WO2017023197A1

WO2017023197A1 - Method and system for controlling driving of a vehicle along a road

Info

Publication number: WO2017023197A1
Application number: PCT/SE2016/050657
Authority: WO
Inventors: Jonny Andersson; Linus Bredberg
Original assignee: Scania Cv Ab
Priority date: 2015-08-03
Filing date: 2016-06-29
Publication date: 2017-02-09
Also published as: SE1551055A1; SE541589C2; DE112016002947T5; BR112018000478A2

Abstract

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

Description

METHOD AND SYSTEM FOR CONTROLLING DRIVING OF A VEHICLE

ALONG A ROAD

TECHNICAL FIELD The invention relates to a method for controlling driving of a vehicle along a road. The invention also relates to a system for controlling driving of a vehicle along a road. The invention also relates to a vehicle. The invention in addition relates to a computer program and a computer program product.

BACKGROUND ART

For controlling driving of a vehicle along a road vehicles are equipped with a forward looking camera for detecting the trajectory of the lane of the road along which the vehicle is travelling, usually by detecting the road markers marking the lane in which the vehicle is travelling. The driving of the vehicle along the lane is controlled based upon the thus detected trajectory. Such control of the driving of the vehicle is called Lane Keep Assistance, LKA.

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

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

US2009284360 discloses a system for detecting position of vehicle in traffic lane on highway and issuing alarm to alert driver and prevent accident. The system is configured to identify lane markers in real time using contrast identification, mapping position of markers, and comparing current mapped position with most recent image data so as to improve the ability of the system to provide correct warnings.

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

OBJECTS OF THE INVENTION

An object of the present invention is to provide a method for controlling driving of a vehicle along a road which improves safety and accuracy in keeping the vehicle in the lane of the road along which the vehicle is travelling.

Another object of the present invention is to provide a system for controlling driving of a vehicle along a road which improves safety and accuracy in keeping the vehicle in the lane of the road along which the vehicle is travelling.

SUMMARY OF THE INVENTION

These and other objects, apparent from the following description, are achieved by a method, a system, a vehicle, a computer program and a computer program product, as set out in the appended independent claims. Preferred embodiments of the method and the system are defined in appended dependent claims.

Specifically an object of the invention is achieved by a method for controlling driving of a vehicle along a road. The method comprises the steps of: detecting the trajectory of the lane of the road along which the vehicle is travelling; and controlling driving of the vehicle along the lane based upon the detected trajectory. The method further comprises the steps of: determining the trajectory of the road along which the vehicle is travelling based on a determined current position of the vehicle and extracted map information of the extension of the road along which the vehicle is travelling; and comparing said detected trajectory with the trajectory determined by means of extracted map information and vehicle position. The method comprises the step of if the detected trajectory differs from the trajectory determined by means of extracted map information and vehicle position to a certain extent controlling the driving of the vehicle also based on map information.

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

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

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

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

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

According to an embodiment of the method the step of taking measures comprises changing the basis for said control from said detected trajectory of the lane of the road along which the vehicle is travelling to the trajectory determined by means of extracted map information and vehicle position if the difference between the detected trajectory and the trajectory determined by means of extracted map information and vehicle position exceeds a certain extent. By thus changing the basis for the control of the driving of the vehicle incorrect control of the vehicle may be avoided thus improving safety and reduces risk of taking off at wrong road exits/entrances. According to an embodiment of the method the step of changing the basis for said control comprises step of changing the characteristic forming the basis for the detection of said trajectory of the lane of the road to a characteristic corresponding to the trajectory determined by means of extracted map information and vehicle position. By thus changing the characteristic incorrect control of the vehicle may be avoided thus improving safety and reduces risk of taking off at wrong road exits/entrances.

According to an embodiment the method comprises the step of qualifying the trajectory determined by means of extracted map information and vehicle position by comparing the thus determined trajectory with the detected trajectory; if the thus determined trajectory and the detected trajectory substantially corresponds to each other, the thus determined trajectory is qualified. Hereby an efficient way of determining the correctness of the map information and vehicle position is obtained. Specifically an object of the invention is achieved by a system for controlling driving of a vehicle along a road. The system comprises means for detecting the trajectory of the lane of the road along which the vehicle is travelling; and means for controlling driving of the vehicle along the lane based upon the detected trajectory. The system further comprises means for determining the trajectory of the road along which the vehicle is travelling based on a determined current position of the vehicle and extracted map information of the extension of the road along which the vehicle is travelling; and means for comparing said detected trajectory with the trajectory determined by means of extracted map information and vehicle position. The system comprises means for controlling of the driving of the vehicle also based on map information if the detected trajectory differs from the trajectory determined by means of extracted map information and vehicle position to a certain extent.

