SE538984C2 - Determination of lane position - Google Patents

Description

TECHNICAL FIELD The invention relates to a method and a calculation unit associated with a vehicle. More particularly, the invention provides a mechanism for determining the lane position of the vehicle on a road.

BACKGROUND A vehicle may use a warning system, sometimes referred to as Lane Departure Warning (LDW), to alert the driver of the vehicle that the vehicle is about to cross a road marking line, or to initiate an active intervention to prevent the vehicle from crossing the line, such as steering the vehicle in the opposite direction or brake.

In this context, vehicles refer to, for example, trucks, lorries, transport cars, passenger cars, emergency vehicles, cars, off-road vehicles, tracked vehicles, buses, or other similar motorized or unmanned means of transport, adapted for mainly land-based geographical movement.

By issuing a warning and / or taking an accident-reducing measure, the driver can be made aware that the road marking line is exceeded by the vehicle, for example because the driver has fallen asleep, or for some other reason lost focus on the road and the traffic situation. This can prevent the vehicle from driving off the road, or alternatively drive over to the opposite lane and cause a frontal collision with oncoming vehicles.

Such a warning system in the vehicle comprises a camera which detects road markings! on the road and with the help of image processing calculate distances to these road marking lines.

A problem with existing warning systems is that these assume that the camera in the vehicle can detect the road marking lines.

However, road marking lines can often be unclear or worn due to traffic and / or inadequate maintenance. Furthermore, road marking lines may be completely or partially covered by snow / ice (preferably in winter), fallen leaves (preferably in autumn), water and / or sand (other seasons).

Another problem with existing warning systems is that the camera sometimes, due to darkness, fog, heavy rainfall or the like, cannot see so far in front of the vehicle so that it can detect the road marking lines.

Furthermore, during heavy traffic, for example, the camera can sometimes not detect the road marking lines as other surrounding vehicles obscure the view of the camera.

As a result, the function of the warning system to warn the driver in the event of a line violation can be deactivated, which is why the inattentive driver, despite the warning system, risks driving off the road. Perhaps the vehicle's warning system provides a false security to the driver, who may therefore relax and / or indulge in attention-grabbing alternative employment with a mobile phone or the like, than would have been done if the vehicle had not had a warning system at all.

Another problem that can occur to the driver is when the road, including any road marking lines on the road, is covered with snow, for example, in winter. When driving, perhaps especially over an open agricultural landscape and / or poor visibility due to snowfall, darkness, etc., it can be difficult for the driver to see the road at all, which can lead to ditching with the vehicle. Existing warning systems are of little or no help in this type of situation as the camera cannot detect any road markings.

In addition, the camera in existing warning systems can sometimes not distinguish between the correct road marking lines on the road and false lines in the roadway due to wheel tracks, for example in snowdrifts, rubber friction tracks due to vehicle braking / wheel slippage in the roadway or simply discoloration or graffiti in the roadway.

As a result, warning systems may therefore generate false warnings and / or accident avoidance measures in the form of evasive maneuvers which may surprise surrounding vehicle drivers and thereby cause accidents. Furthermore, repeated false warnings of this kind can irritate the driver and lead him to turn off the warning system, which then leads to the purpose of the warning system being completely lost.

It can be stated that much still remains to be done to obtain a reliable warning system in a vehicle, to warn the driver when road marking lines are exceeded.

SUMMARY OF THE INVENTION It is therefore an object of this invention to improve a warning system in a vehicle, in order to solve at least some of the above problems and thereby achieve a vehicle improvement.

According to a first aspect of the invention, this object is achieved by a method in a calculation unit in a vehicle, for determining the lane position on a road for the vehicle. The method involves determining the geographical position of the vehicle. The method further comprises detection with a sensor of a reference object, associated with the path. Furthermore, the method also includes comparison in a map database between stored lane-related data at the determined geographical position and the detected reference object at this geographical position. In addition, the method also includes determining the lane position of the vehicle, by fitting the detected reference object associated with the road, with stored lane related data at the determined geographical position of the vehicle.

