Method for determining a lane course of a lane
First Claim
1. A method for operating an advance driver assistance system, the method comprising:
- receiving a plurality of recorded routes of vehicles, each of the plurality of recorded routes including individual position indications in an order of passing during a respective journey;
determining a lane course based on a B-spline compensation curve, wherein determining the lane course includes a processor performing the following acts;
selecting a route from the plurality of recorded routes;
determining, based on the selected route, a number of checkpoints to be used in generating the B-spline compensation curve, and a value of each checkpoint;
generating a first B-spline compensation curve based on the number of checkpoints and the value of each checkpoint;
generating a second B-spline compensation curve based on the first B-spline compensation curve and individual position indications of the plurality of routes, wherein determining the second B-spline compensation curve is independent of an order of position indications in one of the respective routes and is independent of the fact that a position indication used is assigned to a route from the plurality of routes;
assigning the second B-spline curve as the first B-spline curve and repeating the act of generating the second B-spline compensation curve until an abort condition is satisfied;
and when the abort condition is satisfied, assigning the second B-spline compensation curve as the lane course; and
displaying a warning to a driver of the vehicle when it is determined by advance driver assistance system, based on the lane course, that a collision is likely.
1 Assignment
0 Petitions
Accused Products
Abstract
The invention relates to determining a lane course with the aid of a plurality of recorded routes of vehicles using a compensation curve. Each of the plurality of recorded routes includes individual position indications in an order of passing during a respective journey. The method includes selecting a route from the plurality of recorded routes, determining a number of checkpoints for the compensation curve based on the selected route, and determining an initial compensation curve based on the number of checkpoints and the selected route from the plurality of routes. The method further includes performing, in a repeating fashion until an abort criterion has been satisfied, determining a new compensation curve using a previously-determined compensation curve and individual position indications of the plurality of routes, wherein determining the new compensation curve is performed independently of an order of position indications in one of the respective routes and being independent of the fact that a position indication used is assigned to a route from the plurality of routes, and outputting the new compensation curve as the lane course.
-
Citations
12 Claims
-
1. A method for operating an advance driver assistance system, the method comprising:
-
receiving a plurality of recorded routes of vehicles, each of the plurality of recorded routes including individual position indications in an order of passing during a respective journey; determining a lane course based on a B-spline compensation curve, wherein determining the lane course includes a processor performing the following acts; selecting a route from the plurality of recorded routes; determining, based on the selected route, a number of checkpoints to be used in generating the B-spline compensation curve, and a value of each checkpoint; generating a first B-spline compensation curve based on the number of checkpoints and the value of each checkpoint; generating a second B-spline compensation curve based on the first B-spline compensation curve and individual position indications of the plurality of routes, wherein determining the second B-spline compensation curve is independent of an order of position indications in one of the respective routes and is independent of the fact that a position indication used is assigned to a route from the plurality of routes; assigning the second B-spline curve as the first B-spline curve and repeating the act of generating the second B-spline compensation curve until an abort condition is satisfied; and when the abort condition is satisfied, assigning the second B-spline compensation curve as the lane course; and displaying a warning to a driver of the vehicle when it is determined by advance driver assistance system, based on the lane course, that a collision is likely. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 12)
-
-
11. An apparatus for avoiding collisions involving a vehicle, the apparatus comprising:
-
a memory configured to store individual position indications and parameters of B-spline compensation curves, and a processor configured to; receive a plurality of recorded routes of vehicles, each of the plurality of recorded routes including individual position indications in an order of passing during a respective journey; select a route from the plurality of recorded routes, determine a number of checkpoints for a B-spline compensation curve, and a value for each checkpoint, based on the selected route, generate an initial B-spline compensation curve based on the number of checkpoints and the value of each checkpoint, repeat the following acts until an abort criterion has been satisfied; generate a new B-spline compensation curve based on a previously-determined B-spline compensation curve and individual position indications of the plurality of routes, wherein determining the new B-spline compensation curve is independent of an order of position indications in one of the respective routes and is independent of the fact that a position indication used is assigned to a route from the plurality of routes, and when the abort condition is satisfied, assigning the new B-spline compensation curve as the lane course; determine that a collision with the vehicle is likely based on the lane course; and display a warning to a driver of the vehicle when it is determined that a collision is likely.
-
Specification