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

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

According to an embodiment of the system the means for detecting the trajectory of the lane of the road along which the vehicle is travelling comprises detecting characteristics along the road. According to an embodiment of the system said characteristics along the road comprises road marks defining said lane comprising solid lines and dashed lines, and/or crash barriers, and/or a road side.

According to an embodiment of the system the means for taking measures comprises means changing the basis for said control from said detected trajectory of the lane of the road along which the vehicle is travelling to the trajectory determined by means of extracted map information and vehicle position if the difference between the detected trajectory and the trajectory determined by means of extracted map information and vehicle position exceeds a certain extent. According to an embodiment of the system the means for changing the basis for said control comprises means for changing the characteristic forming the basis for the detection of said trajectory of the lane of the road to a characteristic corresponding to the trajectory determined by means of extracted map information and vehicle position. According to an embodiment the system comprises means for qualifying the trajectory determined by means of extracted map information and vehicle position by comparing the thus determined trajectory with the detected trajectory; if the thus determined trajectory and the detected trajectory substantially corresponds to each other, the thus determined trajectory is qualified.

The system for controlling driving of a vehicle along a road is adapted to perform the methods as set out herein. The system according to the invention has the advantages according to the corresponding method claims.

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

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

BRIEF DESCRIPTION OF THE DRAWINGS

For a better understanding of the present invention reference is made to the following detailed description when read in conjunction with the accompanying drawings, wherein like reference characters refer to like parts throughout the several views, and in which: Fig. 1 schematically illustrates a side view of a vehicle according to the present invention;

Fig. 2a schematically illustrates a road where three lanes merge into two lanes;

Fig. 2b schematically illustrates a road with a road exit; Fig. 2c schematically illustrates a road where the lanes have been redirected due to a road construction ahead;

Fig. 3 schematically illustrates a block diagram of a system for controlling driving of a vehicle along a road according to an embodiment of the present invention;

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

Fig. 5 schematically illustrates a computer according to an embodiment of the present invention.

DETAILED DESCRIPTION

Hereinafter the term "link" refers to a communication link which may be a physical connector, such as an optoelectronic communication wire, or a non- physical connector such as a wireless connection, for example a radio or microwave link.

Hereinafter the term "trajectory of the road" and "trajectory of the lane of the road" comprises the extension of the road/lane, the course of the road/lane and comprises the curvature of the road/lane. Hereinafter the term "certain extent" in e.g. the context "if the detected trajectory differs from the trajectory determined by means of extracted map information and vehicle position to a certain extent measures are taken so as to ensure correct basis for said controlling of the driving" refers to a the degree of the difference between a detected trajectory detected by e.g. a camera on the vehicle and the trajectory determined by means of extracted map information and vehicle position. "Certain extent" could for example be that the detected trajectory corresponds to a road exit whereas the trajectory determined by means of extracted map information and vehicle position corresponds to the road continuing straight ahead. "Certain extent" could for example be that the detected trajectory is a false trajectory e.g. due to a false road mark detected and interpreted as the trajectory whereas the trajectory determined by means of extracted map information and vehicle position corresponds to the road continuing straight ahead. If the detected trajectory only differs from the trajectory determined by means of extracted map information and vehicle position to such a degree that they substantially match no measures are taken because the difference is not to a "certain extent".

Fig. 1 schematically illustrates a side view of a vehicle 1 according to the present invention. The exemplified vehicle 1 is a heavy vehicle in the shape of a truck. The vehicle according to the present invention could be any suitable vehicle such as a bus or a car. The vehicle comprises a system I for controlling driving of the vehicle 1 along a road R.

