Method and device for predicting the course of motor vehicles
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Abstract
A method for travel course prediction in a motor vehicle having a position finding system for objects situated ahead of the vehicle is provided. In accordance with the method, a function describing the shape of the roadside is calculated on the basis of measured distance data and angle data for stationary roadside targets, wherein multiple stationary targets are identified and tracked. The path of the road is estimated for various subsets of the set of tracked stationary targets, under the assumption that these stationary targets are situated along the roadside, and roadside targets are differentiated from interfering objects on the basis of the plausibility of the resulting possible shapes of the roadside, the most probable shape of the roadside being determined on the basis of the roadside targets.
46 Citations
37 Claims
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1-15. -15. (canceled)
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16. A method for travel course prediction in a motor vehicle, the motor vehicle having a position finding system for objects situated ahead of the motor vehicle traveling on a road, a function describing the shape of a roadside being computable on the basis of measured distance data and angle data for stationary targets, the method comprising:
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identifying and tracking stationary targets;
estimating the shape of the roadside for a plurality of subsets of the stationary targets, using an assumption that the stationary targets are located on the roadside;
differentiating stationary target into roadside targets and interfering objects on the basis of at least one plausibility criterion relating to the shape of the roadside; and
determining the most probable shape of the roadside on the basis of the roadside targets. - View Dependent Claims (17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36)
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37. A device for travel course prediction in a motor vehicle, the motor vehicle having a position finding system for objects situated ahead of the motor vehicle traveling on a road, a function describing the shape of a roadside being computable on the basis of measured distance data and angle data for stationary targets, the device comprising:
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means for identifying and tracking stationary targets;
means for estimating the shape of the roadside for a plurality of subsets of the stationary targets, using an assumption that the stationary targets are located on the roadside;
means for differentiating stationary target into roadside targets and interfering objects on the basis of at least one plausibility criterion relating to the shape of the roadside; and
means for determining the most probable shape of the roadside on the basis of the roadside targets.
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Specification