According to a second aspect of the invention, this object is achieved by a calculation unit in a vehicle, where the calculation unit is arranged to determine the lane position on a road for the vehicle. The calculation unit comprises a signal receiver, arranged to receive a signal from a sensor included in the vehicle, the signal representing a detected reference object associated with the road. Furthermore, the calculation unit comprises a processor circuit, arranged to determine the geographical position of the vehicle. The processor circuit is also arranged to compare stored lane related data at the determined geographical position with detected reference object at this geographical position and determine the lane position of the vehicle, by matching the detected reference object with stored lane related data at the geographical position of the vehicle.

This, by comparing reference points in the vehicle's surroundings with stored lane-related data for the current geographical position, makes it possible to determine the positions of lane lines on a roadway and to determine the position of the vehicle in relation to these. This enables a higher availability of the warning function for violation of road marking lines in situations where the function is most needed, ie in poor visibility and poor road conditions, such as when the road line markings are covered, for example by snow. In addition, in some embodiments, the number of false warnings is reduced as false line detections, such as snow tracks, can be filtered out and dismissed by the method, for example when the distance between two detected lines is unreasonable based on data from map data. This achieves an improved warning system for line violations in a vehicle, which leads to a vehicle improvement.

Other advantages and further novel features will become apparent from the following detailed description of the invention.

LIST OF FIGURES The invention will now be described in further detail with reference to the accompanying figures, which illustrate different embodiments of the invention: Figure 1 illustrates an embodiment of a vehicle with a calculation unit according to an embodiment.

Figure 2 Illustrates a road section seen from above, with intact road marking lines on the road and reference objects associated with the road. Figure 2 Illustrates a road section seen in cross section from the short side, with intact road marking lines on the road and reference objects associated with the road. on the road and reference objects associated with the road, as well as a vehicle according to an embodiment. a driver perspective from inside a vehicle according to an embodiment, wherein the road section has at least partially covered road marking lines on the road and reference objects associated with the road. Figure 4 Illustrates an enlargement of a monitor in the vehicle according to an embodiment The position of the vehicle in relation to road marking lines on the road. Figure 5 shows a flow chart illustrating an embodiment of the invention. Figure 6 is an illustration of a calculation unit, according to an embodiment of the invention.

DETAILED DESCRIPTION OF THE INVENTION The invention is defined as a method and a calculation unit for determining the lane position on a road for the vehicle, which can be realized in any of the embodiments described below. However, this invention may be embodied in many different forms and should not be construed as limited by the embodiments described herein, which are intended to illustrate and illustrate various aspects of the invention.

Additional aspects and features of the invention may become apparent from the following detailed description when considered in conjunction with the accompanying figures. However, the figures are to be considered only as examples of different embodiments of the invention and should not be construed as limiting the invention, which is limited only by the appended claims. Furthermore, the figures are not necessarily to scale, and are, unless otherwise specifically indicated, intended to conceptually illustrate aspects of the invention.

Figure 1 shows a vehicle 100 in a direction of travel 105. This direction of travel 105 refers to an existing or planned direction of travel 105, i.e. the vehicle 100 may be in motion in the direction of travel 105, or be stationary, prepared for a planned movement in the direction of travel 105.

In the vehicle 100 there is a calculation unit 110 and a sensor 120. The calculation unit 110 is arranged to determine the lane position of the vehicle on a road 130, based on information detected by the sensor 120 and transmitted to the calculation unit 110.

The sensor 120 may be mounted in or on the vehicle 100, for example in or on the vehicle cab. The sensor 120 may include, or consist of, for example, a 3D camera, a Time-of-Flight camera (ToF camera), a stereo camera, a light field camera, a camera, a radar meter, a laser meter such as a Light Detection And Ranging (LIDAR), sometimes also referred to as LADAR or laser radar or similar device configured for distance assessment.