Fig. 2a schematically illustrates a road R where three lanes L1 , L2, L3, a first lane L1 in which a vehicle 1 is travelling, a second lane L2 adjacent to the first lane L1 and a third lane L3 adjacent to the second lane L2. The tree lanes L1 , L2, L3 merge into two lanes L2, L3 such that the first lane is excluded. The road R is delimited by left and right solid road markers MS1 , MS2. The first lane L1 is delimited by the solid road marker MS1 and a left dashed road marker MD1 , the second lane is delimited by the dashed road marker MD1 and a dashed road marker MD2, and the lane L3 is delimited by the dashed road marker MD2 and the solid road marker MS2. When the road R is merged the second lane L2 is delimited by solid road mark MS1 and dashed road mark MD2.

Fig. 2b schematically illustrates a road R with two lanes L1 , L2, a first lane L1 in which a vehicle 1 is travelling and a second lane L2 adjacent to the first lane L1 . The road R comprises a road exit Li e exiting from the first lane. The first lane L1 is delimited by the solid road marker MS and a left dashed road marker MD1 , the second lane is delimited by the dashed road marker MD1 and a dashed road marker MD2. The solid road marker MS is interrupted by the road exit Li e being delimited by solid road marks MSa, MSb.

Fig. 2c schematically illustrates a road with two lanes L1 , L2, a first lane L1 in which a vehicle 1 is travelling and a second lane L2 adjacent to the first lane L1 . The lanes L1 , L2 have been redirected and formed into temporary lanes L1 a, L2a at a certain position due to a road construction C ahead, the temporary lanes L1 a, L2a bypassing the construction work. The first lane L1 is delimited by the solid road marker MS and a left dashed road marker MD1 , the second lane is delimited by the dashed road marker MD1 and a dashed road marker MD2. The temporary lanes L1 , L2 are delimited by temporary solid road marks MSa, MSb, MSc.

The trajectory of the lane of the road along which the vehicle is travelling is detected by means of detecting means such as one or more camera units looking ahead of the vehicle, according to an embodiment detecting road marks delimiting the lane. Driving of the vehicle along the lane is controlled based upon the thus detected trajectory. The trajectory of the road along which the vehicle is travelling is further determined based on a determined current position of the vehicle and extracted map information of the extension of the road along which the vehicle is travelling.

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

This comparison is according to an embodiment done firstly to qualify the trajectory determined by means of extracted map information and vehicle position. If the thus determined trajectory and the detected trajectory substantially corresponds to each other, the thus determined trajectory is qualified. If the determined trajectory is qualified detected trajectory is compared with the trajectory determined by means of extracted map information and vehicle position. This comparison may be performed continuously or intermittently.

If the detected trajectory differs from the trajectory determined by means of extracted map information and vehicle position to a certain extent measures are taken so as to ensure correct basis for said controlling of the driving.

Thus for the situation in fig. 2a the detected trajectory may result in a false detection when the lanes L1 and L2 merge whereas the map information comprises correct information about the trajectory, this resulting in a difference requiring an action. When it is determined from the map information and vehicle position that the lanes are merging the basis may be changed for control from said detected trajectory of the lane of the road along which the vehicle is travelling to the trajectory determined by means of extracted map information and vehicle position. The same holds for the situation in fig. 2b. In order to avoid risking the vehicle 1 taking off at the exit Li e, which could be the case if the detection is based on the right road mark MS in the form of a solid line, the basis is changed to the trajectory determined by means of extracted map information and vehicle position. The detection of the trajectory could then be changed to the left road mark MD1 in the form of dashed road marks.

For the situation in fig. 2c the difference between the detected trajectory and the trajectory determined by means of extracted map information and vehicle position may exceed a certain extent wherein the controlling of the driving according to an embodiment is terminated in order to avoid risking the vehicle 1 driving straight into the road construction. Termination of the controlling of the driving means that automatic controlling of the driving of the vehicle along the lane based upon the detected trajectory is terminated, this according to an embodiment being done be deactivating a means for thus controlling the vehicle. Termination of the controlling of the driving results in the driver taking over the control of the vehicle. According to another embodiment the map information comprises the temporary lanes L1 a, L2a delimited by the temporary solid road marks MSa, MSb, MSc, wherein the basis is changed to the trajectory determined by means of extracted map information and vehicle position where detection of the trajectory then could be changed to the road mark MSa and/or MSb. According to another embodiment a characteristics along the road comprising a sign of an upcoming road construction is detected wherein the basis is changed to the trajectory according to the temporary solid road marks MSa, MSb, MSc. The temporary solid road marks MSa, MSb, MSc are according to an embodiment of a different colour than the road marks MS delimiting the road R, wherein according to an embodiment also the colour of the road marks is taken into account.

