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US 10,255,815 B2Granted
Method and control unit for monitoring the lane of a vehicle
AssigneeRobert Bosch GmbH
InventorChengxuan Fu
Life of this patent
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Abstract
A method and a control unit for monitoring the lane of a vehicle, including the steps of ascertaining at least one lane characteristic, ascertaining at least one driving situation variable representing the instantaneous driving situation of the vehicle in an instantaneous position, as well as ascertaining at least one approach variable in a subsequent position of the vehicle. The approach variable is ascertained from the at least one lane characteristic, as well as from the at least one driving situation variable.
Claims17
A method for monitoring a lane of a vehicle, the method comprising:
- ascertaining at least one lane characteristic;
- ascertaining at least one driving situation variable representing an instantaneous driving situation of the vehicle in an instantaneous position;
- ascertaining at least one approach variable in a subsequent position of the vehicle from the at least one lane characteristic and from the at least one driving situation variable;
- and
- at least one of:
- (i) warning the driver of a predicted vehicle movement based on the approach variable;
- and (ii) providing a vehicle control intervention to change the vehicle movement based on the approach variable;
- wherein the instantaneous driving situation of the vehicle is ascertained by determining the following:
- (i) an instantaneous curvature Kact from an instantaneous ego-velocity Vego and an instantaneous yaw rate, and (ii) an instantaneous curvature change Kact, and
- wherein the at least one approach variable includes at least one of a left front wheel approach variable and a right front wheel approach variable,
- wherein the left front wheel approach variable is determined with a clothoid formula, for the left front wheel as follows:
- DLC
- pred
- LE
- =
- Δ
-
-
- y
- act
- LE
- +
- tan
-
- (
- θ
- LE
- )
- ·
- d
- pred
- +
- (
- κ
- LE
- -
- κ
- act
- )
- ·
- d
- pred
- 2
- 2
- +
- (
- κ
- .
- LE
- -
- κ
- .
- act
- )
- ·
- d
- pred
- 3
- 6
- -
- 1
- car
-
-
- width
- 2
- ,
- wherein approach variable DLCpredLE results from an instantaneous distance of the vehicle to roadway boundary ΔyactLE, from θLE between the roadway boundary and the vehicle, from prediction length dpred, from curvature difference (κLE−κact) of a roadway boundary and from a trajectory, from a difference between curvature changes ({dot over (κ)}LE−{dot over (κ)}act) and a wheelbase 1car width,
- wherein the right front wheel approach variable is determined with a clothoid formula, for the right front wheel as follows:
- DLC
- pred
- RI
- =
- -
- (
- Δ
-
-
- y
- act
- RI
- +
- tan
-
- (
- θ
- RI
- )
- ·
- d
- pred
- +
- (
- κ
- RI
- -
- κ
- act
- )
- ·
- d
- pred
- 2
- 2
- +
- (
- κ
- .
- RI
- -
- κ
- .
- act
- )
- ·
- d
- pred
- 3
- 6
- -
- 1
- car
-
-
- width
- 2
- ,
- wherein approach variable DLCpredRI results from an instantaneous distance of the vehicle to the roadway boundary yactRI, from angle θRI between a roadway boundary and the vehicle, from a prediction length dpred, from a curvature difference (κRI−κact) of the roadway boundary and from a trajectory, from a difference between curvature changes ({dot over (κ)}RI−{dot over (κ)}act) and a wheelbase 1car width.
125 more elements
A control unit for monitoring a lane of a vehicle, comprising:
- a first subunit for ascertaining at least one lane characteristic;
- a second subunit for ascertaining at least one driving situation variable representing an instantaneous driving situation of the vehicle in an instantaneous position;
- a third subunit for ascertaining at least one approach variable in a subsequent position of the vehicle from the at least one lane characteristic and from the at least one driving situation variable;
- and
- at least one of:
- (i) warning the driver of a predicted vehicle movement based on the approach variable;
- and (ii) providing a vehicle control intervention to change the vehicle movement based on the approach variable;
- wherein the instantaneous driving situation of the vehicle is ascertained by determining the following:
- (i) an instantaneous curvature Kact from an instantaneous ego-velocity Vego and an instantaneous yaw rate, and (ii) an instantaneous curvature change {dot over (κ)}act, and
- wherein the at least one approach variable includes at least one of a left front wheel approach variable and a right front wheel approach variable,
- wherein the left front wheel approach variable is determined with a clothoid formula, for the left front wheel as follows:
- DLC
- pred
- LE
- =
- Δ
-
-
- y
- act
- LE
- +
- tan
-
- (
- θ
- LE
- )
- ·
- d
- pred
- +
- (
- κ
- LE
- -
- κ
- act
- )
- ·
- d
- pred
- 2
- 2
- +
- (
- κ
- .
- LE
- -
- κ
- .
- act
- )
- ·
- d
- pred
- 3
- 6
- -
- 1
- car
-
-
- width
- 2
- ,
- wherein approach variable DLCpredLE results from an instantaneous distance of the vehicle to roadway boundary ΔyactLE, from angle θLE between the roadway boundary and the vehicle, from prediction length dpred, from curvature difference (κLE−κact) of a roadway boundary and from a trajectory, from a difference between curvature changes ({dot over (κ)}LE−{dot over (κ)}act) and a wheelbase 1car width,
- wherein the right front wheel approach variable is determined with a clothoid formula, for the right front wheel as follows:
- DLC
- pred
- RI
- =
- -
- (
- Δ
-
-
- y
- act
- RI
- +
- tan
-
- (
- θ
- RI
- )
- ·
- d
- pred
- +
- (
- κ
- RI
- -
- κ
- act
- )
- ·
- d
- pred
- 2
- 2
- +
- (
- κ
- .
- RI
- -
- κ
- .
- act
- )
- ·
- d
- pred
- 3
- 6
- -
- 1
- car
-
-
- width
- 2
- ,
- wherein approach variable DLCpredRI results from an instantaneous distance of the vehicle to the roadway boundary ΔyactRI, from angle θRI between a roadway boundary and the vehicle, from a prediction length dpred, from a curvature difference (κRI−κact) of the roadway boundary and from a trajectory, from a difference between curvature changes ({dot over (κ)}RI−{dot over (κ)}act) and a wheelbase 1car width.
125 more elements
Dependencies are inferred from the claim text.