktaristika 30 hos fordonets fardvag invid namnda sidoparti, och ett andra sidosensororgan 22 anordnat vid ett sidoparti pa den motstaende andra sidan lb hos fordonet for aft fortlopande bestamma avstand mellan sidopartiet hos fordonet och topografiska karaktaristika 32 hos fordonets fardvag invid namnda sidoparti. Respektive sensororgan 20, 22 är anordnat aft detektera avstandet mellan sidoparti och topografisk karaktaristika 30, 32 via detekteringsfalt 20a, 22a. Namnda sidosensororgan kan utgoras av kameraorgan, radarorgan och/eller lasermatorgan. Fig. 3 illustrates a lane 10 with two lanes 10a, 10b, side lane markings 12 and lane markings 14 dividing the lane into lanes. 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 carriageway adjacent said side portion, the opposite other side lb of the vehicle for continuously determining the distance between the side portion of the vehicle and the topographical characteristics 32 of the vehicle lane adjacent to said side portion. Respective sensor means 20, 22 are arranged to detect the distance between the side portion and topographical characteristics 30, 32 via detection fields 20a, 22a. Said side sensor means may be camera means, radar means and / or laser feed means.

Fordonet innefattar vagmarkeringsavkanningsmedel 40, enligt en variant kameraorgan 40, for all avkanna vagmarkeringar 12, 14 hos namnda vagbana 10. Namnda vagmarkeringsavkanningsmedel 40 är anordnat all avkanna vagmarkeringar via ett synfalt 40a. Namnda vagmarkeringsavkanningsmedel 40 kan vara anordnat pa frontsidan hos fordonet och/eller pa baksidan hos fordonet far namnda avkanning av vagmarkeringar 12, 14. The vehicle comprises vaginal marking means 40, according to a variant camera means 40, for all sensing vaginal markings 12, 14 of said lane 10. Said vaginal marking sensing means 40 is arranged all sensed vaginal markings via a field of view 40a. Said road marking sensing means 40 may be arranged on the front side of the vehicle and / or on the rear side of the vehicle receiving said road marking means 20, 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 all fortlopande bestamma avstandet mellan atminstone ett sidoparti hos fordonet 1 och topografiska karaktaristika 30, 32 hos fordonets fardvag invid namnda sidoparti, fordonets 1 position bedomas aven om vagmarkeringarna 14 inte är 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, by all 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 carriage markings 14 are not visible to the carriage marking 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, said topographical characteristics of the vehicle's carriageway adjacent to one side portion are a sloping portion 230 which may be a slope from the side of the carriageway or a ditch or the like, and adjacent the other opposite side portion of vegetation 232 in the form of a tree.

Fig. 5 schematiskt illustrerar ett blockschema av ett forfarande for bestamning av ett fordons position relativt fordonets fardvags 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 carriageway of the vehicle 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 25 bestams fortlopande avstand mellan atminstone ett sidoparti hos fordonet och topografiska karaktaristika has 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. 11 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, sa 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 har 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 has a second memory portion 540.

Det tillhandahalles ett datorprogram P som innefattar rutiner f6r aft mojliggora bestamning av ett fordons position relativt fordonets fardvags vagbana enligt det innovativa fOrfarandet. Programmet P innefattar rutiner for aft fortlopande bestamma avstAnd mellan atminstone ett sidoparti hos fordonet och topografiska karaktaristika 30, 32; 130, 132; 230, 232 hos fordonets fardvag invid namnda sidoparti. Programmet P innefattar rutiner for aft baserat p6 salunda bestamda avstand bedoma fordonets sidoposition. Programmet P kan vara lagrat pA ett exekverbart vis eller p6 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 of the vehicle according to the innovative procedure. The program P includes routines for continuously determining the distance between at least one side portion of the vehicle and topographical characteristics 30, 32; 130, 132; 230, 232 of the vehicle's carriageway next to the said side section. The program P includes routines for aft based on p6 thus determined distance judging the side position of the vehicle. 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 aft databehandlingsenheten 510 utfor en viss funktion ska det forstas aft databehandlingsenheten 510 utfor en viss del av programmet vilket är lagrat i minnet 560, eller en viss del av programmet som är lagrat i las/skrivminnet 550. When it is described by the data processing unit 510 for a certain function, it is to be understood by the data processing unit 510 for 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 med en dataport 599 via en databuss 515. Det icke-flyktiga minnet 520 är avsett far kommunikation med databehandlingsenheten 510 via en databuss 512. Det separata minnet 560 är avsett aft kommunicera med databehandlingsenheten 510 via en databuss 511. Las/skrivminnet 550 ar anordnat aft kommunicera med 12 databehandlingsenheten 510 via en databuss 514. Till dataporten 599 kan t.ex. lankarna forbundna med styrenheten 100 anslutas. The data processing device 510 may communicate with a data port 599 via a data bus 515. The non-volatile memory 520 is intended to communicate with the data processing unit 510 via a data bus 512. The separate memory 560 is intended to communicate with the data processing unit 510 via a data bus 511. 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.

