WO2006094585A1 - Procede pour evaluer le trace d'une voie de circulation - Google Patents

Procede pour evaluer le trace d'une voie de circulation Download PDF

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Publication number
WO2006094585A1
WO2006094585A1 PCT/EP2006/000895 EP2006000895W WO2006094585A1 WO 2006094585 A1 WO2006094585 A1 WO 2006094585A1 EP 2006000895 W EP2006000895 W EP 2006000895W WO 2006094585 A1 WO2006094585 A1 WO 2006094585A1
Authority
WO
WIPO (PCT)
Prior art keywords
lane
course
hypotheses
sensors
hypothesis
Prior art date
Application number
PCT/EP2006/000895
Other languages
German (de)
English (en)
Inventor
Uwe Francke
Axel Gern
Carsten Knöppel
Original Assignee
Daimlerchrysler Ag
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Daimlerchrysler Ag filed Critical Daimlerchrysler Ag
Publication of WO2006094585A1 publication Critical patent/WO2006094585A1/fr

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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
    • B60W40/076—Slope angle 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
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • B60W2050/0052—Filtering, filters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/05—Type of road, e.g. motorways, local streets, paved or unpaved roads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/20—Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments
    • 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
    • B60W2552/30—Road curve radius
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9321—Velocity regulation, e.g. cruise control

Definitions

  • the invention relates to a method for estimating the course of a lane according to the preamble of patent claim 1.
  • driver assistance systems are known, inter alia, as so-called ACC systems (automatic cruise control).
  • ACC systems automatic cruise control
  • ACC systems automatic cruise control
  • ACC systems automatic cruise control
  • This smoothing of the results has an effect on the control of the steering. Signal noise immediately results in a troubled steering wheel and, as a result, ineffective steering feel in lane assist systems such as systems referred to as Comfortable Lane Keeping. Furthermore, by smoothing the results measurement errors can be excluded.
  • multi-sensor systems are known with which the described approach can be meaningfully extended.
  • the signals of all sensors are thereby introduced in a common Kalman filter.
  • the reliability and robustness are improved.
  • the individual sensors it is examined whether their signals pass the 3 Sigma test. Any measurement within the 3Sig ⁇ na range is assumed to match the current track.
  • the individual sensors are checked by means of the sensor associated reliability tests (reliability investigations) to determine whether the measurements can be trusted. For example, in the case of map systems, the distance of the current position measurement to the map (also with regard to the height data) and the correlation coefficient in the investigation of road-parallel structures can be used as a useful measure of confidence.
  • the present invention is based on the object to improve the estimation of the course of a lane.
  • the linear combination may optionally be weighted, wherein the weighting may depend on the plausibility of the respective hypothesis of the estimated lane course.
  • the generation of the hypotheses can be carried out in such a way that the respective subcombinations are formed from the existing sensors, a hypothesis being generated for each of these subcombinations by means of the Kalman filter and further calculated for the hypothesis of the individual subcombinations in the further measuring steps.
  • hypotheses can also be generated in such a way that the further calculation is carried out for each hypothesis in the next measurement step by deriving a further hypothesis from each of these hypotheses by deriving further hypotheses for the next measurement step for each of these hypotheses, By each of these hypotheses with all sub-combinations of the sensors is further calculated.
  • the hypothesis space is advantageously restricted in this procedure. This can be done, for example, by only pursuing a certain number of hypotheses, in which case the hypotheses can be evaluated for specific probabilities for their correctness.
  • the reliability of the statement is further improved.
  • certain theoretically resulting track courses can be eliminated. This can be done, for example, by comparing the hypotheses of estimated lanes with data from digitized maps. If a track pattern results that can not be reconciled with a road course due to the measured GPS position, this estimated track course can be completely discarded and furthermore no longer needs to be calculated.
  • MHT Multiple Hypothesis Tracking
  • the weighted linear combination of the individual estimated lanes, compared to a binary decision for the correctness of a particular result, combined with a corresponding erratic transition, when another model is judged correct, is achieved that no abrupt intervention in the steering of the vehicle.
  • the driving behavior of the vehicle is thus smoothed overall.
  • a "hard" switching can be provided in the sense that from one to the other moment the weighting to a sensor signal, the was detected as faulty, set to zero. Smoothing the transition is then not required.
  • the plausibility of the track course can be determined, for example, via the mean residual (the mean prediction error) or the so-called likelihood.
  • not only a weighting of the individual results for the resulting lane course from the individual systems can be allowed, but optionally also a hard switchover.
  • Each of these hypotheses can be tracked with its own Kalman filter.
  • the method can use a combination of different sensors.
  • These sensors can be, for example:
  • driving maneuvers are taken into account in the generation of the hypotheses.
  • These driving maneuvers can be, for example:
  • Road geometry change speed such as the difference between a winding country road and a typically relatively straight highway.
  • a hypothesis is generated for each sensor combination for different models, each of which takes into account other driving maneuvers.
  • a multi-filter Systems can be estimated a resulting hypothesis.
  • Such a multi-filter system may for example be an IMM (Interacting Multiple Model). It is also possible to evaluate all resulting hypotheses using the HMT method.
  • the weighted linear combination is used to assess the plausibility of the individual hypotheses.
  • the deviation of the individual hypotheses is evaluated in order to assess their plausibility as a function of their deviation from the linear combined estimate.

