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US 11,884,277 B2Granted
Method for producing a model of the surroundings of a vehicle
AssigneeBayerische Motoren Werke Aktiengesellschaft
InventorsMartin Buchner, Tobias Strobel, Klaus Dollinger
Life of this patent
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Abstract
A method provided for producing a model of the surroundings of a vehicle, wherein a lane is determined on the basis of objects, free space boundaries and/or roadway limitations. The lane indicates the zone around the vehicle in which the vehicle can drive freely. The lane includes at least one lane segment, the lane segment comprising at least one lane segment boundary, in particular a front lane segment boundary, a rear lane segment boundary, a left lane segment boundary and a right lane segment boundary. The distance from the vehicle to the lane segment boundary is determined, and the lane is made available to a driver assistance system.
Claims17
A method comprising the acts of:
- receiving, at a controller, sensor data of at least one sensor system;
- identifying, by the controller, objects, free-space boundaries and roadway limitations based on the sensor data;
- defining, by the controller:
- a plurality of non-overlapping lane segments to each have a closed lane segment boundary that bounds a virtual area within a roadway lane surrounding the vehicle, based on each side of the closed lane segment boundary corresponding to one or more of:
- confines of the identified objects, free-space boundaries and roadway limitations, wherein the virtual area indicates a corresponding area of the roadway lane that can be freely traveled, and
- a lane as a set of the non-overlapping lane segments that indicate a collective area surrounding the vehicle that can be freely traveled, wherein the collective area is a non-overlapping distribution of the virtual areas;
- generating, by the controller, the computer model having the defined lane, the computer model being available to a driver assistance system of the vehicle;
- determining, by the driver assistance system, based on the computer model, a vehicle-related distance with respect to the lane segment boundary of the lane;
- and
- controlling the vehicle, by the driver assistance system, in an automated driving mode based on the computer model.
7 more elements
A surround model unit, comprising:
- a receiving device that receives objects, free-space boundaries, roadway limitations and/or sensor data of at least one sensor system;
- and
- a processor that executes processing to:
- identify objects, free-space boundaries and roadway limitations based on the sensor data, define:
- a plurality of non-overlapping lane segments to each have a closed lane segment boundary that bounds a virtual area within a roadway lane surrounding the vehicle, based on each side of the closed lane segment boundary corresponding to one or more of:
- confines of the identified objects, free-space boundaries and roadway limitations, wherein the virtual area indicates a corresponding area of the roadway lane that can be freely traveled, and
- a lane as a set of the non-overlapping lane segments that indicate a collective area surrounding the vehicle that can be freely traveled, wherein the collective area is a non-overlapping distribution of the virtual areas, determine a vehicle-related distance with respect to the lane segment boundary of the lane, and
- generate a computer model of the area surrounding the vehicle, the computer model having the defined lane;
- and
- a output unit for sending the computer model to a driver assistance system that controls the vehicle in an automated driving mode based on the computer model.
7 more elements
A vehicle, comprising:
- at least one sensor system for detecting surroundings of the vehicle;
- a surround model unit, comprising:
- a receiving device that receives objects, free-space boundaries, roadway limitations and/or sensor data of at least one sensor system;
- and
- a processor that executes processing to:
- identify objects, free-space boundaries and roadway limitations based on the sensor data,
- define:
- a plurality of non-overlapping lane segments to each have a closed lane segment boundary that bounds a virtual area within a roadway lane surrounding the vehicle, based on each side of the closed lane segment boundary corresponding to one or more of:
- confines of the identified objects, free-space boundaries and roadway limitations, wherein the virtual area indicates a corresponding area of the roadway lane that can be freely traveled, and
- a lane as a set of the non-overlapping lane segments that indicate a collective area surrounding the vehicle that can be freely traveled, wherein the collective area is a non-overlapping distribution of the virtual areas,
- generate a computer model of the area surrounding the vehicle, the computer model having the defined lane, and
- determine a vehicle-related distance with respect to the lane segment boundary of the lane;
- and
- a driver assistance system that receives the computer model, including the defined lane, from the surround model unit, wherein the driver assistance systems controls the vehicle in an automated driving mode, based on the computer model, to regulate at least one operating parameter of the vehicle based on the defined lane.
11 more elements
Dependencies are inferred from the claim text.