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

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

The system I comprises an electronic control unit 100.

The system I comprises means 1 10 for detecting the trajectory of the lane of the road along which the vehicle is travelling. The means 1 10 for detecting the trajectory of the lane of the road along which the vehicle is travelling is configured to detect the trajectory of the road.

The means 1 10 for detecting the trajectory of the lane of the road along which the vehicle is travelling may be any suitable detecting means. The means 1 10 for detecting the trajectory of the lane of the road along which the vehicle is travelling comprises according to an embodiment one or more camera units. The one or more camera units comprise according to an embodiment an IR-camera unit. The means 1 10 for detecting the trajectory of the lane of the road along which the vehicle is travelling comprises according to an embodiment one or more laser scanner units. The means 1 10 for detecting the trajectory of the lane of the road along which the vehicle is travelling comprises according to an embodiment one or more radar units.

The means 1 10 for detecting the trajectory of the lane of the road along which the vehicle is travelling comprises detecting characteristics along the road.

The characteristics along the road comprise according to an embodiment road marks defining the lane comprising solid lines and dashed lines. The characteristics along the road comprise according to an embodiment crash barriers. The characteristics along the road comprise according to an embodiment a road side.

The means 1 10 for detecting the trajectory of the lane of the road along which the vehicle is travelling comprises detecting the width of the lane on which the vehicle is travelling.

The means 1 10 for detecting the trajectory of the lane of the road along which the vehicle is travelling comprises detecting the curvature of the lane on which the vehicle is travelling. The curvature of the lane is according to an embodiment determined by means of detecting means such as one or more camera units for detecting road markers in front of the vehicle along the road. The curvature of the lane is according to an embodiment determined by means of determining the lateral speed of the vehicle. The lateral speed of the vehicle is according to an embodiment determined by means of an accelerometer.

The means 1 10 is according to an embodiment configured to determine the number of lanes of the road on which the vehicle is travelling.

The system I comprises means 1 20 for controlling driving of the vehicle along the lane based upon the detected trajectory. The means 120 for controlling driving of the vehicle along the lane based upon the detected trajectory comprises according to an embodiment an electronic control unit operably connected to the means 1 10 and configured to receive information of the trajectory of the lane from the means and process the information. The means 120 comprises according to an embodiment a steering actuator member for controlling the steering of the vehicle so as to keep the vehicle in the lane based upon the detected trajectory. The means 120 is according to an embodiment configured to send control signals to a steering actuator member for controlling the steering of the vehicle so as to keep the vehicle in the lane based upon the detected trajectory.

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

The means 130 for determining the trajectory of the road along which the vehicle is travelling based on a determined current position of the vehicle and extracted map information of the extension of the road along which the vehicle is travelling comprises according to an embodiment a map information unit 132 comprising map data comprising information about the trajectory of the road on which the vehicle is travelling comprising curves, road exits, road entrances and the surroundings of the road. Also other attributes related to the road can be comprised in the map data such as information relating to road crossings and roundabouts.

The means 130 for determining the trajectory of the road along which the vehicle is travelling based on a determined current position of the vehicle and extracted map information of the extension of the road along which the vehicle is travelling comprises according to an embodiment means 134 for determining the position of the vehicle. The means 134 for determining the position of the vehicle comprises according to an embodiment a global positioning system, GPS, for continuously determining the position of the vehicle along the road on which it is travelling.

By means of the map information unit 132 and the means 134 for determining the position of the vehicle it is thus facilitated to continuously identifying the position of the vehicle and the trajectory of the road along which the vehicle is travelling including the trajectory of the road along which the vehicle is travelling a certain distance ahead of the vehicle.

