Lane device, selector device and method for detecting the lane of a vehicle

• US 20070055412A1
• Filed: 11/09/2004
• Published: 03/08/2007
• Est. Priority Date: 11/20/2003
• Status: Abandoned Application

• Current Assignee: DaimlerChrysler AG (Mercedes-Benz Group AG)
• Original Assignee: DaimlerChrysler AG (Mercedes-Benz Group AG)
• Inventors: Bernhard, Werner
• Application Number:
  US10/579,834
• Publication Number:
  US 20070055412A1
• Time in Patent Office: Days
• US Class Current: 701/1
• CPC Class Codes: B60T 2201/08 Lane monitoring; Lane Keeping Systems
• CPC Class Codes: B60T 2201/087 using active steering actuation
• CPC Class Codes: B60T 2201/089 using optical detection
• CPC Class Codes: B62D 1/28 non-mechanical , e.g. following a line or other known markers
• CPC Class Codes: G05D 1/0238 using obstacle or wall sensors G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93

Abstract

The invention relates to a lane device (30) and a method for detecting the lane of a vehicle (10), as well as to a selector device which interacts with the lane device (30). The lane device (30) contains evaluation means (32, 35, 37) for evaluating distance data (60, 61, 66) of at least one distance sensor (58, 59, 65), it being possible to determine a lateral distance (d1-d4) from a reference body (62, 64) which runs essentially continuously to the side of the lane, at least in sections, from the distance data (60, 61, 66). The evaluation means (32, 35, 37) are configured to acquire lane data (36) as a function of the distance data (60, 61, 66). According to the invention, the evaluation means (32, 35, 37) are configured to filter out interference information, caused in particular by vehicles (17) present in the region of the lane or discontinuities (63) of the reference body (62, 64), from the distance data (60, 61, 66).

Claims

1. A lane device for detecting the lane of a vehicle (10, 11, 12), the lane device (30) having evaluation means (32, 34, 37) for evaluating distance data (60, 61, 66) of at least one distance sensor (58, 59, 65), the distance data (60, 61, 66) containing information about a distance (d1-d4) from a reference body (62, 64) which runs essentially continuously to the side of the lane, at least in sections, and the evaluation means (32, 35, 37) being configured to acquire lane data (36) as a function of the distance data (60, 61, 66), characterized in that the evaluation means (32, 35, 37) filter out interference information, caused in particular by vehicles (17) present in the region of the lane or discontinuities (63) of the reference body (62, 64), from the distance data (60, 61, 66), the lane data (36) being acquired as a function of the filtered distance data (60, 61, 66).

2. The lane device as claimed in claim 1, characterized in that it contains at least one high pass filter and/or at least one low pass filter (31) for filtering the distance data (60, 61, 66).

3. The lane device as claimed in claim 1, characterized in that it carries out plausibility checking for the filtering of the distance data

4. The lane device as claimed in claim 1, characterized in that the evaluation means (32, 35, 37) compare the lane data (36) and/or the distance data (60, 61, 66) with stored lane data (45).

5. The lane device as claimed in claim 1, characterized in that the distance sensor (58, 59, 65) operates in a range of invisible or inaudible frequencies.

6. The lane device as claimed in claim 1, characterized in that the at least one distance sensor (58, 59, 65) is an ultrasonic sensor, a radar sensor or an infrared sensor.

7. The lane device as claimed in claim 1, characterized in that it can be activated, or activates itself, when there is an operative failure of a wirefree locating system, in particular of an GPS system (41), and/or where there is an operative failure of an optical detection system (40).

8. The lane device as claimed in claim 1, characterized in that the at least one distance sensor (58, 59, 65) forms a component of the lane device (30).

9. The lane device as claimed in claim 1, characterized in that the at least one distance sensor (58, 59, 65) forms a component of a parking aid device (28).

10. The lane device as claimed in claim 1, characterized in that it evaluates the distance data (60, 61, 66) of the at least one distance sensor (58, 59, 65) as a function of the velocity (v1) of the vehicle (10, 11, 12).

11. The lane device as claimed in claim 1, characterized in that it evaluates, and in particular weights, the distance data (60, 61, 66) as a function of the position of the at least one distance sensor (58, 59, 65) on the vehicle (10, 11, 12).

12. The lane device as claimed in claim 1, characterized in that it is configured to perform a transverse control of the vehicle (10, 11, 12), in particular to generate a steering intervention in the vehicle (10, 11, 12).

13. A selector device for interaction with a parking aid device (28) and with a lane device (30) as claimed in claim 1, having selection means for selecting the distance data (60, 61, 66) of the at least one distance sensor (58, 59, 65) as a function of the velocity of the vehicle (10, 11, 12) for the parking aid device (28) and/or for the lane device (30).

14. The selector device as claimed in claim 13, characterized in that the selection means is configured to make a direction-dependent selection of the distance data (60, 61, 66) of at least two distance sensors (58, 59, 65) as a function of their position on the vehicle (10, 11, 12).

15. The selector device as claimed in claim 13, characterized in that it forms a component of the lane device (30) or of the parking aid device (28).

16. The lane device as claimed in claim 1, characterized in that it has program code which can be executed by a processor (25).

17. A storage means having a lane device as claimed in claim 16.

18. A vehicle, in particular a passenger car, characterized in that it has a lane device (30) as claimed in claim 1.

19. A use of a distance sensor (58, 59, 65) which is a component of a parking aid device which is arranged in a vehicle (10), for providing distance data (60, 61, 66) which is fed to a lane device (30) as claimed in claim 1 which is also arranged in the vehicle (10), the lane device (30) acquiring lane data (36) from this distance data (60, 61, 66) in order to determine a lane (15) along which the vehicle (10) is guided.

21. The selector device as claimed in claim 13, characterized in that it has program code which can be executed by a processor (25).

22. A storage means having a selector device as claimed in claim 21.

23. A vehicle, in particular a passenger car, characterized in that it has a selector device (29) as claimed in claim 13

24. A vehicle, in particular a passenger car, characterized in that it has a storage means as claimed in claim 22.

20. A method for detecting the lane of a vehicle (10, 11, 12), having the following steps:

evaluation of distance data (60, 61, 66) of at least one distance sensor (58, 59, 65), the distance data (60, 61, 66) containing information about a distance (d1-d4) from a reference body (62, 64) which runs essentially continuously to the side of the lane, at least in sections, and acquisition of lane data (36) as a function of the distance data (60, 61, 66), characterized in that interference information, caused by vehicles (17) present in the region of the lane or discontinuities (63) of the reference body (62, 64), are filtered out from the distance data (60, 61, 66), the lane data (36) being acquired as a function of the filtered distance data (60, 61, 66).