Method and apparatus for determining a plausible lane for guiding a vehicle and an automobile

• US 8,560,220 B2
• Filed: 10/28/2011
• Issued: 10/15/2013
• Est. Priority Date: 10/30/2010
• Status: Active Grant

• Current Assignee: Audi AG (Volkswagen AG)
• Original Assignee: Audi AG (Volkswagen AG)
• Inventors: Gttsch, Jan, Schn, Stefan, Mielich, Wolfgang
• Primary Examiner(s): CHEUNG, CALVIN K
• Application Number:
  US13/284,205
• Publication Number:
  US 20120277990A1
• Time in Patent Office: 718 Days
• Field of Search: 701/408, 701/414, 701/422, 701/439, 701/301
• US Class Current: 701/301
• CPC Class Codes: B60W 2552/05 Type of road, e.g. motorways, local streets, paved or unpaved roads
• CPC Class Codes: B60W 2552/10 Number of lanes
• CPC Class Codes: B60W 2552/20 Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 30/095 Predicting travel path or likelihood of collision
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 40/00 Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
• CPC Class Codes: B60W 40/06 Road conditions
• CPC Class Codes: B60W 50/0098 Details of control systems ensuring comfort, safety or stability not otherwise provided for
• CPC Class Codes: G06F 18/259 Fusion by voting

Abstract

A method for determining a lane on a roadway for a vehicle having at least two independent sensors includes the steps of obtaining with a first sensor data for a first area surrounding the vehicle, obtaining with at least two additional sensors data for at least two additional areas surrounding the vehicle, determining a first lane based on the data for the first area, determining at least two additional lanes based on the data for the at least two additional areas, and determining a resulting lane from the first and the at least two additional lanes, wherein when two of the least three lanes are identical and a third of the at least three lanes is not identical with the two identical lanes, the third lane is not taken into account when determining the resulting lane.

Claims

1. A method for determining a physical lane on a roadway for a vehicle having at least three independent sensors, comprising the steps of:

a) obtaining data for a first area surrounding the vehicle with at least one first sensor;

b) determining a first representation of the lane based on the data for the first area surrounding the vehicle;

c) obtaining data for at least two additional areas surrounding the vehicle with at least two additional sensors;

d) determining at least two additional representations of the lane based on the data for the at least two additional areas surrounding the vehicle;

e) comparing the first representation of the lane with the at least two additional representations of the lane to determine whether at least two representations of the first representation of the lane and the at least two additional representations of the lane are identical, and

f) determining the physical lane from the at least two representations of the lane that are identical and omitting from consideration a representation of a lane that is not identical with the at least two identical representations of the lane.

2. The method of claim 1, further comprising the steps of:

associating a weighting value with the first representation of the lane and the at least two additional representations of the lane, and

taking into account the first representation of the lane and the at least two additional representations of the lane in accordance with their respective weighting values, when comparing the first representation of the lane with the at least two additional representations of the lane for determining the resulting physical lane at steps e) and f).

3. The method of claim 1, wherein the physical lane is determined at step f) by combining the at least two identical representations of the lanes.

4. The method of claim 1, wherein the data obtained at step a) or at step c), or both, relate to at least one of a position and a motion state of an object.

5. The method of claim 1, wherein the data obtained at step a) or at step c), or both, relate to at least one of a position and a motion state of another vehicle.

6. The method of claim 1, wherein the data obtained at step a) or at step c), or both, relate to lane markers.

7. The method of claim 1, wherein the data obtained at step a) or at step c), or both, comprise data from a digital map by taking into account outputs from an own position determination sensor of the vehicle.

8. The method of claim 1, wherein the data obtained at step a) or at step c), or both, are obtained with at least one of a surroundings sensor and a driving status sensor.

9. The method of claim 1, further comprising the additional step of:

g) outputting control signals depending on the determined physical lane for at least semi-automatic guidance of the vehicle on the roadway.

10. An apparatus for determining a lane for a vehicle, comprising:

at least three independent sensors, wherein a first sensor is configured to obtain data relating to a first area surrounding the vehicle and at least two additional sensors are configured to obtain data relating to at least two additional areas surrounding the vehicle, and

a computing device configured to determine a first representation of the lane based on the data relating to the first area surrounding the vehicle and to determine at least two additional representations of the lane based on the data relating to the at least two additional areas surrounding the vehicle,

the computing device further configured to compare the first representation of the lane with the at least two additional representations of the lane to determine whether at least two representations are identical, and to determine the physical lane from the at least two representations of the lane that are identical and omitting from consideration a representation of a lane that is not identical with the at least two identical representations of the lane.

11. An automobile having an apparatus for determining a physical lane for a vehicle, the apparatus comprising:

at least three independent sensors, wherein a first sensor is configured to obtain data relating to a first area surrounding the vehicle and at least two additional sensors are configured to obtain data relating to at least two additional areas surrounding the vehicle, and

a computing device configured to determine a first representation of the lane based on the data relating to the first area surrounding the vehicle and to determine at least two additional representation of the lane based on the data relating to the at least two additional areas surrounding the vehicle,

the computing device further configured to compare the first representation of the lane with the at least two additional representations of the lane to determine whether at least two representations are identical, and to determine the physical lane from the at least two representations of the lane that are identical and omitting from consideration a representation of a lane that is not identical with the at least two identical representations of the lane.

12. A driver assist system having an apparatus for determining a lane for a vehicle, the apparatus comprising:

at least three independent sensors, wherein a first sensor is configured to obtain data relating to a first area surrounding the vehicle and at least two additional sensors are configured to obtain data relating to at least two additional areas surrounding the vehicle, and

a computing device configured to determine a first representation of the lane based on the data relating to the first area surrounding the vehicle and to determine at least two additional representation of the lane based on the data relating to the at least two additional areas surrounding the vehicle,

the computing device further configured to compare the first representation of the lane with the at least two additional representations of the lane to determine whether at least two representations are identical, and to determine the physical lane from the at least two representations of the lane that are identical and omitting from consideration a representation of a lane that is not identical with the at least two identical representations of the lane.