The system I comprises means 140 for comparing the detected trajectory detected with the means 1 10 with the trajectory determined by means of the means 130, i.e. by means of extracted map information and vehicle position. The means 140 for comparing the detected trajectory with the trajectory determined by means of extracted map information and vehicle position comprises according to an embodiment an electronic control unit. The means 140 for comparing the detected trajectory with the trajectory determined by means of extracted map information and vehicle position comprises according to an embodiment the electronic control unit 100. The system I comprises means 150 to determine if and to what extent the detected trajectory differs from the trajectory determined by means of extracted map information and vehicle position. The means 150 to determine if and to what extent the detected trajectory differs from the trajectory determined by means of extracted map information and vehicle position is arranged to determine whether the difference exceeds a certain first extent. The means 150 to determine if and to what extent the detected trajectory differs from the trajectory determined by means of extracted map information and vehicle position is arranged to determine whether the difference exceeds a certain second extent, said second extent being higher than the first extent. The certain first extent is thus lower than the certain second extent.

The system I comprises means 1 60 for taking measures so as to ensure correct basis for the controlling of the driving if the detected trajectory differs from the trajectory determined by means of extracted map information and vehicle position to a certain extent.

The measures in the means 160 for taking measures are chosen depending on the extent of the difference between the detected trajectory and the trajectory determined by means of extracted map information and vehicle position. The means 160 for taking measures comprises means 162 for changing the basis for the control from the detected trajectory of the lane of the road along which the vehicle is travelling to the trajectory determined by means of extracted map information and vehicle position if the difference between the detected trajectory and the trajectory determined by means of extracted map information and vehicle position exceeds the certain first extent but is below the certain second extent. The change of basis due to difference exceeding the certain first extent may for example be to change detection of road marks to road marks corresponding to the trajectory and lane determined by means of extracted map information and vehicle position. The means 162 for changing the basis for the control comprises means 1 62a for changing the characteristic forming the basis for the detection of the trajectory of the lane of the road to a characteristic corresponding to the trajectory determined by means of extracted map information and vehicle position. The system I comprises means 170 for terminating the controlling of the driving if the difference between the detected trajectory and the trajectory determined by means of extracted map information and vehicle position exceeds the certain second extent. This could be the case if there are false road marks or other marks on the road, if there is a road construction with temporary road marks, in the case of snow/ice on the road or the like. Terminating of the controlling of the driving results in the operator manually controlling the vehicle.

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

The electronic control unit 100 is operably connected to the means 1 10 for detecting the trajectory of the lane of the road along which the vehicle is travelling via a link 10. The electronic control unit 1 00 is via the link 10 arranged to receive a signal from said means 1 10 representing data for detected trajectory of the lane of the road along which the vehicle is travelling comprising data of the trajectory of the road. The electronic control unit 100 is operably connected to the means 120 for controlling driving of the vehicle along the lane based upon the detected trajectory via a link 20a. The electronic control unit 1 00 is via the link 20a arranged to send a signal to said means 120 representing data for detected trajectory of the lane of the road along which the vehicle is travelling. The electronic control unit 100 is operably connected to the means 120 for controlling driving of the vehicle along the lane based upon the detected trajectory via a link 20b. The electronic control unit 1 00 is via the link 20b arranged to receive a signal from said means 1 20 representing data for controlling driving of the vehicle along the lane based upon the detected trajectory.

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

The electronic control unit 100 is operably connected to the map information unit 132 comprising map data comprising information about the trajectory of the road on which the vehicle is travelling via a link 32. The electronic control unit 100 is via the link 32 arranged to receive a signal from said map information unit 1 32 representing map data comprising information about the trajectory of the road on which the vehicle is travelling.

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

The electronic control unit 100 is operably connected to the means 140 for comparing the detected trajectory with the trajectory determined by means of extracted map information and vehicle position via a link 40a. The electronic control unit 1 00 is via the link 40a arranged to send a signal to said means 140 representing data for detected trajectory and data for determined trajectory.

The electronic control unit 100 is operably connected to the means 140 for comparing the detected trajectory with the trajectory determined by means of extracted map information and vehicle position via a link 40b. The electronic control unit 100 is via the link 40b arranged to receive a signal from said means 140 representing comparison data for comparison of the detected trajectory with the trajectory determined by means of extracted map information and vehicle position. The electronic control unit 100 is operably connected to the means 150 to determine if and to what extent the detected trajectory differs from the trajectory determined by means of extracted map information and vehicle position via a link 50. The electronic control unit 100 is via the link 50 arranged to receive a signal from said means 150 representing data for what extent the detected trajectory differs from the trajectory determined by means of extracted map information and vehicle position.