Nar data mottages pa dataporten 599 lagras det temporart i den andra minnesdelen 540. Nar mottaget indata temporart har lagrats, är 5 databehandlingsenheten 510 iordningstalld att utfora exekvering av kod pa ett vis som beskrivits ovan. De mottagna signalerna pa dataporten 599 kan anvandas av anordningen 500 for aft fortlopande bestamma avstand mellan atminstone ett sidoparti hos fordonet och topografiska karaktaristika 30, 32; 130, 132; 230, 232 hos fordonets fardvag invid namnda sidoparti. De 10 mottagna signalerna pa dataporten 599 kan anvandas av anordningen 500 far aft baserat pa salunda bestamda avstand bedoma fordonets sidoposition. When data is received on 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 at 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 on the data port 599 may be used by the device 500 to determine the lateral position of the vehicle based on the distance thus determined.

Delar av metoderna beskrivna had kan utforas av anordningen 500 med hjalp av databehandlingsenheten 510 som k6r programmet lagrat i minnet 560 eller las/skrivminnet 550. Nar anordningen 500 Icor programmet, exekveras 15 had beskrivna forfaranden. Portions of the methods described may be performed by the device 500 using the data processing unit 510 running the program stored in the memory 560 or read / write memory 550. When the device 500 runs the program, the described methods are executed.

Beskrivningen ovan av de foredragna utforingsformerna av foreliggande uppfinning har tillhandahallits i illustrerande och beskrivande syfte. Den är inte avsedd att vara utt6mmande eller begransa uppfinningen till de beskrivna varianterna. Uppenbarligen kommer manga mod ifieringar och variationer att framga for fackmannen. Utforingsformerna har valts och beskrivits for aft bast forklara principerna av uppfinningen och dess praktiska tillampningar, och darmed majliggOra for en fackman aft forsta uppfinningen for olika utforingsformer och med de olika modifieringarna som är lampliga for det avsedda bruket. 13 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 be apparent 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 applications, and thus become apparent to one skilled in the art from the first invention for various embodiments and with the various modifications which are appropriate to the intended use. 13

Claims (15)