Landscapes

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

Abstract

La présente invention concerne un procédé pour évaluer le tracé d'une voie de circulation en analysant les signaux de sortie de plusieurs capteurs. Les caractéristiques déterminées à partir des capteurs sont transmises à un filtre de Kalman commun afin d'établir une hypothèse concernant le tracé de la voie de circulation à partir de celles-ci. Les caractéristiques de sous-combinaisons des capteurs sont transmises à un filtre de Kalman afin d'établir respectivement pour les sous-combinaisons individuelles une hypothèse concernant le tracé de la voie de circulation. Un tracé de la voie de circulation est défini en combinant linéairement les hypothèses individuelles.
PCT/EP2006/000895 2005-03-08 2006-02-02 Procede pour evaluer le trace d'une voie de circulation WO2006094585A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE102005011030 2005-03-08
DE102005011030.4 2005-03-08
DE102005038314.9 2005-08-11
DE102005038314A DE102005038314A1 (de) 2005-03-08 2005-08-11 Verfahren zum Schätzen des Verlaufs einer Fahrspur

Publications (1)

Publication Number Publication Date
WO2006094585A1 true WO2006094585A1 (fr) 2006-09-14

Family

ID=36294272

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2006/000895 WO2006094585A1 (fr) 2005-03-08 2006-02-02 Procede pour evaluer le trace d'une voie de circulation

Country Status (2)

Country Link
DE (1) DE102005038314A1 (fr)
WO (1) WO2006094585A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20110245995A1 (en) * 2009-01-23 2011-10-06 Daimler Ag Method for determining a road profile of a lane located in front of a vehicle
CN109313032A (zh) * 2016-06-24 2019-02-05 高通股份有限公司 动态车道界定
CN111194459A (zh) * 2017-10-10 2020-05-22 大众汽车有限公司 自动驾驶功能部件的评估和在不同处理阶段中的道路识别

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102006057276B4 (de) 2006-12-05 2023-09-28 Robert Bosch Gmbh Verfahren und Vorrichtung zum Objekt-Tracking in einem Fahrerassistenzsystem eines Kraftfahrzeugs
BRPI0823224A2 (pt) * 2008-11-06 2015-06-16 Volvo Technology Corp Método e sistema para determinação de dados de estrada
DE102016214045A1 (de) * 2016-07-29 2018-02-01 Bayerische Motoren Werke Aktiengesellschaft Verfahren und Vorrichtung zum Ermitteln eines Fahrbahnmodells für ein Fahrzeugumfeld

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Publication number Priority date Publication date Assignee Title
US4970653A (en) * 1989-04-06 1990-11-13 General Motors Corporation Vision method of detecting lane boundaries and obstacles
WO2004008648A2 (fr) * 2002-07-15 2004-01-22 Automotive Systems Laboratory, Inc. Systeme d'evaluation de l'incurvation d'une route et d'estimation de l'etat cible d'une automobile
US6718259B1 (en) * 2002-10-02 2004-04-06 Hrl Laboratories, Llc Adaptive Kalman filter method for accurate estimation of forward path geometry of an automobile

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4970653A (en) * 1989-04-06 1990-11-13 General Motors Corporation Vision method of detecting lane boundaries and obstacles
WO2004008648A2 (fr) * 2002-07-15 2004-01-22 Automotive Systems Laboratory, Inc. Systeme d'evaluation de l'incurvation d'une route et d'estimation de l'etat cible d'une automobile
US6718259B1 (en) * 2002-10-02 2004-04-06 Hrl Laboratories, Llc Adaptive Kalman filter method for accurate estimation of forward path geometry of an automobile

Non-Patent Citations (1)

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Title
DICKMANNS E D ET AL: "RELATIVE 3D-STATE ESTIMATION FOR AUTONOMOUS VISUAL GUIDANCE OF ROAD VEHICLES*", ROBOTICS AND AUTONOMOUS SYSTEMS, ELSEVIER SCIENCE PUBLISHERS, AMSTERDAM, NL, vol. 7, no. 2 / 3, 1 August 1991 (1991-08-01), pages 113 - 123, XP000219094, ISSN: 0921-8890 *

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20110245995A1 (en) * 2009-01-23 2011-10-06 Daimler Ag Method for determining a road profile of a lane located in front of a vehicle
US8676508B2 (en) * 2009-01-23 2014-03-18 Daimler Ag Method for determining a road profile of a lane located in front of a vehicle
CN102292249B (zh) * 2009-01-23 2014-10-08 戴姆勒股份公司 用于获得处于车辆前方的行车道的道路轮廓的方法
CN109313032A (zh) * 2016-06-24 2019-02-05 高通股份有限公司 动态车道界定
CN109313032B (zh) * 2016-06-24 2020-08-14 高通股份有限公司 动态车道界定
CN111194459A (zh) * 2017-10-10 2020-05-22 大众汽车有限公司 自动驾驶功能部件的评估和在不同处理阶段中的道路识别
CN111194459B (zh) * 2017-10-10 2024-01-09 大众汽车有限公司 自动驾驶功能部件的评估和在不同处理阶段中的道路识别

Also Published As

Publication number Publication date
DE102005038314A1 (de) 2006-09-14

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