Method and apparatus for lane recognition for a vehicle

• US 8,718,919 B2
• Filed: 05/21/2010
• Issued: 05/06/2014
• Est. Priority Date: 04/23/2002
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Leineweber, Thilo, Urban, Werner, Henn, Ruediger-Walter, Braeuchle, Goetz, Heinebrodt, Martin
• Primary Examiner(s): To, Tuan C.
• Application Number:
  US12/785,256
• Publication Number:
  US 20110040468A1
• Time in Patent Office: 1,446 Days
• Field of Search: 701/301, 701/300, 701/117, 701/96, 340/436, 340/903, 340/435, 340/913, 180/204, 180/167, 180/170, 250/208.1, 315/77, 342/104, 342/118
• US Class Current: 701/301
• CPC Class Codes: G08G 1/163 involving continuous checking
• CPC Class Codes: G08G 1/165 for passive traffic, e.g. including static obstacles, trees
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A method and an apparatus for lane recognition for a vehicle that is equipped with an adaptive distance and speed control system are provided, the adaptive distance and speed controller having conveyed to it, using an object detection system, the relative speed of detected objects, a variable for determining the lateral offset of the detected objects with respect to the longitudinal vehicle axis, and the speed of the host vehicle. From the relative speed of the objects and the host-vehicle speed, a determination is made as to whether an object is oncoming, stationary, or moving in the same direction as the host vehicle. In combination with the calculated lateral offset of the detected object with respect to the longitudinal vehicle axis, the number of lanes present and the lane currently being traveled in by the host vehicle are determined.

Claims

1. A method for providing lane recognition for a controlled vehicle equipped with an adaptive distance and speed control system and traveling on a road, comprising:

transmitting to the adaptive distance and speed control system, using an object detection system, a relative speed of a detected object with respect to the controlled vehicle;

transmitting to the adaptive distance and speed control system;

a) a variable for determining a lateral offset of the detected object with respect to the longitudinal vehicle axis of the controlled vehicle; and

b) the speed of the controlled vehicle;

determining, based on the relative speed of the detected object with respect to the controlled vehicle and the speed of the controlled vehicle, whether the detected object is one of oncoming, stationary, and moving in the same direction as the controlled vehicle;

determining, using the lateral offset of the detected object with respect to the longitudinal vehicle axis of the controlled vehicle, the number of lanes present on the road and the lane in which the controlled vehicle is currently traveling; and

adjusting a detection region of the object detection system based on the determined lane.

2. The method as recited in claim 1, wherein the determination of the number of lanes present on the road and the lane in which the controlled vehicle is currently traveling becomes effective only when determination results remain unchanged for a predetermined period of time.

3. A system for providing lane recognition for a controlled vehicle traveling on a road, comprising:

an object detection system for detecting and transmitting a relative speed of a detected object with respect to the controlled vehicle, and a variable for determining a lateral offset of the detected object with respect to the longitudinal vehicle axis of the controlled vehicle;

a speed sensor for detecting and transmitting the speed of the controlled vehicle;

an adaptive distance and speed control system including a calculation unit for determining, based on the relative speed of the detected object with respect to the controlled vehicle and the speed of the controlled vehicle, whether the detected object is one of oncoming, stationary, and moving in the same direction as the controlled vehicle, the calculation unit also determining the lateral offset of the detected object with respect to the longitudinal vehicle axis of the controlled vehicle, and the calculation unit further determining, using the lateral offset of the detected object with respect to the longitudinal vehicle axis of the controlled vehicle, the number of lanes present on the road and the lane in which the controlled vehicle is currently traveling; and

an adjustment unit for adjusting a detection region of the object detection system based on the determined lane.

4. The system as recited in claim 3, wherein the object detection system includes at least one of a radar sensor, a laser sensor, an ultrasonic sensor, and a video sensor.

5. The system as recited in claim 3, wherein the determination of the number of lanes present on the road and the lane in which the controlled vehicle is currently traveling becomes effective only when determination results remain unchanged for a predetermined period of time.