A LIDAR is an optical measuring instrument that measures the properties of reflected light to determine the distance and / or other properties of a remote object. The technology is similar to radar (Radio Detection and Ranging), but instead of radio waves light is used. Typically, the distance to an object is measured by measuring the time delay between a transmitted laser pulse and the recorded reflex from the object.

A ToF camera is a type of camera that takes a sequence of images and measures a distance to an object based on the known light speed, by measuring the time consumption of a light signal between the camera and the object, for example by measuring the phase shift between the transmitted light signal and a received reflection of this light signal, from the object.

In some embodiments, more than one sensor 120 may be mounted on the vehicle 100. An advantage of having more than two sensors 120 is that more reliable distance assessment can be made, and that a larger area can be monitored by an additional sensor. In such embodiments with more than one sensor 120, this sensor 120 may be the same type of sensor or different types of sensors according to different embodiments.

In the vehicle 100, as mentioned, there is also a calculation unit 110, which is arranged to receive measurement data from the sensor 120, and to perform calculations based on these measurement data. For example, a distance from the vehicle 100 to line markings on the road, and / or other reference objects associated with the road 130 may be measured by the sensor 120 and sent to the calculation unit 110, which may compare this measurement value with lane-related data at the current road section and thereby determine line markings are available and also determine if the vehicle 100 exceeds such line marking.

With the help of a map database and a determined geographical position, for example GPS position, it can be identified how many lanes the current road 130 has. If the sensor 120 succeeds in detecting one or more of the line markings or other reference object in connection with the road 130, a model of the current road section can be used to estimate where the other road marking lines should be.

The sensor 120 may also be arranged to detect distances to reference objects such as protruding objects, for example a center railing, a road sign, a wall, a property, a tree or the like, with the detected object as a reference for placing the modeled objects. the road marking lines at the correct distance.

According to certain embodiments, a higher availability of the warning function is thus obtained for violation of road marking lines in situations where the function is most needed, ie in poor visibility and deficient road conditions. In addition, in some embodiments, the number of false warnings is reduced as false lines can be filtered out as they can be rejected by the model, for example when the distance between two detected lines is unreasonable based on data from map data.

In the case of snow-muddy roadway 130 with asphalt exposed in the ruts, measuring points will probably be missing where the asphalt is exposed. If nothing else, the exposure on the sensor 120 can be calibrated so that this occurs, so you can use the IR-based sensor 120 as an asphalt detector on a snow-covered road, or wheel track detector, to gain an indirect understanding of roadways, or a sensor 120 that tells if there really are lines or something else according to different embodiments. Figure 2Displays a geographical position 140 of the road 130 with a plurality of intact road marking lines 150, a center rail 160 and a ditch 170 next to the road 130, viewed from a bird's eye view. These features on road 130, i.e. road marking lines 150, center railing 160 and ditch 170 may be referred to as reference objects 150, 160, 170 associated with road 130. Figure 2B shows the same geographical position 140 as illustrated in Figure 2A, but viewed in cross section from the short side of the road section. Figure 3 shows a road section of the road 130, where certain road marking lines 150 are covered, for example by snow, sand or other, or are difficult to distinguish due to wear and inadequate maintenance.

An embodiment of the vehicle 100 with the sensor 120 is also seen here, which detects certain reference objects 150, 160, 170 associated with the road 130 (see dashed lines).

For example, in this example, the sensor 120 may succeed in detecting and determining a distance from the vehicle 100 to a guardrail 160, a distance from the vehicle 100 to a road marking line 150 which the sensor 120 may detect, and a road ditch or snow bank 170. Based on these measurements, a mapping and fitting is done with corresponding reference objects 150, 160, 170 at the current geographical position according to map data taken from a map database. Thereby, for example, virtual road marking lines 150 can be placed or illustrated to the driver in the vehicle 100 according to certain embodiments, for example on a screen in the vehicle 100, projected on the windshield of the vehicle, on the driver's glasses, or the like.