The electronic control unit 100 is operably connected to the means 160 for taking measures so as to ensure correct basis for the controlling of the driving if the detected trajectory differs from the trajectory determined by means of extracted map information and vehicle position to a certain extent via a link 60a. The electronic control unit 1 00 is via the link 60a arranged to send a signal to said means 160 representing data for what extent the detected trajectory differs from the trajectory determined by means of extracted map information and vehicle position. The electronic control unit 100 is operably connected to the means 160 for taking measures so as to ensure correct basis for the controlling of the driving if the detected trajectory differs from the trajectory determined by means of extracted map information and vehicle position to a certain extent via a link 60b. The electronic control unit 1 00 is via the link 60b arranged to receive a signal from said means 1 60 representing data for taking measures so as to ensure correct basis for the controlling of the driving.

The electronic control unit 100 is operably connected to the means 162 for changing the basis for the control from the detected trajectory of the lane of the road along which the vehicle is travelling to the trajectory determined by means of extracted map information and vehicle position if the difference between the detected trajectory and the trajectory determined by means of extracted map information and vehicle position exceeds a certain first extent via a link 62:1 . The electronic control unit 1 00 is via the link 62:1 arranged to send a signal to said means 162 representing data for difference exceeding a certain first extent.

The electronic control unit 100 is operably connected to the means 162 for changing the basis for the control from the detected trajectory of the lane of the road along which the vehicle is travelling to the trajectory determined by means of extracted map information and vehicle position if the difference between the detected trajectory and the trajectory determined by means of extracted map information and vehicle position exceeds a certain first extent via a link 62:2. The electronic control unit 1 00 is via the link 62:2 arranged to receive a signal from said means 162 representing data for changing the basis for the control.

The electronic control unit 100 is operably connected to the comprises means 162a for changing the characteristic forming the basis for the detection of the trajectory of the lane of the road to a characteristic corresponding to the trajectory determined by means of extracted map information and vehicle position via a link 62a. The electronic control unit 1 00 is via the link 62a arranged to receive a signal from said means 162a representing data for changing the characteristic forming the basis for the detection of the trajectory of the lane of the road to a characteristic corresponding to the trajectory determined by means of extracted map information and vehicle position.

The electronic control unit 100 is operably connected to the means 170 for terminating the controlling of the driving if the difference between the detected trajectory and the trajectory determined by means of extracted map information and vehicle position exceeds a certain second extent via a link 70a. The electronic control unit 100 is via the link 70a arranged to send a signal to said means 170 representing data for difference exceeding a certain second extent, the second extent being greater than the certain first extent.

The electronic control unit 100 is operably connected to the means 170 for terminating the controlling of the driving if the difference between the detected trajectory and the trajectory determined by means of extracted map information and vehicle position exceeds a certain second extent via a link 70b. The electronic control unit 100 is via the link 70b arranged to receive a signal from said means 170 representing data for terminating the controlling of the driving. The electronic control unit 100 is operably connected to the means 180 for qualifying the trajectory determined by means of extracted map information and vehicle position by comparing the thus determined trajectory with the detected trajectory via a link 80a. The electronic control unit 100 is via the link 80a arranged to send a signal to said means 180 representing data for detected trajectory and data for determined trajectory.

The electronic control unit 100 is operably connected to the means 180 for qualifying the trajectory determined by means of extracted map information and vehicle position by comparing the thus determined trajectory with the detected trajectory via a link 80b. The electronic control unit 100 is via the link 80b arranged to receive a signal from said means 180 representing data for qualifying the trajectory determined by means of extracted map information and vehicle, the means 1 80 being configured to send the data for qualifying the trajectory determined by means of extracted map information and vehicle if the thus determined trajectory and the detected trajectory substantially corresponds to each other.

Fig. 4 schematically illustrates a block diagram of a method for controlling driving of a vehicle along a road according to an embodiment of the present invention. According to the embodiment the method for controlling driving of a vehicle along a road comprises a step S1 . In this step the trajectory of the lane of the road along which the vehicle is travelling is detected.

