# US 2021/0276549 A1 · Method and device for vehicle control > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2021/0276549 A1 - Document ID: US20210276549A1 - Status: Published application - Kind: A1 - Application number: 17/177,475 - Filed: 2021-02-17 - Published: 2021-09-09 - Earliest claimed: 2020-03-05 - Assignees: Robert Bosch GmbH - Applicants: Robert Bosch GmbH - Inventors: Gernot Schroeder; Matthias Haug; Maxim Dolgov; Thomas Michalke - Web page: https://patentgrep.com/patent/US20210276549A1 ## CPC - B60W 30/12: Lane keeping - B60W 30/0956: {the prediction being responsive to traffic or environmental parameters} - B60W 40/06: Road conditions - B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention - G08G 1/16: Anti-collision systems (road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08) - G08G 1/167: {Driving aids for lane monitoring, lane changing, e.g. blind spot detection} - B60W 30/16: Control of distance between vehicles, e.g. keeping a distance to preceding vehicle - B60W 2420/403: Image sensing, e.g. optical camera - B60W 2552/53: Road markings, e.g. lane marker or crosswalk - 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 - 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 A method for vehicle control. The method includes a step of reading in a camera signal, a step of executing a semantic segmentation, and a step of ascertaining a control signal. The camera signal represents an optically detected image of a roadway to be driven by a vehicle. In the step of executing, the semantic segmentation of the image represented by the camera signal is executed, to detect a free area ahead of the vehicle from the image as a drivable road section. In addition, a roadway signal representing the detected drivable road section is provided. In the step of ascertaining, the control signal for activating at least one vehicle component is ascertained, using the roadway signal. ## Claims ### Claim 1 A method for vehicle control, the method comprising the following steps: reading in a camera signal representing an optically detected image of a roadway to be driven by a vehicle; executing a semantic segmentation of the image represented by the camera signal to detect a free area ahead of the vehicle from the image as a drivable road section, and providing a roadway signal representing the detected drivable road section; and ascertaining a control signal for activating at least one vehicle component, using the roadway signal. ### Claim 2 (depends on 1) The method as recited in claim 1, wherein, in the step of ascertaining, the control signal is additionally ascertained using a marking signal, the marking signal representing an identified lane marking. ### Claim 3 (depends on 1) The method as recited in claim 1, wherein, in the step of ascertaining, the control signal is ascertained additionally using a vehicle identification signal, the vehicle identification signal representing a detected preceding vehicle. ### Claim 4 (depends on 1) The method as recited in claim 1, wherein the step of executing the semantic segmentation is executed repeatedly to detect an occurrence of a change of an extension of the drivable road section, and an extension signal is provided which represents the detected change of the extension of the detected drivable road section, the control signal being ascertained using the extension signal in the step of ascertaining. ### Claim 5 (depends on 1) The method as recited in claim 1, wherein, in the step of ascertaining, the control signal is ascertained to activate a transverse guidance of the vehicle within the detected drivable road section. ### Claim 6 (depends on 1) The method as recited in claim 1, wherein, in the step of ascertaining, the control signal is ascertained to activate a longitudinal guidance of the vehicle with respect to a detected end of the detected drivable road section. ### Claim 7 (depends on 1) The method as recited in claim 1, wherein, in the step of ascertaining, the control signal is ascertained as a function of a threshold value with respect to a minimal width or length of the detected drivable road section. ### Claim 8 (depends on 7) The method as recited in claim 7, wherein, in the step of ascertaining, a warning signal for outputting an acoustically and/or visually perceptible warning to the driver is additionally ascertained, as a function of the threshold value. ### Claim 9 (depends on 1) The method as recited in claim 1, wherein, in the step of ascertaining, the control signal is ascertained, using a read-in trip parameter, to set a trip parameter. ### Claim 10 (depends on 1) The method as recited in claim 1, further comprising: optically detecting the roadway to be driven by the vehicle, using a monocamera sensor unit, to provide the camera signal. ### Claim 11 A device for vehicle control, the device configured to: read in a camera signal representing an optically detected image of a roadway to be driven by a vehicle; execute a semantic segmentation of the image represented by the camera signal to detect a free area ahead of the vehicle from the image as a drivable road section, and provide a roadway signal representing the detected drivable road section; and ascertain a control signal for activating at least one vehicle component, using the roadway signal. ### Claim 12 A non-transitory machine-readable memory medium on which is stored a computer program for vehicle control, the computer program, when executed by a computer, causing the computer to perform the following steps: reading in a camera signal representing an optically detected image of a roadway to be driven by a vehicle; executing a semantic segmentation of the image represented by the camera signal to detect a free area ahead of the vehicle from the image as a drivable road section, and providing a roadway signal representing the detected drivable road section; and ascertaining a control signal for activating at least one vehicle component, using the roadway signal.