Method for determining a course of lanes, driver assistance system, and vehicle
In a method for determining a course of lanes (L 1 , L 2 ) of a road for a vehicle, a distance (D 1 -D 3 ) of at least one lane boundary (B 1 -B 3 , N 1 -N 3 ) of at least one lane (L 1 , L 2 ) from a predetermined point of the vehicle (V) is determined (S 1 ). Further, a course of the at least one lane boundary (B 1 -B 3 , N 1 -N 3 ) is predicted (S 2 ) based on information about a course of the road obtained from a database (DB) and based on the determined distance (D 1 -D 3 ).
1. A method of determining a course of lanes of a road for a vehicle, comprising the following steps:
determining a distance of at least one lane boundary of at least one lane of the road from a predetermined point of the vehicle;
predicting a course of the at least one lane boundary based on information about a course of the road obtained from a database and based on the determined distance;
based on camera data provided by a camera of the vehicle, recognizing a first number of lanes included in the at least one lane of the road;
obtaining a second number of lanes of the road from the database;
comparing the recognized first number of lanes to the obtained second number of lanes; and
when the comparing determines that the recognized first number of lanes is smaller than the obtained second number of lanes, then determining a lane width of an unrecognized lane based on a lane width of a nearest recognized lane.
2. The method according to claim 1 , wherein the determined distance is determined based on the camera data.
3. The method according to claim 1 , wherein a respective lane width of the at least one lane is determined based on the camera data.
4. The method according to claim 1 , wherein the course of the at least one lane boundary is predicted further based on a current lane boundary that is determined using the following steps:
from the database obtaining a current road direction of the road; and
constructing the current lane boundary having a distance to the predetermined point of the vehicle equal to the determined distance and having a direction corresponding to the obtained current road direction.
5. The method according to claim 4 , wherein the course of the at least one lane boundary is predicted further based on a subsequent lane boundary that is determined using the following steps:
from the database obtaining a distance of a direction change point from the predetermined point of the vehicle, and a direction change angle; and
constructing the subsequent lane boundary having a distance to the direction change point equal to the determined distance of a corresponding lane boundary among the at least one lane boundary to the predetermined point of the vehicle, and wherein the subsequent lane boundary and the current lane boundary form an angle equal to the direction change angle.
6. The method according to claim 5 , wherein the distance of the direction change point from the predetermined point of the vehicle is determined further based on GPS coordinates of the vehicle.
7. The method according to claim 5 , wherein the course of the at least one lane boundary is predicted by combining a segment of the current lane boundary up to an intersection with the subsequent lane boundary, and a segment of the subsequent lane boundary after the intersection with the current lane boundary.
8. The method according to claim 1 , further comprising uploading the predicted course of the at least one lane boundary to the database.
9. A driver assistance system for a vehicle for determining a course of lanes of a road, comprising:
a distance determination unit configured to determine a distance of at least one lane boundary of at least one lane of the road from a predetermined point of the vehicle;
a processing unit that is configured:
to predict a course of the at least one lane boundary based on information about a course of the road obtained from a database and based on the determined distance,
to recognize a first number of lanes included in the at least one lane of the road based on camera data provided by a camera of the vehicle;
to obtain a second number of lanes of the road from the database;
to compare the recognized first number of lanes to the obtained second number of lanes; and
when the comparing determines that the recognized first number of lanes is smaller than the obtained second number of lanes, then to determine a lane width of an unrecognized lane based on a lane width of a nearest recognized lane.
10. The driver assistance system according to claim 9 , wherein the distance determination unit comprises a camera device of the vehicle configured to provide the camera data.
11. The driver assistance system according to claim 9 , wherein the database is part of the driver assistance system.
12. The driver assistance system according to claim 9 , further comprising a control unit configured to control at least one driving function of the vehicle based on the predicted course of the at least one lane boundary.
13. A combination comprising a vehicle and a driver assistance system according to claim 9 .
14. A method of determining a course of lanes of a road for a vehicle, comprising the following steps:
determining a distance of at least one lane boundary of at least one lane of the road from a predetermined point of the vehicle; and
predicting a course of the at least one lane boundary based on information about a course of the road obtained from a database, and based on the determined distance, and based on a current lane boundary that is determined using the following steps:
from the database obtaining a current road direction of the road; and
constructing the current lane boundary having a distance to the predetermined point of the vehicle equal to the determined distance and having a direction corresponding to the obtained current road direction.
15. The method according to claim 14 , wherein the course of the at least one lane boundary is predicted further based on a subsequent lane boundary that is determined using the following steps:
from the database obtaining a distance of a direction change point from the predetermined point of the vehicle, and a direction change angle; and
constructing the subsequent lane boundary having a distance to the direction change point equal to the determined distance of a corresponding lane boundary among the at least one lane boundary to the predetermined point of the vehicle, and wherein the subsequent lane boundary and the current lane boundary form an angle equal to the direction change angle.
16. The method according to claim 15 , wherein the distance of the direction change point from the predetermined point of the vehicle is determined further based on GPS coordinates of the vehicle.
17. The method according to claim 15 , wherein the course of the at least one lane boundary is predicted by combining a segment of the current lane boundary up to an intersection with the subsequent lane boundary, and a segment of the subsequent lane boundary after the intersection with the current lane boundary.