Confidence level determination for estimated road geometries

A non-transitory storage medium having computer program code stored therein, wherein the computer program code, when executed in a vehicle by a control unit configured to determine a confidence level of an estimated road geometry, the road geometry being estimated at least partly based on a position of a further vehicle external to the vehicle, enables the vehicle to:

• obtain a reference position based on the further vehicle relative to the vehicle, wherein the reference position is a fixed location based on an initial position of the further vehicle relative to the vehicle;
• track the further vehicle, wherein a relative position of the further vehicle in relation to the vehicle is monitored;
• update a reach of a confidence zone of the vehicle, wherein a part of the estimated road geometry comprised within the confidence zone is associated with one or more reference confidence levels;
• determine the confidence level of the estimated road geometry based on whether the reference position is comprised in the confidence zone, wherein, in response to the reference position being comprised in the confidence zone, the confidence zone is updated to comprise the road geometry up to a current position of the further vehicle;
• and
• generate a signal representative of the determined confidence level of the estimated road geometry as input for a vehicle control system reliant on estimated road geometry for controlling the vehicle.

A control unit configured to determine a confidence level of an estimated road geometry, the road geometry being estimated at least partly based on a position of a further vehicle external to a vehicle, the control unit comprising;

• a processor;
• and
• a memory storing computer program code which, when run in the processor, causes the control unit to
• obtain a reference position based on the further vehicle relative to the vehicle, wherein the reference position is a fixed location based on an initial position of the further vehicle relative to the vehicle,
• track the further vehicle, wherein a relative position of the further vehicle in relation to the vehicle is monitored,
• update a reach of a confidence zone of the vehicle, wherein a part of the estimated road geometry comprised within the confidence zone is associated with one or more reference confidence levels,
• determine the confidence level of the estimated road geometry based on whether the reference position is comprised in the confidence zone, wherein, in response to the reference position being comprised in the confidence zone, the confidence zone is updated to comprise the road geometry up to a current position of the further vehicle, and
• generate a signal representative of the determined confidence level of the estimated road geometry as input for a vehicle control system reliant on estimated road geometry for controlling the vehicle.

A vehicle comprising:

• a control unit configured to determine a confidence level of an estimated road geometry, the road geometry being estimated at least partly based on a position of a further vehicle external to the vehicle, the control unit comprising
• a processor;
• and
• a memory storing computer code which, when executed by the processor, causes the control unit to
• obtain a reference position based on the further vehicle relative to the vehicle, wherein the reference position is a fixed location based on an initial position of the further vehicle relative to the vehicle,
• track the further vehicle, wherein a relative position of the further vehicle in relation to the vehicle is monitored,
• update a reach of the confidence zone of the vehicle, wherein a part of the estimated road geometry comprised within the confidence zone is associated with one or more reference confidence levels,
• determine the confidence level of the estimated road geometry based on whether the reference position is comprised in the confidence zone, wherein, in response to the reference position of the further vehicle being comprised in the confidence zone, the confidence zone is updated to comprise the road geometry up to a current position of the further vehicle, and
• generate a signal representative of the determined confidence level of the estimated road geometry as input for a vehicle control system reliant on estimated road geometry for controlling the vehicle.