PATE NTKRAV 1. Forfarande for bestamning av ett fordons (1) position relativt fordonets fardvags vagbana (10), kannetecknat av stegen att:PATE REQUIREMENTS 1. Procedure for determining the position of a vehicle (1) relative to the vehicle's carriageway (10), characterized by the steps of: 1. fortlopande bestamma (S1) avstand mellan atminstone ett sidoparti hos fordonet och topografiska karaktaristika (30, 32; 130, 132; 230, 232) hos fordonets fardvag invid namnda sidoparti; 2. bestamma fordonets sidoposition relativt namnda vagbana (10); och 3. baserat pa namnda kanda fordonsposition relativt namnda vagbana (10) bestamma avstand till namnda topografiska karaktaristika (30, 32; 130, 132; 10 230, 232) fran vagbanan (10); och 4. baserat pa salunda bestamda avstand och under ansatsen att detta avstand under en tidsperiod eller en stracka är konstant bed6ma (S2) fordonets sidoposition.Continuously determining (S1) 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 adjacent said side portion; 2. determine the lateral position of the vehicle relative to said lane (10); and 3. based on said known vehicle position relative to said lane (10) determining distance to said topographic characteristics (30, 32; 130, 132; 230, 232) from the lane (10); and 4. based on the distance thus determined and on the assumption that this distance is a constant (S2) lateral position of the vehicle for a period of time or a distance. 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 20 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 krav 1, varvid steget att bestamma fordonets sidoposition relativt namnda vagbana (10) inbegriper att avkanna vagmarkeringar (12, 14) hos namnda vagbana (10).The method of claim 1, wherein the step of determining the lateral position of the vehicle relative to said lane (10) comprises sensing lane markings (12, 14) of said lane (10). 5. Forfarande enligt nagot kraven 1 eller 4, varvid steget att bestamma fordonets (1) sidoposition relativt namnda vagbana (10) inbegriper att kvittera 6nskad sidoposition hos fordonet relativt namnda vagbana (10). 14A method according to any one of claims 1 or 4, 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). 14 6. Forfarande enligt nagot kraven 1 eller 4, varvid steget all 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 one of claims 1 or 4, 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 lane. 7. System far bestamning av ett fordons (1) position relativt fordonets fardvags vagbana, kannetecknat av medel (20, 22; 100, 110) far all fortlopande 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 bestamma fordonets sidoposition relativt namnda vagbana (10) och varvid namnda system vidare innefattar medel (100) for att baserat pa namnda kande fordonsposition relativt namnda vagbana (10) bestamma avstand till namnda topografiska karaktaristika (30, 32; 130, 132; 230, 232) fran vagbanan (10) och baserat pa salunda bestamda avstand under ansatsen all detta avstand under en tidsperiod eller en stracka är konstant bed6ma fordonets (1) sidoposition.7. A system for determining the position of a vehicle (1) relative to the vehicle's carriageway, characterized by means (20, 22; 100, 110) may all continuously determine 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 determining the lateral position of the vehicle relative to said lane (10) and said system further comprising means (100) for determining distance from said topographic characteristics based on said known vehicle position relative to said lane (10). 30, 32; 130, 132; 230, 232) from the carriageway (10) and based on the distance thus determined during the approach all this distance over a period of time or a distance is constantly judging the lateral position of the vehicle (1). 8. System enligt krav 7, 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 7, 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. 9. System enligt krav 7, varvid namnda medel for att fortlopande bestamma namnda avstand inbegriper sidosensororgan (20, 22; 110) hos fordonet, exempelvis kameraorgan, radarorgan, och/eller lasermatorgan.The system of claim 7, 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. 10. System enligt krav 7, varvid namnda medel for att bestamma fordonets sidoposition relativt namnda vagbana inbegriper medel (122) far att avkanna vagmarkeringar hos namnda vagbana.The system of claim 7, 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. 11. System enligt nagot kraven 7 eller 10, varvid namnda medel far att bestamma fordonets sidoposition relativt namnda vagbana inbegriper medel (124) far all kvittera onskad sidoposition hos fordonet (1) relativt namnda vagbana (10).A system according to any one of claims 7 or 10, wherein said means for determining the side position of the vehicle relative to said lane includes means (124) may all acknowledge the desired side position of the vehicle (1) relative to said lane (10). 12. System enligt nagot kraven 7 eller 10, varvid namnda medel for all bestamma fordonets sidoposition relativt namnda vagbana inbegriper medel 5 (126) far utnyttjande av forutbestamda karaktaristika hos namnda vagbana och fordonets position utmed fordonets fardvag.A system according to any one of claims 7 or 10, wherein said means for all determining the lateral position of the vehicle relative to said lane includes means 5 (126) utilizing predetermined characteristics of said lane and the position of the vehicle along the vehicle's carriageway. 13. Motorfordon (1) innefattande ett system enligt nagot av kraven 7-12.Motor vehicle (1) comprising a system according to any one of claims 7-12. 14. Datorprogram (P) far bestamning av ett fordons position relativt fordonets fardvags vagbana, dar namnda datorprogram (P) innefattar programkod som, cI6 det !cars av en elektronisk styrenhet (100; 500) eller en annan dator (500) ansluten till den elektroniska styrenheten (100; 500), formar den elektroniska styrenheten aft utfora stegen enligt krav 1-6.Computer program (P) determines the position of a vehicle relative to the vehicle's carriageway, where said computer program (P) comprises program code which, in addition to cars of an electronic control unit (100; 500) or another computer (500) connected to it electronic control unit (100; 500), the electronic control unit forms the steps according to claims 1-6. 15. Datorprogramprodukt innefattande ett digitalt lagringsmedium som lagrar datorprogrammet enligt krav 14. 16 1/4A computer program product comprising a digital storage medium which stores the computer program according to claim 14. 16 1/4
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