Method and Device for Estimating the Number of Lanes and/or the Lane Width on a Roadway
First Claim
1. A method for a driver assistance system for a subject vehicle that drives on a roadway and that is equipped with a sensor system arranged to monitor a detection area laterally behind the subject vehicle, wherein the method comprises the steps:
- a) obtaining a lane width value of a lane width of a lane of the roadway;
b) evaluating sensor data from the sensor system and thereby attempting to recognize, from the sensor data, at least one roadway edge of the roadway; and
if the step b) recognizes the at least one roadway edge, then further performing the following steps;
c) determining an edge distance of the at least one roadway edge;
d) comparing the edge distance with the lane width value to produce a comparison result; and
e) from the comparison result, determining an estimated number of lanes on the roadway.
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Accused Products
Abstract
A system for estimating the lane width and/or the number of lanes on a roadway includes environmental sensors mounted on a vehicle to monitor respective detection areas behind and to the sides of the vehicle. The sensors detect a roadway edge and the system determines a distance to the roadway edge. The system further determines a value or accesses a predefined nominal value of a lane width, and then estimates the number of lanes by evaluating the roadway edge distance with reference to the lane width value.
30 Citations
20 Claims
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1. A method for a driver assistance system for a subject vehicle that drives on a roadway and that is equipped with a sensor system arranged to monitor a detection area laterally behind the subject vehicle, wherein the method comprises the steps:
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a) obtaining a lane width value of a lane width of a lane of the roadway; b) evaluating sensor data from the sensor system and thereby attempting to recognize, from the sensor data, at least one roadway edge of the roadway; and if the step b) recognizes the at least one roadway edge, then further performing the following steps; c) determining an edge distance of the at least one roadway edge; d) comparing the edge distance with the lane width value to produce a comparison result; and e) from the comparison result, determining an estimated number of lanes on the roadway. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. A method for a driver assistance system for a subject vehicle that drives on a roadway and that is equipped with a speed sensor and an environmental sensor system, wherein the method comprises the steps:
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a) using the speed sensor, determining the driving speed of the subject vehicle; b) determining a valid lane width range dependent on the driving speed; c) using the environmental sensor system, detecting at least one roadway edge of the roadway; d) determining an edge distance of the at least one roadway edge; e) obtaining hypothetical values of a number of lanes on the roadway; f) forming respective quotients of the edge distance respectively divided by the respective hypothetical values of the number of lanes; g) comparing the quotients to the valid lane width range; and h) determining an estimated lane width of a lane on the roadway as one of the quotients that falls within the valid lane width range. - View Dependent Claims (19)
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20. A method for estimating the number of lanes for a vehicle comprising a system for detecting the environment, which monitors an area laterally behind a vehicle, in particular for lane change assistance,
characterized in that a distance to the roadway edge is determined and is compared with a presettable value for a lane width, and from this the number of lanes is estimated.
Specification