Device for acquiring lane path indicative data

• US 6,292,752 B1
• Filed: 11/06/1998
• Issued: 09/18/2001
• Est. Priority Date: 11/06/1997
• Status: Expired due to Term

• Current Assignee: 21ST CENTURY GARAGE LLC
• Original Assignee: Daimler Chrysler Company LLC (Stellantis NV)
• Inventors: Franke, Uwe, Zomotor, Zoltan
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): Beaulieu, Yonel
• Application Number:
  US09/187,530
• Time in Patent Office: 1,047 Days
• Field of Search: 701/300, 701/301, 701/302, 701/23, 701/25, 701/26, 701/200, 701/205, 701/210, 701/27, 180/167, 180/168, 180/169, 340/435, 340/436, 340/437, 342/70, 342/455
• US Class Current: 701/300
• CPC Class Codes: B60T 2201/08 Lane monitoring; Lane Keeping Systems
• CPC Class Codes: B60T 2201/089 using optical detection
• CPC Class Codes: G01S 13/723 by using numerical data
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/9325 for inter-vehicle distance regulation, e.g. navigating in platoons
• CPC Class Codes: G01S 2013/9329 cooperating with reflectors or transponders
• CPC Class Codes: G01S 3/7864 T.V. type tracking systems
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road

Abstract

A device for acquiring data indicative of the path of a lane is provided. The device incorporates a lane detection sensing circuit, an object position sensing circuit that detects at least the distance of an object located in front of the vehicle and its directional angle relative to the direction of vehicle motion, and a sensing circuit for the vehicle'"'"'s own motion. An estimating device is provided that is supplied with lane recognition measurement data, object position measurement data, and measurement data on the vehicle'"'"'s own motion. As a function of the vehicle'"'"'s own motion, the estimating device determines the lane curvature and/or the transverse position of an object ahead of the vehicle relative to the lane by estimation, using a presettable estimation algorithm including a dynamic vehicle motion model. The device preferably includes a Kalman filter for this purpose, and is used, for example, in road vehicles.

Claims

1. A device for acquiring data indicative of a path of a lane of a vehicle, comprising:

a lane detection sensing circuit that supplies lane detection measurement data;

an object-positioning sensing circuit which detects at least a distance (d) of an object located ahead of the vehicle and its directional angle relative to a direction of movement of the vehicle;

a vehicle intrinsic movement sensing circuit for detecting movement of the vehicle; and

an estimating device that is supplied with lane detection measurement data from the lane detection sensing circuit and object position measurement data from the object position sensing circuit, as well as measurement data for the vehicle'"'"'s own motion from the vehicle intrinsic movement sensing circuit, and which, as a function of these measurement data, determines at least one of a (1) lane curvature (c₀) and (2) a transverse position (x_R) of said object relative to the lane detected by the object position sensing circuit, by estimation using a presettable estimation algorithm that incorporates a dynamic vehicle movement model, further wherein geometric relationships between measured values detected by the lane detection sensing circuit and the object position sensing circuit are entered as measurement equations and their dynamic relationships are entered as state variable differential equations into the estimation algorithm, with the transverse position (x_R) of the object being treated in the differential equations as a time-constant state variable.

2. The device according to claim 1, further wherein the distance (d_R) and a distance change rate (v_relR) are used as additional state variables in the estimation algorithm, with the distance change rate being treated as a time-constant state variable.

3. The device according to claim 1, further wherein the estimating device is a Kalman filter.

4. The device according to claim 2, further wherein the estimating device is a Kalman filter.

5. A method for acquiring data indicative of a path of a lane of a vehicle, the method comprising the acts of:

sensing lane detection measurement data;

detecting a distance (d) of an object located ahead of the vehicle and its directional angle (φ

) relative to a direction of movement of the vehicle;

detecting movement of the vehicle itself;

estimating at least one of;

(a) a lane curvature (c₀) and (b) a transverse position (x_R) of said object relative to the lane, using a presettable estimation algorithm incorporating a dynamic vehicle movement model as a function of the lane detection measurement data, the distance (d) of the object located ahead of the vehicle and its directional angle (φ

) relative to the direction of movement of the vehicle, as well as the vehicle'"'"'s own motion, further comprising the act of entering geometric relationships between the lane detection measurement data and the distance and directional angle data as measurement equations, wherein their dynamic relationships are entered as state variable differential equations into the estimation algorithm, with the transverse position (x_R) of the object being treated in the differential equations as a time-constant state variable.

6. The method according to claim 5, further comprising the act of using a distance (d_R) and a distance change rate (v_relR) as additional state variables in the estimation algorithm, with the distance change rate being treated as a time-constant state variable.

7. The method according to claim 5, wherein the act 6f estimating is performed using Kalman filtering.

8. A software product for use in a device for acquiring data indicative of characteristic of a path of a travel lane of a vehicle, comprising:

a computer readable medium having stored thereon a program code that;

estimates at least one of a lane curvature (c₀) and a transverse position (x_r) of an object relative to the path of a lane of a vehicle using a presettable estimation algorithm incorporating a dynamic vehicle movement model as a function of lane detection measurement data, object-positioning sensing data and a vehicle'"'"'s own motion data, wherein the computer readable medium has further stored thereon a program code segment that enters geometric relationships between the lane detection measurement data and the object-positioning sensing data as measurement equations, wherein their dynamic relationships are entered as state variable differential equations into the estimation algorithm, with the transverse position of the object being treated in the differential equations as a time-constant state variable.

9. The software product according to claim 8, wherein the computer readable medium has further stored thereon a program code segment that uses a distance (d_r) and a distance change rate (v_relR) as additional state variables in the estimation algorithm, with the distance change rate being treated as a time-constant state variable.