# US 10,372,135 B2 · Control system and control method for determining a lane > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,372,135 B2 - Document ID: US10372135B2 - Status: Granted - Kind: B2 - Application number: 15/659,705 - Filed: 2017-07-26 - Published: 2018-02-01 - Granted: 2019-08-06 - Earliest claimed: 2016-08-01 - Assignees: Lucas Automotive GmbH - Applicants: Lucas Automotive GmbH - Inventors: Bjoern Oska; Richard Altendorfer; Ning Zhu; Benedikt Joebgen - Web page: https://patentgrep.com/patent/US10372135B2 ## CPC - G05D 1/0219: {ensuring the processing of the whole working surface} - B60W 30/095: Predicting travel path or likelihood of collision - B60W 30/0956: {the prediction being responsive to traffic or environmental parameters} - 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 - G06V 20/588: {Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road} - G08G 1/167: {Driving aids for lane monitoring, lane changing, e.g. blind spot detection} - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) ## Abstract Control system, which is adapted and determined for use in a motor vehicle to identify road boundaries and/or road markings based on environmental data obtained by at least one environmental sensor associated with the motor vehicle. The at least one environmental sensor is adapted to provide the environmental data, which reproduces the area in front of the motor vehicle, to an electronic control of the control system. The control system is at least adapted and determined to capture road boundaries and/or road markings with the at least one environmental sensor. A respective trajectory is determined from the captured road boundaries and/or road markings. Pairs are formed from the determined trajectories, wherein a pair comprises two trajectories respectively. Sampling points are determined at predetermined distances for each pair of first and second trajectories. Distances perpendicular to a course of the first trajectory are determined from the determined sampling points to the second trajectory and a length of a section is calculated along the course of the first trajectory, for which length the determined distances are within a predetermined value range, and/or distances perpendicular to a course of the second trajectory are determined from the determined sampling points to the first trajectory, and a length of a section is calculated along the course of the second trajectory, for which length the determined distances are within the predetermined value range. A set of pairs of trajectories is selected based on a criterion for pairing to determine at least one lane and/or at least one trajectory for the motor vehicle based on this set. ## Claims ### Claim 1 Control system adapted and determined for use in a motor vehicle to identify at least one of road boundaries and road markings based on environmental data obtained by at least one environmental sensor associated with the motor vehicle, wherein the at least one environmental sensor is adapted to provide the environmental data, which represents the area in front of the motor vehicle, to an electronic control of the control system, and wherein the control system is at least adapted and determined to capture at least one of road boundaries and road markings with the at least one environmental sensor (S105), determine a respective trajectory from the captured road boundaries and/or road markings (S110), form pairs from the determined trajectories (S115), wherein each pair comprises two trajectories respectively, determine sampling points at predetermined distances for each pair of first and second trajectories (S120), determine distances perpendicular to a course of the first trajectory from the determined sampling points to the second trajectory (S125), and calculate a length of a section along the course of the first trajectory, for which length the determined distances are within a predetermined value range, determine distances perpendicular to a course of the second trajectory from the determined sampling points to the first trajectory (S125), and calculate a length of a section along the course of the second trajectory, for which length the determined distances are within the predetermined value range, and select a set of pairs of trajectories based on a criterion for pairing (S130) to determine at least one lane for the motor vehicle based on this set, wherein the criterion for pairing is one of: the two calculated lengths of the sections of the first and second trajectory of each pair, or a maximum which is determined from the two calculated lengths of the sections of the first and the second trajectory of each pair, or at least one of a mean value and a standard deviation which is determined from the two lengths of the sections of the first and the second trajectory of each pair. ### Claim 2 (depends on 1) Control system according to claim 1, wherein the set of pairs of trajectories comprises one or more pairs of trajectories. ### Claim 3 (depends on 1) Control system according to claim 1, wherein the predetermined value range is selected so that the distances between the two trajectories of a pair run substantially parallel. ### Claim 4 (depends on 1) Control system according to claim 1, wherein only trajectories that have a predetermined minimum length are used for the pairing. ### Claim 5 (depends on 1) Control system according to claim 1, wherein, in the case the mean value and/or the standard deviation is the criterion for pairing, the mean value and/or the standard deviation of each pair is used to select the associated pair based on the greatest mean value or the smallest standard deviation. ### Claim 6 Control method, which in a motor vehicle identifies at least one of road boundaries and road markings based on environmental data obtained by at least one environmental sensor associated with the motor vehicle, with the steps: providing an electronic control in the own vehicle by means of the environmental sensors with environmental data reproducing the area in front of the motor vehicle, capturing at least one of road boundaries and road markings with the at least one environmental sensor, determining a respective trajectory from the captured road boundaries and/or road markings, forming pairs from the determined trajectories, determining sampling points at predetermined distances for each pair of first and second trajectories, determining distances perpendicular to a course of the first trajectory from the determined sampling points to the second trajectory, and calculating a length of a section along the course of the first trajectory, for which length the determined distances are within a predetermined value range, determining distances perpendicular to a course of the second trajectory from the determined sampling points to the first trajectory, and calculating a length of a section along the course of the second trajectory, for which length the determined distances are within the predetermined value range, and selecting a set of pairs of trajectories based on a criterion for pairing to determine at least one lane for the motor vehicle based on this set, wherein the criterion for pairing is one of: the two calculated lengths of the sections of the first and second trajectory of each pair, or a maximum which is determined from the two calculated lengths of the sections of the first and the second trajectory of each pair, or at least one of a mean value and a standard deviation which is determined from the two lengths of the sections of the first and the second trajectory of each pair. ### Claim 7 (depends on 6) Control method according to claim 6, wherein the set of pairs of trajectories comprises one or more pairs of trajectories. ### Claim 8 (depends on 6) Control method according to claim 6, wherein the predetermined value range is selected so that the distances between the two trajectories of a pair run substantially parallel. ### Claim 9 (depends on 6) Control method according to claim 6, wherein only trajectories that have a predetermined minimum length are used for the pairing. ### Claim 10 (depends on 1) Control method according to claim 1, wherein, in the case the mean value and/or the standard deviation is the criterion for pairing, the mean value and/or the standard deviation of each pair is used to select the associated pair based on the greatest mean value or the smallest standard deviation.