In this example, the sensor 120 detects three reference objects 150, 160, 170 related to the road 130. This is to be considered only as a non-limiting example which is not in itself necessary to unambiguously determine the position of the vehicle in relation to the road marking lines 150 on the road 130. For example, more than three reference objects can be detected for safer positioning, or fewer reference objects such as two or one, as the conditions do not allow detection of more than, for example, a reference object. Figure 4A illustrates a road section seen from a driver's perspective from inside the vehicle 100 according to an embodiment, wherein the road section has at least partially covered road marking lines 150 on the road 130 and reference objects 150, 160, 170 associated with the road 130. In this embodiment, a monitor , or connected to the same. On this screen 115, in such an embodiment, the driver can see an image of his vehicle 100 in relation to road marking lines 150 on the road 130 at the relevant road section.

A non-limiting example of the latter is shown in Figure 4B, which illustrates an enlargement of the display 115 in the vehicle 100 according to an embodiment in which the driver can see the position of the vehicle relative to road marking lines 150 on the road 130.

Figure 5 illustrates an example embodiment of the invention. The flow chart of Figure 5 illustrates a method 500i of a calculation unit 110 in a vehicle 100, for determining lane position on a road 130 for the vehicle 100.

In some embodiments, the method is performed only when road marking line 150 on road 130 is obscured, when weather conditions cause sensor 120 to have limited range and / or when road conditions give rise to erroneous detection 502 of road marking line 150. If sensor 120 can be detected, detect all road marking lines 150 on way 130 without having to compare these with data collected in a database, this step can be skipped, thereby saving processor capacity and time. The great advantage of the method 500 appears mainly in reverse conditions, i.e. when the road 130 is obscured, when weather conditions which cause the sensor 120 to have a limited range and / or when the road conditions give rise to incorrect detection 502 of the road marking line 150, when the method 500 is suitable to eliminate or at least reduce these shortcomings.

In order to correctly determine lane position on road 130, method 500 may include a number of steps 501-507. However, it should be noted that some of the described steps 501-507 may be performed in a slightly different chronological order than the numbering and that some of them can be made in parallel with each other, according to different embodiments. Furthermore, some of the described steps 501-507 are performed only in certain embodiments, such as 503, 506 and / or 507. The method 500 comprises the following steps: Step 501 The geographical position 140 of the vehicle is determined. Such determination of the vehicle's current geographical position 140 may be based on a satellite positioning system such as the Global Positioning System (GPS), triangulation using signals transmitted from base stations in a mobile telephone network with known positions, route planning data, trip meter position in combination with road number, a wireless sensor signal and / or manual entry of the driver of the vehicle, for example.

Step 502 A reference object 150, 160, 170, associated with the path 130 is detected by the sensor 120.

The reference object 150, 160, 170 associated with the road 130 may in some embodiments be constituted by a road marking line 150 on the road 130.

However, the reference object 150, 160, 170 may in some embodiments be an object 160, 170 located adjacent to the road 130, such as, for example, a center railing 160, a ditch 170, a road sign, a building, an exit road, a wall, a clearing post or similar.

The sensor 120 may be, for example, a camera, a 3D camera, a Time of Flight camera, a stereo camera, a light field camera, a radar meter, a laser meter, a lidar, a distance meter based on ultrasonic waves according to various embodiments. Furthermore, the sensor 120 may be arranged for communication with the computing unit 110 over a wireless or wired interface according to various embodiments.

Step 503 This process step is performed in some, but not necessarily all, embodiments of the process 500.

A distance is measured to the reference object 150, 160, 170 at the determined 501 geographical position 140, with the sensor 120.

Step 504 A comparison is made between stored lane related data at the determined 501 geographic position 140 in a map database and the detected 502 reference object 150, 160, 170 at this geographic position 140.

Step 505 The lane position of the vehicle 100 is determined by fitting the detected 502 reference object 150, 160, 170 associated with the road 130, with stored lane related data at the determined 501 geographic position 140 of the vehicle 100.

