Method for acquiring transverse-position information of a motor vehicle on a carriageway and motor vehicle

• US 10,641,892 B2
• Filed: 01/27/2016
• Issued: 05/05/2020
• Est. Priority Date: 02/04/2015
• Status: Active Grant

• Current Assignee: Audi AG (Volkswagen AG)
• Original Assignee: Audi AG (Volkswagen AG)
• Inventors: Khlifi, Rachid
• Primary Examiner(s): Magloire, Vladimir
• Assistant Examiner(s): Braswell, Donal H B
• Application Number:
  US15/546,627
• Publication Number:
  US 20180024238A1
• Time in Patent Office: 1,560 Days
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2552/05 Type of road, e.g. motorways, local streets, paved or unpaved roads
• CPC Class Codes: B60W 2555/80 Country specific, e.g. driver age limits or right hand drive
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/87 Combinations of radar systems, e.g. primary radar and secondary radar
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 7/028 Miniaturisation, e.g. surface mounted device [SMD] packaging or housings
• CPC Class Codes: G01S 7/411 Identification of targets based on measurements of radar reflectivity G01S7/415 takes precedence
• CPC Class Codes: G06T 2207/30256 Lane; Road marking

Abstract

Method for acquiring transverse-position information of a motor vehicle (10) on a roadway (16), wherein radar data describing at least part of the roadway (16) are acquired by at least one radar sensor (1) of the motor vehicle (10), environmental features describing the location of a roadway boundary are detected and localized in the radar data by evaluation, from these, a course of the roadway boundaries of the roadway (16) and lateral distances (24) of the motor vehicle (10) with respect to the lane boundaries are determined, and the transverse-position information is determined as, or as a function of, the lateral distances (24) of the motor vehicle (10) from the roadway boundaries.

Claims

1. A method for acquiring transverse-position information comprising a lane assignment of a motor vehicle on a roadway, the method comprising:

acquiring, by a radar sensor of the motor vehicle, radar data comprising information of at least part of the roadway;

detecting, by a control unit of the radar sensor, environmental features describing a location of a roadway boundary based on the radar data, wherein the environmental features comprise a transition from a road surface to another surface;

evaluating, by the control unit of the radar sensor, the environmental features to localize in the radar data;

determining, by the control unit of the radar sensor, a course of the roadway boundary and lateral distances of the motor vehicle with respect to the roadway boundary; and

comparing, by the control unit of the radar sensor, the radar data with roadway division information derived from digital map data to perform a plausibility check for determination of a roadway width and the lane assignment of the motor vehicle;

wherein the digital map data comprise section information describing at least one of a presence, a width, and a location of a part of the roadway not used as a traffic lane, and

wherein a semiconductor chip comprises an implementation of the radar sensor and an implementation of a radar transceiver.

2. The method of claim 1, wherein the other surface comprises at least one of guide rails, guide posts, a curbstone, a roadside structure, or plants.

3. The method of claim 1, wherein the acquiring the radar data further comprises receiving radar data of surroundings of the motor vehicle over a complete angular range of 360°

.

4. The method of claim 1, wherein the semiconductor chip is a complementary metal-oxide semiconductor (CMOS) chip.

5. The method of claim 1, wherein the semiconductor chip further comprises at least one of a digital signal processor, the control unit of the radar sensor, and an antenna arrangement of the radar sensor.

6. The method of claim 1, wherein the radar sensor is operating in a frequency range of 77 to 81 GHz.

7. The method of claim 1, further comprising receiving lane width data for determining the roadway width and the lane assignment of the motor vehicle.

8. The method of claim 7, wherein the roadway division information comprises a number of traffic lanes of the roadway.

9. The method of claim 8, further comprising:

determining the roadway width based on the lateral distances of the motor vehicle and a width of the motor vehicle stored in the motor vehicle, or based on a distance from the roadway boundary.

10. The method of claim 1, further comprising detecting at least one transversely offset motor vehicle in the radar data for the lane assignment of the motor vehicle.

11. The method of claim 1, wherein the roadway comprises freeways.

12. The method of claim 1, further comprising comparing the lane assignment of the motor vehicle based on the radar data with a second lane assignment of the motor vehicle based on camera data of a camera.

13. A motor vehicle comprising:

a radar sensor; and

one control device configured to perform operations comprising;

acquiring, by the radar sensor of the motor vehicle, radar data comprising information of at least part of a roadway;

detecting, by a control unit of the radar sensor, environmental features describing a location of a roadway boundary based on the radar data, wherein the environmental features comprise a transition from a road surface to another surface;

evaluating, by the control unit of the radar sensor, the environmental features to localize in the radar data;

determining, by the control unit of the radar sensor, a course of the roadway boundary and lateral distances of the motor vehicle with respect to the roadway boundary; and

comparing, by the control unit of the radar sensor, the radar data with roadway division information derived from digital map data to perform a plausibility check for determination of a roadway width and a lane assignment of the motor vehicle;

wherein the digital map data comprise section information describing at least one of a presence, a width, and a location of a part of the roadway not used as a traffic lane, and

wherein a semiconductor chip comprises an implementation of the radar sensor and an implementation of a radar transceiver.