According to the embodiment the method for controlling driving of a vehicle along a road comprises a step S2. In this step driving of the vehicle along the lane controlled based upon the detected trajectory.

According to the embodiment the method for controlling driving of a vehicle along a road comprises a step S3. In this step the trajectory of the road along which the vehicle is travelling is determined based on a determined current position of the vehicle and extracted map information of the extension of the road along which the vehicle is travelling.

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

According to the embodiment the method for controlling driving of a vehicle along a road comprises a step S5. In this step measures are taken so as to ensure correct basis for said controlling of the driving if the detected trajectory differs from the trajectory determined by means of extracted map information and vehicle position to a certain extent.

According to an embodiment of the method said measures in the step of taking measures are chosen depending on the extent of the difference between the detected trajectory and the trajectory determined by means of extracted map information and vehicle position. According to an embodiment the method comprises the step of terminating said controlling of the driving if said difference between the detected trajectory and the trajectory determined by means of extracted map information and vehicle position exceeds a certain extent. According to an embodiment of the method the step of detecting the trajectory of the lane of the road along which the vehicle is travelling comprises detecting characteristics along the road.

According to an embodiment of the method said characteristics along the road comprises road marks defining said lane comprising solid lines and dashed lines, and/or crash barriers, and/or a road side.

According to an embodiment of the method the step of taking measures comprises changing the basis for said control from said detected trajectory of the lane of the road along which the vehicle is travelling to the trajectory determined by means of extracted map information and vehicle position if the difference between the detected trajectory and the trajectory determined by means of extracted map information and vehicle position exceeds a certain extent.

According to an embodiment of the method the step of changing the basis for said control comprises step of changing the characteristic forming the basis for the detection of said trajectory of the lane of the road to a characteristic corresponding to the trajectory determined by means of extracted map information and vehicle position. The characteristics forming the basis for the detection of said trajectory of the lane of the road comprises according to an embodiment road marks.

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

With reference to figure 4, a diagram of an apparatus 500 is shown. The control unit 1 00 described with reference to fig. 3 may according to an embodiment comprise apparatus 500. Apparatus 500 comprises a nonvolatile memory 520, a data processing device 51 0 and a read/write memory 550. Non-volatile memory 520 has a first memory portion 530 wherein a computer program, such as an operating system, is stored for controlling the function of apparatus 500. Further, apparatus 500 comprises a bus controller, a serial communication port, l/O-means, an A/D-converter, a time date entry and transmission unit, an event counter and an interrupt controller (not shown). Non-volatile memory 520 also has a second memory portion 540.

A computer program P is provided comprising routines for controlling driving of a vehicle along a road according to an embodiment of the present invention. The program P comprises routines for detecting the trajectory of the lane of the road along which the vehicle is travelling. The program P comprises routines for controlling driving of the vehicle along the lane based upon the detected trajectory. The program P comprises routines for determining the trajectory of the road along which the vehicle is travelling based on a determined current position of the vehicle and extracted map information of the extension of the road along which the vehicle is travelling. The program P comprises routines for comparing said detected trajectory with the trajectory determined by means of extracted map information and vehicle position. The program P comprises routines for taking measures so as to ensure correct basis for said controlling of the driving if the detected trajectory differs from the trajectory determined by means of extracted map information and vehicle position to a certain extent. The computer program P may be stored in an executable manner or in a compressed condition in a separate memory 560 and/or in read/write memory 550. When it is stated that data processing device 510 performs a certain function it should be understood that data processing device 51 0 performs a certain part of the program which is stored in separate memory 560, or a certain part of the program which is stored in read/write memory 550. Data processing device 510 may communicate with a data communications port 599 by means of a data bus 51 5. Non-volatile memory 520 is adapted for communication with data processing device 510 via a data bus 51 2. Separate memory 560 is adapted for communication with data processing device 51 0 via a data bus 51 1 . Read/write memory 550 is adapted for communication with data processing device 510 via a data bus 514. To the data communications port 599 e.g. the links connected to the control units 100 may be connected.

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

Parts of the methods described herein can be performed by apparatus 500 by means of data processing device 51 0 running the program stored in separate memory 560 or read/write memory 550. When apparatus 500 runs the program, parts of the methods described herein are executed.