The determination of the lane position of the vehicle 100 in that the fitting of the detected 502 reference object 150, 160, 170 may in certain embodiments include the determination of erroneous detection 502 of a road marking line 150 on the road 130, and that such erroneous detection 502 be overridden in determining the lane position 505. Such determination of erroneous detection 502 of road marking line 150 may include finding that the distances between detected 502 road marking line 150 and existing line markings according to map data for the geographic location 140 do not match or that the number of detected 502 and existing road marking lines 150 do not match, according to certain embodiments.

Step 506 This process step is performed in some, but not necessarily all, embodiments of the process 500.

A warning signal is generated when the vehicle 100 is determined 505 to exceed a road marking line 150 on the road 130.

Step 507 This process step is performed in some, but not necessarily all, embodiments of the process 500.

A position correction can be generated laterally when the vehicle 100 is determined 505 to exceed a road marking line 150 on the road 130 according to certain embodiments.

Figure 6 shows an embodiment of a system 600, arranged to determine lane position on a road 130 for a vehicle 100. The system 600 comprises at least one sensor 120, a map database 640 and a calculation unit 110, which are arranged to communicate with each other over a wired or wireless interface. The system 600 may also include a positioning unit 650, arranged to determine the geographical position of the vehicle 100. For example, the positioning unit 650 may be a GPS receiver or other satellite-based unit arranged for position determination.

The wireless interface may, for example, be based on one of the following technologies: Global System for Mobile Communications (GSM), Enhanced Data Ratings for GSM Evolution (EDGE), Universal Mobile Telecommunications System (UMTS), Code Division Access (CDMA), ( CDMA 2000), Time Division Synchrono-us CDMA (TD-SCDMA), Long Term Evolution (LTE); Wireless Fidelity (Wi-Fi), defined by the Institute of Electrical and Electronics Engineers (IEEE) standards 802.11 a, ac, b, g and / or n, Internet Protocol (IP), Bluetooth and / or Near Field Communication, ( NFC), or similar communication technology according to different embodiments.

According to certain other embodiments, the computing unit 110, the database 640 and the sensor 120 are arranged for communication and information transmission over a wired interface. Such a wired interface may comprise a communication bus system consisting of one or more communication buses for interconnecting a number of electronic control units (ECUs), or control units / controllers, and various components and sensors located on the vehicle 100. The communication bus of the vehicle may, for example, consist of one or more of a cable; a data bus, such as a CAN bus (Controller Area Network bus), a MOST bus (Media Oriented Systems Transport), or any other bus configuration; or by a wireless connection, for example according to any of the wireless communication technologies listed above.

The sensor 120 in the vehicle 100 may be, for example, a camera, a 3D camera, a Time of Flight camera, a stereo camera, a light field camera, a radar meter, a laser meter, a lidar and / or a distance meter based on ultrasonic waves in various embodiments.

The calculation unit 110 is arranged to perform at least parts of the method 500 for determining the lane position of the vehicle on a road 130.

In order to be able to correctly determine the lane position of the vehicle, the calculation unit 110 contains a number of components, which are described in more detail in the following text. Some of the described subcomponents occur in some, but not necessarily all, embodiments. There may also be additional electronics in the computing unit 110, which is not absolutely necessary to understand the operation of the computing unit 110 and the method 500, according to the invention. The calculation unit 110 comprises a signal receiver 610, arranged to receive a signal from the sensor 120 included in the vehicle 100, the signal representing a detected reference object 150, 160, 170 associated with the path 130. The signal receiver 610 typically comprises a receiving circuit, arranged to receive against a wireless or wired signal from the sensor 120, for example through one of the previously listed communication interfaces.

Further, the computing unit 110 also includes a processor circuit 620, arranged to determine geographical position 140 of the vehicle 100, and also arranged to compare stored lane-related data at the determined geographical position 140 with detected reference object 150, 160, 170 at this geographical position 140. Lane-related data can be stored and retrieved from a map database 640, which may be included in the computing unit 110, or be an external unit with which the computing unit 110 may communicate, for example over a wireless interface. Further, the processor circuit 620 is arranged to determine the lane position of the vehicle 100, by fitting the detected reference object 150, 160, 170 with stored lane related data at the geographical position 140 of the vehicle 100.

