Method for Determining the Plausibility of Objects in Driver Assistance Systems
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Abstract
A method for determining the plausibility of objects in driver assistance systems of motor vehicles includes the following steps:
- statistical analysis of the lateral offsets (Y) of stationary objects to detect left and right roadway boundaries,
- analysis of the lateral offsets (Y_H) of moving objects to detect any adjacent lanes,
- calculating a probability value Q_R that the host vehicle is in the extreme right traffic lane of the roadway, and a probability value Q_L that the host vehicle is in the extreme left traffic lane, and
- varying the width and/or lateral position of the travel route envelope as a function of the probability values Q_R and Q_L.
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Citations
24 Claims
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1-12. -12. (canceled)
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13. A method for determining a plausibility of an object detected by a driver assistance system of a motor vehicle, wherein the driver assistance system includes a locating system, the method comprising:
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locating, by the locating system, objects in the surroundings of the vehicle; measuring, by the locating system, lateral offsets of the located objects in the direction perpendicular to the direction of travel of the motor vehicle; defining a travel route envelope for the motor vehicle; and
determining the plausibility of moving objects based on whether the moving objects are one of inside or outside of the travel route envelope, wherein the plausibility determination includes;statistical analysis of the lateral offsets of stationary objects to detect left and right roadway boundaries; analysis of the lateral offsets of moving objects to detect any adjacent lanes; calculating a first probability value that the host vehicle is in the extreme right traffic lane of the roadway, and a second probability value that the host vehicle is in the extreme left traffic lane; and varying at least one of the width and the lateral position of the travel route envelope as a function of the first and second probability values. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22, 23)
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24. A driver assistance system of a motor vehicle configured to determine a plausibility of a detected object, comprising:
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a locating system configured to locate objects in the surroundings of the vehicle and determine lateral offsets of the located objects in the direction perpendicular to the direction of travel of the motor vehicle; means for defining a travel route envelope for the motor vehicle; and means for determining the plausibility of moving objects based on whether the moving objects are one of inside or outside of the travel route envelope, wherein the plausibility determination includes; statistical analysis of the lateral offsets of stationary objects to detect left and right roadway boundaries; analysis of the lateral offsets of moving objects to detect any adjacent lanes; calculating a first probability value that the host vehicle is in the extreme right traffic lane of the roadway, and a second probability value that the host vehicle is in the extreme left traffic lane; and varying at least one of the width and the lateral position of the travel route envelope as a function of the first and second probability values.
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Specification