The foregoing description of the preferred embodiments of the present invention has been provided for the purposes of illustration and description. It is not intended to be exhaustive or to limit the invention to the precise forms disclosed. Obviously, many modifications and variations will be apparent to practitioners skilled in the art. The embodiments were chosen and described in order to best explain the principles of the invention and its practical applications, thereby enabling others skilled in the art to understand the invention for various embodiments and with the various modifications as are suited to the particular use contemplated.

Claims

1 . A method for controlling driving of a vehicle (1 ) along a road (R) comprising the steps of: detecting (S1 ) using a road trajectory determination device the trajectory of the lane (L1 ) of the road (R) along which the vehicle is travelling; and controlling driving of the vehicle along the lane based upon the detected trajectory, characterized by the steps of:

- determining (S2) the trajectory of the road (R) along which the vehicle (1 ) is travelling based on a determined current position of the vehicle and extracted map information of the extension of the road along which the vehicle is travelling;

- comparing (S3) said detected trajectory with the trajectory determined by means of extracted map information and vehicle position;

- if the detected trajectory differs from the trajectory determined by means of extracted map information and vehicle position to a certain extent controlling the driving of the vehicle also based on map information.

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

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

4. A method according to any preceding claims, wherein the step of detecting the trajectory of the lane of the road along which the vehicle is travelling comprises detecting characteristics along the road.

5. A method according to claim 4, wherein said characteristics along the road comprises road marks defining said lane comprising solid lines and dashed lines, and/or crash barriers, and/or a road side.

6. A method according to any preceding claims, wherein the step of taking measures comprises changing the basis for said controlling of the driving from said detected trajectory of the lane of the road along which the vehicle is travelling to the trajectory determined by means of extracted map information and vehicle position if the difference between the detected trajectory and the trajectory determined by means of extracted map information and vehicle position exceeds a certain extent.

7. A method according to claim 6, wherein the step of changing the basis for said control comprises step of changing the characteristic forming the basis for the detection of said trajectory of the lane of the road to a characteristic corresponding to the trajectory determined by means of extracted map information and vehicle position.

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

9. A system (I) for controlling driving of a vehicle (1 ) along a road (R) comprising means (1 10) for detecting the trajectory of the lane (L1 ) of the road (R) along which the vehicle is travelling; and means (120) for controlling driving of the vehicle along the lane based upon the detected trajectory, characterized by means (1 30) for determining the trajectory of the road along which the vehicle is travelling based on a determined current position of the vehicle and extracted map information of the extension of the road along which the vehicle is travelling; means (140) for comparing said detected trajectory with the trajectory determined by means of extracted map information and vehicle position; means (1 60) for controlling of the driving of the vehicle also based on map information if the detected trajectory differs from the trajectory determined by means of extracted map information and vehicle position to a certain extent.

10. A system according to claim 9, wherein said measures in the means (1 60) for taking measures are chosen depending on the extent of the difference between the detected trajectory and the trajectory determined by means of extracted map information and vehicle position.

1 1 . A system according to claim 9 or 10, comprising means (170) for terminating said controlling of the driving if said difference between the detected trajectory and the trajectory determined by means of extracted map information and vehicle position exceeds a certain extent.

12. A system according to any of claims 9-1 1 , wherein the means (1 1 0) for detecting the trajectory of the lane of the road along which the vehicle is travelling comprises detecting characteristics along the road.

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

14. A system according to any of claims 9-1 3, wherein the means (160) for taking measures comprises means (162) for changing the basis for said control from said detected trajectory of the lane of the road along which the vehicle is travelling to the trajectory determined by means of extracted map information and vehicle position if the difference between the detected trajectory and the trajectory determined by means of extracted map information and vehicle position exceeds a certain extent.

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

16. A system according to any of claims 9-15, comprising means (1 80) for qualifying the trajectory determined by means of extracted map information and vehicle position by comparing the thus determined trajectory with the detected trajectory; if the thus determined trajectory and the detected trajectory substantially corresponds to each other, the thus determined trajectory is qualified.

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

18. A computer program (P) for controlling driving of a vehicle along a road, said computer program (P) comprising program code which, when run on an electronic control unit (1 00) or another computer (500) connected to the electronic control unit (100), causes the electronic control unit to perform the steps according to claim 1 -8.

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