The processor circuit 620 may further also be arranged to measure a distance to the reference object 150, 160, 170 at the determined geographical position 140, based on a signal received from a sensor 120 in the vehicle 100.

In some embodiments, the processor circuit 620 may also be further arranged to determine an erroneous detection of a road marking line 150 on the road 130, and to override such erroneous detection in determining the lane position.

The processor circuit 620 may be, for example, one or more Central Processing Unit (CPU), microprocessor or other logic designed to interpret and execute instructions and / or to read and write data. The processor circuit 620 may handle data for inflow, outflow or data processing of data including including buffering of data, control functions and the like.

The calculation unit 110 may in certain embodiments further comprise a signal transmitter 630, arranged to send a control signal to trigger a warning signal and / or a lateral position correction when the vehicle 100 is determined to exceed a line marking 150 on the road 130. In some embodiments the signal transmitter 630 may be arranged to send a control signal to prevent acceleration of the vehicle 100 and / or to initiate braking of the vehicle 100.

The computing unit 110 may further comprise, according to certain embodiments, a memory unit 625 which in some embodiments may be a storage medium for data. The memory unit 625 can consist of, for example, a memory card, flash memory, USB memory, hard disk or other similar data storage device, for example one of the group: ROM (Read-Only Memory), PROM (Programmable Read-Only Memory), EPROM (Erasable PROM ), Flash memory, EEPROM (Electrically Erasable PROM), etc, in various embodiments.

The previously mentioned map database 640 may be included in or connectable to the computing unit 110. For example, the map database 640 may comprise a USB memory with map data. Map data can, for example, be downloaded or updated over an Internet connection in certain embodiments, or with another similar connection. In some embodiments, however, the map database 640 may be located outside the vehicle 100 and accessible to the computing unit 110 through a wireless interface, such as one of those previously listed.

This map database 640 can be built up, for example, by certain reference vehicles driving road sections under good weather and road conditions and registering and storing road data associated with geographical position.

Furthermore, according to certain embodiments, the invention includes a computer program for determining lane position on a road 130 for a vehicle 100.

The computer program is arranged to perform the method 500 according to at least one of the previously described steps 501-507, when the program is executed in a processor circuit 620 in the computing unit 110.

Thus, the method 500 according to at least one of the steps 501-507 for determining the lane position of the vehicle on the road 130 may be implemented by one or more processor circuits 620 in the computing unit 110 together with computer program code to perform any, some, some or all of the steps 501- 507 as described above. Thereby, a computer program including instructions for performing steps 501-507 when the program is loaded into the processor circuit 620.

This computer program described above in the vehicle 100 is in certain embodiments arranged to be installed in the memory unit 625 in the calculation unit 110, for example over a wireless interface.

The signal receivers 610 described and discussed above, and / or signal transmitters 630 may in certain embodiments be separate transmitters and receivers. However, signal receivers 610 and signal transmitters 630 in the computing unit 110 may in some embodiments be a transceiver, or transceiver, which is adapted to transmit and receive radio signals, and where parts of the structure, for example the antenna, are common to transmitters and receivers. Said communication can be adapted for wireless information transmission, via radio waves, WLAN, Bluetooth or infrared transmitter / receiver module. However, signal receivers 610, and / or signal transmitters 630 in certain embodiments may alternatively be specially adapted for wired information exchange, or alternatively for both wireless and wired communication according to certain embodiments.

Some embodiments of the invention also include a vehicle 100, which includes a system 600 installed in the vehicle 100 arranged to perform a method 500 according to at least one of the method steps 501-507, for determining lane position on a road 130 for the vehicle 100.

