Method and device for determining the position of a vehicle on a carriageway and motor vehicle having such a device
First Claim
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1. A method for finding a position of an automotive vehicle on a carriageway, comprising:
- finding the position of the vehicle with a first precision using outputs from a satellite signal sensor;
obtaining data relating to a first vehicle environment for the position found with the first precision, from a digital map;
obtaining data relating to lane markings in a second vehicle environment, with a line recognition sensor;
obtaining data relating to proper motion of the vehicle, with a driving dynamics sensor;
obtaining data relating to objects in a third vehicle environment, with an ambient sensor, the data relating to objects pertaining to a current carriageway situation;
finding the position of the vehicle with at least lane-specific precision on the carriageway, by combining;
the data relating to the first vehicle environment, obtained from the digital map andthe data relating to lane markings in the second vehicle environment withthe data relating to proper motion of the vehicle andthe data relating to objects in the third vehicle environment;
obtaining data relating to a lane width, from the data relating to lane markings;
obtaining data relating to a carriageway width from the data relating to objects; and
determining and outputting information regarding current number of lanes on the carriageway, from the data relating to the lane width and the data relating to the carriageway width.
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Abstract
A method determines the position of a vehicle on a carriageway, in which method data of a satellite signal sensor, of a digital map, of a line detection sensor and of a vehicle movement dynamic sensor and/or of a surroundings sensor are combined in such a way that the position of the vehicle on the carriageway is determined with at least lane-specific accuracy. In particular, the method can also be used to determine the number of lanes. A device determines the position of the vehicle on a carriageway, and a motor vehicle has such a device.
15 Citations
20 Claims
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1. A method for finding a position of an automotive vehicle on a carriageway, comprising:
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finding the position of the vehicle with a first precision using outputs from a satellite signal sensor; obtaining data relating to a first vehicle environment for the position found with the first precision, from a digital map; obtaining data relating to lane markings in a second vehicle environment, with a line recognition sensor; obtaining data relating to proper motion of the vehicle, with a driving dynamics sensor; obtaining data relating to objects in a third vehicle environment, with an ambient sensor, the data relating to objects pertaining to a current carriageway situation; finding the position of the vehicle with at least lane-specific precision on the carriageway, by combining; the data relating to the first vehicle environment, obtained from the digital map and the data relating to lane markings in the second vehicle environment with the data relating to proper motion of the vehicle and the data relating to objects in the third vehicle environment; obtaining data relating to a lane width, from the data relating to lane markings; obtaining data relating to a carriageway width from the data relating to objects; and determining and outputting information regarding current number of lanes on the carriageway, from the data relating to the lane width and the data relating to the carriageway width. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. An apparatus to find a position of an automotive vehicle on a carriageway, comprising:
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a satellite signal sensor to provide signals for finding the position of the vehicle with a first precision; a digital map with data relating to a first vehicle environment for the position of the vehicle found with the first precision; a line recognition sensor to provide data relating to lane markings in a second vehicle environment; a driving dynamics sensor to provide data relating to proper motion of the vehicle; an ambient sensor to provide data relating to objects in a third vehicle environment; a position finding unit to find the position of the vehicle with at least lane-specific precision on the carriageway, the position finding unit combining the data relating to the first vehicle environment obtained from the digital map, the data relating to the lane markings in the second vehicle environment, the data relating to proper motion of the vehicle and the data relating to objects in the third vehicle environment; and an apparatus to obtain data relating to a lane width from the data relating to lane markings, to obtain data relating to a carriageway width from the data relating to objects, and to determine and output information regarding current number of lanes on the carriageway, from the data relating to the lane width and the data relating to the carriageway width.
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20. An automobile comprising:
an apparatus to find a position of an automotive vehicle on a carriageway, the comprising; a satellite signal sensor to provide signals for finding the position of the vehicle with a first precision; a digital map with data relating to a first vehicle environment for the position of the vehicle found with the first precision; a line recognition sensor to provide data relating to lane markings in a second vehicle environment; a driving dynamics sensor to provide data relating to proper motion of the vehicle; an ambient sensor to provide data relating to objects in a third vehicle environment; a position finding unit to find the position of the vehicle with at least lane-specific precision on the carriageway, the position finding unit combining the data relating to the first vehicle environment obtained from the digital map, the data relating to the lane markings in the second vehicle environment, the data relating to proper motion of the vehicle and the data relating to objects in the third vehicle environment; and an apparatus to obtain data relating to a lane width from the data relating to lane markings, to obtain data relating to a carriageway width from the data relating to objects, and to determine and output information regarding current number of lanes on the carriageway, from the data relating to the lane width and the data relating to the carriageway width.
Specification