METHOD FOR ESTIMATING TRAFFIC LANES
First Claim
1. A method for estimating traffic lanes using input data, wherein the input data comprisethe position and direction of feature vectors, which are measured from multiple different sensors independently of one another, wherein the position describes a point on the border of a traffic lane and the direction indicates in which direction the border of the traffic lane runs at this position, andvariables which represent the quality of the measurement of the positional and the directional accuracy and the probability of the existence of a feature vector,wherein the method has the following steps:
- the input data are accumulated chronologically together,the geometry of traffic lanes is estimated from the accumulated input data, taking into account the quality of the measurement of the positional and the directional accuracy as well as the probability of existence of the feature vector, andthe estimated geometry of traffic lanes is output.
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Abstract
A method for estimating traffic lanes uses as input data the position and direction of feature vectors, which are measured from multiple different sensors independently of one another. A feature vector is formed by a position in the coordinate system of the ego-vehicle, which position describes a point on the border of a traffic lane, and a direction or an angle which indicates the direction in which the border of the traffic lane runs at this position. Further input data are variables which represent the quality of the measurement of the positional and the directional accuracy and the probability of the existence of a feature vector. The input data are accumulated chronologically together. The geometry of traffic lanes is estimated from the accumulated input data, taking into account the quality of the measurement. The estimated geometry of traffic lanes is output.
33 Citations
9 Claims
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1. A method for estimating traffic lanes using input data, wherein the input data comprise
the position and direction of feature vectors, which are measured from multiple different sensors independently of one another, wherein the position describes a point on the border of a traffic lane and the direction indicates in which direction the border of the traffic lane runs at this position, and variables which represent the quality of the measurement of the positional and the directional accuracy and the probability of the existence of a feature vector, wherein the method has the following steps: -
the input data are accumulated chronologically together, the geometry of traffic lanes is estimated from the accumulated input data, taking into account the quality of the measurement of the positional and the directional accuracy as well as the probability of existence of the feature vector, and the estimated geometry of traffic lanes is output. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A device for estimating traffic lanes comprising:
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accumulating means which are configured to accumulate input data from multiple different sensors chronologically together, wherein the input data comprise; the position and direction of feature vectors, which are measured from multiple different sensors independently of one another, wherein the position describes a point on the border of a traffic lane and the direction indicates in which direction the border of the traffic lane runs at this position, and variables which represent the quality of the measurement of the positional and the directional accuracy as well as the probability of the existence of a feature vector, estimating means which are configured to estimate the geometry of traffic lanes from the accumulated input data, taking into account the quality of the vectors, and output means which are configured to output the estimated geometry of traffic lanes.
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Specification