公开(公告)号：US20200216076A1

公开(公告)日：2020-07-09

申请号：US16737397

申请日：2020-01-08

申请人： Visteon Global Technologies, Inc.

发明人： Mathias Otto ,  Martin PFEIFLE ,  Nikola KARAMANOV

IPC分类号： B60W40/072 ,  G06K9/00 ,  G05D1/02

摘要： A method for determining a current state vector describing location and heading of an ego-vehicle with respect to a lane boundary of a road comprises a step of obtaining road sensor data from at least one road sensor of the ego-vehicle detecting the lane boundaries of the road. In another step, a measured state vector of the ego-vehicle is calculated from the road sensor data. Furthermore, motion state data related to current heading and velocity of the ego-vehicle is obtained and a predicted state vector of the ego-vehicle is calculated based on the motion state data of the ego-vehicle and a previous state vector of the ego-vehicle. Finally a current state vector is determined by calculating a weighted average of the measured state vector and the predicted state vector of the ego-vehicle. The weights are determined based on characteristics of an upcoming section of the road.

公开(公告)号：US20210261126A1

公开(公告)日：2021-08-26

申请号：US16800137

申请日：2020-02-25

申请人： Visteon Global Technologies, Inc.

发明人： Nikola KARAMANOV ,  Martin PFEIFLE ,  Roumen POPOV

IPC分类号： B60W30/12 ,  G06K9/00 ,  B60W60/00 ,  G06K9/62

摘要： A method for vehicle lane assignment includes identifying lane boundaries for one or more lanes of a road being traversed by the vehicle. The method also includes determining a center-line on a per lane basis for the one or more lanes. For a lane, the method uses the respective lane boundaries to determine the respective center-line of the lane. The method also includes determining a lane width on a per lane basis for the one or more lanes. For a lane, the method uses the respective lane boundaries to determine the respective lane width of the lane. The method also includes calculating a first probability that the vehicle is within a first lane of the one or more lanes using the center-line and the lane width corresponding to the first lane. The method also includes determining whether the first probability is greater than a threshold. The method also includes, in response to a determination that the first probability is greater than the threshold, assigning the vehicle to the first lane.