Claims (13)

Method (500) in a calculation unit (110) in a vehicle (100), for determining the lane position on a road (130) for the vehicle (100), characterized by: determining (501) the geographical position (140) of the vehicle (100); detecting (502) a sensor (120) of a reference object (150, 160, 170) associated with the path (130); comparing (504) in a map database (640) between stored lane related data at the determined (501) geographical position (140) and the detected (502) reference object (150, 160, 170) at this geographical position (140); and determining (505) the lane position of the vehicle (100), by fitting the detected (502) reference object (150,160,170) associated with the road (130), with stored lane related data at the determined (501) geographical position (140) of the vehicle (140). 100), where the determination also includes determining incorrect detection (502) of a line marking (150) on the road (130), and that such incorrect detection (502) is overridden in determining the lane position, and measuring (503) a distance to the reference object (150, 160, 170) at the determined (501) geographical position (140), with the sensor (120). The method (500) of claim 1, wherein the reference object (150, 160, 170) associated with the path (130) is a line marker (150, 160, 170) on the path (130). The method (500) of claim 1, wherein the reference object (150, 160, 170) is an object (160, 170) located adjacent the road (130). The method (500) according to any one of claims 1 to 3, wherein the determination (501) of geographical position (140) of the vehicle (100) is based on: a satellite-based positioning system, triangulation of signals sent from base stations in a mobile telephone network, route planning data, trip meter position in combination with road number, a wireless sensor signal and / or manual entry of the vehicle driver. The method (500) of any of claims 1-4, wherein the sensor (120) comprises: a camera, a 3D camera, a Time of Flight camera, a stereo camera, a light field camera, a radar meter, a laser meter, a lidar, a rangefinder based on ultrasonic waves. The method (500) of any of claims 1-5, further comprising: generating (506) a warning signal when the vehicle (100) is determined (505) to exceed a line marking (150) on the road (130). The method (500) of any of claims 1-6, further comprising: generating (507) a lateral position correction when the vehicle (100) is determined (505) exceeding a line marking (150) on the road (130). Calculation unit (110) in a vehicle (100), for determining the lane position on a road (130) of the vehicle (100), characterized by: a signal receiver (610), arranged to receive a signal from a sensor (120) included in the vehicle (100), wherein the signal represents a detected reference object (150, 160, 170) associated with the road (130); a processor circuit (620), arranged to determine the geographical position (140) of the vehicle (100), and also arranged to compare, in a map database (640), stored lane-related data at the determined geographical position (140) and detected reference object (150, 160, 170) at this geographical position (140) and determine the lane position of the vehicle (100), by matching the detected reference object (150, 160, 170) with stored lane-related data at the geographical position (140) of the vehicle (100) and further arranged to determine an erroneous detection of a line marking (150) on the road (130), and to override such erroneous detection in determining the lane position, where the processor circuit (620) is further arranged to measure a distance to the reference object (150, 160, 170). ) at the determined geographical position (140), based on a signal received from the sensor (120). The calculation unit (110) of claim 8, further comprising a signal transmitter (630), arranged to send a control signal to trigger a warning signal or a lateral position correction when the vehicle (100) is determined to exceed a line marking (150) on the road (130) . A computer program for determining a lane position on a road (130) for a vehicle (100), by a method (500) according to any one of claims 1-7, wherein the computer program is executed in a processor circuit (620) in a computing unit (110) according to any of claims 8-9. A system (600) for determining lane position on a road (130) for a vehicle (100), the system (600) comprising: a sensor (120); a map database (640); and a computing unit (110) according to any of claims 8-9. The system (600) of claim 11, wherein the sensor (120) comprises: a camera, a 3D camera, a Time of Flight camera, a stereo camera, a light field camera, a radar meter, a laser meter, a lidar, a rangefinder. based on ultrasonic waves. A vehicle (100) comprising a system (600) according to any one of claims 11 to 12, arranged to perform a method (500) according to any one of claims 1 to 7 for determining lane position on a road (130) for the vehicle (100) .