# US 12,005,895 B2 · Lateral control of a vehicle by means of environment data detected from other vehicles > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,005,895 B2 - Document ID: US12005895B2 - Status: Granted - Kind: B2 - Application number: 17/639,548 - Filed: 2020-07-28 - Published: 2022-10-20 - Granted: 2024-06-11 - Earliest claimed: 2019-09-02 - Assignees: Volkswagen Aktiengesellschaft - Applicants: Volkswagen Aktiengesellschaft - Inventors: Daniel Münning; Hendrik Oschlies - Web page: https://patentgrep.com/patent/US12005895B2 ## CPC - B60W 30/10: Path keeping {(cruise control for automatically following a preceding vehicle B60W30/165)} - B60W 2552/53: Road markings, e.g. lane marker or crosswalk - B60W 2556/05: Big data - B60W 2556/10: Historical data - B60W 2556/20: Data confidence level - B60W 2556/25: Data precision - B60W 2556/35: Data fusion - B60W 2556/45: External transmission of data to or from the vehicle - 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 ## Abstract Technologies and techniques for the lateral control of a vehicle. Environment data of a vehicle is detected when travelling a route, and stored environment data, detected when travelling the route by a plurality of other vehicles not currently travelling the route, is received. The plausibility of the stored environment data is checked on the basis of the environment data detected. Lateral control of the vehicle is executed on the basis of the environment data checked for plausibility. ## Claims ### Claim 1 A method for laterally controlling a vehicle, comprising: detecting environment data of a vehicle while traveling a path; receiving stored environment data that was detected, while traveling the path, by a plurality of other vehicles that have traveled the path previously in time relative to the vehicle, wherein the stored environment data comprises swarm data; checking the plausibility of the stored environment data based on a configured deviation threshold value determined from a comparison of variables between the stored environment data and the detected environment data; and executing a lateral control of the vehicle based on the checked environment data. ### Claim 2 (depends on 1) The method according to claim 1, wherein checking the plausibility of the stored environment data comprises utilizing a multi-dimensional characteristic map comprising weighted variables. ### Claim 3 (depends on 1) The method according to claim 1, wherein, if the plausibility check fails, the detected environment is used as environment data for executing the lateral control. ### Claim 4 (depends on 1) The method according to claim 1, wherein the environment data comprises data relating to different environment properties, and a dedicated plausibility check is carried out for each environment property. ### Claim 5 (depends on 1) The method according to claim 1, wherein detecting environment data comprises detecting at least one of the following environment properties: a left roadway marking (LF) or roadway boundary, from the view of the vehicle; a right roadway marking (RF) or roadway boundary, from the view of the vehicle; at least one outer roadway edge. ### Claim 6 (depends on 1) The method according to claim 1, further comprising storing information about a route traveled by the further vehicles, and using the stored information about the route traveled by the further vehicles for checking the plausibility of the stored environment data. ### Claim 7 (depends on 1) The method according to claim 1, further comprising ascertaining a quality of the stored environment data, based on the detected environment data for the plausibility check, wherein the quality is based on a comparison between the stored environment data and the detected environment data along a defined route section. ### Claim 8 (depends on 1) The method according to claim 1, further comprising ascertaining a minimum quality, which the stored environment data must meet to pass the plausibility check. ### Claim 9 (depends on 8) The method according to claim 8, wherein the minimum quality is ascertained as a function of at least one of the following: a route section length situated ahead of the vehicle, within which detected environment data is compared to stored environment data; a kind of environment property, which is detected as environment data and compared; detection conditions during the detection of the environment data; a region within which the vehicle is situated; a property of the comparison carried out for ascertaining the quality; a historical quality of the stored environment data. ### Claim 10 A system for laterally controlling a vehicle, comprising: a detection device for detecting environment data of the vehicle; and a control device, operatively coupled to the detection device, wherein the detection device and/or control device are configured to detect environment data of a vehicle while traveling a path; receive stored environment data that was detected, while traveling the path, by a plurality of other vehicles that have traveled the path previously in time relative to the vehicle, wherein the stored environment data comprises swarm data; check the plausibility of the stored environment data based on a configured deviation threshold value determined from a comparison of variables between the stored environment data and the detected environment data; and execute a lateral control of the vehicle based on the checked environment data. ### Claim 11 (depends on 10) The system according to claim 10, wherein the detection device and/or control device are configured to check the plausibility of the stored environment data by utilizing a multi-dimensional characteristic map comprising weighted variables. ### Claim 12 (depends on 10) The system according to claim 10, wherein, if the plausibility check fails, the detected environment is used as environment data for executing the lateral control. ### Claim 13 (depends on 10) The system according to claim 10, wherein the environment data comprises data relating to different environment properties, and a dedicated plausibility check is carried out for each environment property. ### Claim 14 (depends on 10) The system according to claim 10, wherein detecting environment data comprises detecting at least one of the following environment properties: a left roadway marking (LF) or roadway boundary, from the view of the vehicle; a right roadway marking (RF) or roadway boundary, from the view of the vehicle; at least one outer roadway edge. ### Claim 15 (depends on 10) The system according to claim 10, wherein the detection device and/or control device are configured to store information about a route traveled by the further vehicles, and use the stored information about the route traveled by the further vehicles for checking the plausibility of the stored environment data. ### Claim 16 (depends on 10) The system according to claim 10, wherein the detection device and/or control device are configured to ascertain a quality of the stored environment data, based on the detected environment data for the plausibility check, wherein the quality is based on a comparison between the stored environment data and the detected environment data along a defined route section. ### Claim 17 (depends on 10) The system according to claim 10, wherein the detection device and/or control device are configured to ascertain a minimum quality, which the stored environment data must meet to pass the plausibility check. ### Claim 18 (depends on 17) The system according to claim 17, wherein the minimum quality is ascertained as a function of at least one of the following: a route section length situated ahead of the vehicle, within which detected environment data is compared to stored environment data; a kind of environment property, which is detected as environment data and compared; detection conditions during the detection of the environment data; a region within which the vehicle is situated; a property of the comparison carried out for ascertaining the quality; a historical quality of the stored environment data. ### Claim 19 Computer program instructions for laterally controlling a vehicle, which, when executed by a detection device and control device of the vehicle, cause the control device to: detect environment data of a vehicle while traveling a path; receive stored environment data that was detected, while traveling the path, by a plurality of other vehicles that have traveled the path previously in time relative to the vehicle, wherein the stored environment data comprises swarm data; check the plausibility of the stored environment data based on a configured deviation threshold value determined from a comparison of variables between the stored environment data and the detected environment data; and execute a lateral control of the vehicle based on the checked environment data. ### Claim 20 (depends on 19) The computer program according to claim 19, wherein checking the plausibility of the stored environment data comprises utilizing a multi-dimensional characteristic map comprising weighted variables.