Method for acquiring transverse-position information of a motor vehicle on a carriageway and motor vehicle
Method for acquiring transverse-position information of a motor vehicle ( 10 ) on a roadway ( 16 ), wherein radar data describing at least part of the roadway ( 16 ) are acquired by at least one radar sensor ( 1 ) of the motor vehicle ( 10 ), environmental features describing the location of a roadway boundary are detected and localized in the radar data by evaluation, from these, a course of the roadway boundaries of the roadway ( 16 ) and lateral distances ( 24 ) of the motor vehicle ( 10 ) with respect to the lane boundaries are determined, and the transverse-position information is determined as, or as a function of, the lateral distances ( 24 ) of the motor vehicle ( 10 ) from the roadway boundaries.
1. A method for acquiring transverse-position information comprising a lane assignment of a motor vehicle on a roadway, the method comprising:
acquiring, by a radar sensor of the motor vehicle, radar data comprising information of at least part of the roadway;
detecting, by a control unit of the radar sensor, environmental features describing a location of a roadway boundary based on the radar data, wherein the environmental features comprise a transition from a road surface to another surface;
evaluating, by the control unit of the radar sensor, the environmental features to localize in the radar data;
determining, by the control unit of the radar sensor, a course of the roadway boundary and lateral distances of the motor vehicle with respect to the roadway boundary; and
comparing, by the control unit of the radar sensor, the radar data with roadway division information derived from digital map data to perform a plausibility check for determination of a roadway width and the lane assignment of the motor vehicle;
wherein the digital map data comprise section information describing at least one of a presence, a width, and a location of a part of the roadway not used as a traffic lane, and
wherein a semiconductor chip comprises an implementation of the radar sensor and an implementation of a radar transceiver.
2. The method of claim 1 , wherein the other surface comprises at least one of guide rails, guide posts, a curbstone, a roadside structure, or plants.
3. The method of claim 1 , wherein the acquiring the radar data further comprises receiving radar data of surroundings of the motor vehicle over a complete angular range of 360°.
4. The method of claim 1 , wherein the semiconductor chip is a complementary metal-oxide semiconductor (CMOS) chip.
5. The method of claim 1 , wherein the semiconductor chip further comprises at least one of a digital signal processor, the control unit of the radar sensor, and an antenna arrangement of the radar sensor.
6. The method of claim 1 , wherein the radar sensor is operating in a frequency range of 77 to 81 GHz.
7. The method of claim 1 , further comprising receiving lane width data for determining the roadway width and the lane assignment of the motor vehicle.
8. The method of claim 7 , wherein the roadway division information comprises a number of traffic lanes of the roadway.
9. The method of claim 8 , further comprising:
determining the roadway width based on the lateral distances of the motor vehicle and a width of the motor vehicle stored in the motor vehicle, or based on a distance from the roadway boundary.
10. The method of claim 1 , further comprising detecting at least one transversely offset motor vehicle in the radar data for the lane assignment of the motor vehicle.
11. The method of claim 1 , wherein the roadway comprises freeways.
12. The method of claim 1 , further comprising comparing the lane assignment of the motor vehicle based on the radar data with a second lane assignment of the motor vehicle based on camera data of a camera.
13. A motor vehicle comprising:
a radar sensor; and
one control device configured to perform operations comprising:
acquiring, by the radar sensor of the motor vehicle, radar data comprising information of at least part of a roadway;
detecting, by a control unit of the radar sensor, environmental features describing a location of a roadway boundary based on the radar data, wherein the environmental features comprise a transition from a road surface to another surface;
evaluating, by the control unit of the radar sensor, the environmental features to localize in the radar data;
determining, by the control unit of the radar sensor, a course of the roadway boundary and lateral distances of the motor vehicle with respect to the roadway boundary; and
comparing, by the control unit of the radar sensor, the radar data with roadway division information derived from digital map data to perform a plausibility check for determination of a roadway width and a lane assignment of the motor vehicle;
wherein the digital map data comprise section information describing at least one of a presence, a width, and a location of a part of the roadway not used as a traffic lane, and
wherein a semiconductor chip comprises an implementation of the radar sensor and an implementation of a radar transceiver.