×

Method for determining the course of the road for a motor vehicle

  • US 10,776,634 B2
  • Filed: 03/31/2011
  • Issued: 09/15/2020
  • Est. Priority Date: 04/20/2010
  • Status: Active Grant
First Claim
Patent Images

1. A method of determining a course of a driving lane along a road ahead of a vehicle that is driving on the driving lane, comprising steps:

  • a) providing a lane model, which models the driving lane, and which includes at least one lane course parameter that models the course of the driving lane;

    b) with at least one sensor system of the vehicle, acquiring sensor data regarding surroundings ahead of the vehicle;

    c) evaluating at least a portion of the sensor data, comprising;

    detecting, from the sensor data, plural candidate structures in the surroundings ahead of the vehicle,for each respective one of the candidate structures, determining a respective tangent line that is a straight line tangent to the respective candidate structure at a selected point thereon, andamong the plural candidate structures, selecting a pair of structures of which the respective tangent lines are parallel to one another;

    d) determining an orientation value of the tangent lines of the pair of structures;

    e) determining a respective updated value of the at least one lane course parameter and updating the lane model with the respective updated value by adopting the determined orientation value of the tangent lines of the pair of structures as a predicted orientation value of the course of the lane at a point at a first distance in an x-direction ahead of the vehicle; and

    f) using the lane model with the respective updated value of the at least one lane course parameter to predictively determine the course of the driving lane, and operating a driver assistance system of the vehicle dependent thereon and in response thereto, to assist in a driving operation of the vehicle;

    wherein the steps d) and e) are performed without use of a lateral distance, transversely to the x-direction, of the pair of structures from the course of the driving lane.

View all claims
  • 1 Assignment
Timeline View
Assignment View
    ×
    ×