Determining the lane position

Abstract

Method (500) in a computing unit (110) in a vehicle (100) for determining the lane position of the vehicle (100) on a road (130), comprising the steps: Determination (501) of the geographical position (140) of the vehicle (100); Detection (502) of a reference object (150, 160, 170) belonging to the road (130) by a sensor (120); Comparison (504) in a cartographic database (640) between track-related data for the specified (501) geographic position (140) and the recognized (502) reference object (150, 160, 170) at the geographic position (140); and Determination (505) of the lane position of the vehicle (100) by comparing the detected (502) reference object (150, 160, 170) belonging to the road (130) with stored lane-related data for the determined (501) geographical position (140) of the vehicle (100), wherein the determination also includes identifying a false detection (502) of a lane marking (150) on the road (130) and ignoring such a false detection (502) when determining (505) the lane position; the aforementioned steps of procedure (500) shall be carried out if at least one of the following criteria is identified: - at least one lane marking line (150) is hidden on the road (130); - the sensor (120) has a limited range; or - the road surface gives rise to a false recognition (502) of the lane marking line (150).

Description

Technical field of the invention

[0001] The invention relates to a method and a computing unit belonging to a vehicle. In particular, the invention relates to a mechanism for determining the lane position of a vehicle on a road. background

[0002] A vehicle may use a warning system, sometimes called Lane Departure Warning (LDW), to warn the driver that the vehicle is in danger of crossing a lane marking line, or to initiate active intervention to prevent the vehicle from crossing the line, such as steering the vehicle in the opposite direction or braking.

[0003] In this context, "vehicle" means, for example, a truck, semi-trailer truck, van, private vehicle, ambulance, passenger car, off-road vehicle, tracked vehicle, bus or a similar manned or unmanned means of transport that is primarily suitable for geographical movement on land.

[0004] Issuing a warning and / or taking accident-mitigating measures allows the driver to be warned that the vehicle is about to cross the lane marking, for example, because the driver has dozed off or lost concentration on the road and the traffic situation for another reason. This can prevent the vehicle from leaving the road or entering the oncoming lane and causing a head-on collision with an oncoming vehicle.

[0005] Such a warning system in the vehicle includes a camera that detects the lane marking lines on the road and uses image processing to determine the distance to the lane marking lines.

[0006] One problem with existing warning systems is that the camera must be able to recognize the lane marking lines.

[0007] However, lane marking lines can often be indistinct or worn due to traffic and / or inadequate maintenance. Furthermore, lane marking lines can be wholly or partially covered by snow / ice (mainly in winter), fallen leaves (mainly in autumn), water and / or sand (other seasons).

[0008] Another problem with available warning systems is that, due to darkness, fog, heavy precipitation, or similar conditions, the camera is unable to see far enough ahead in front of the vehicle to detect the lane marking lines.

[0009] Furthermore, the camera may sometimes be unable to detect the lane marking lines in heavy traffic, for example, because other surrounding vehicles obstruct its view.

[0010] As a result, the warning system's function of alerting the driver when crossing a lane marking is rendered ineffective, meaning that despite the warning system, an inattentive driver still risks leaving the road. Perhaps the vehicle's warning system simply gives the driver a false sense of security, potentially leading them to relax more and / or engage in more attention-intensive activities, such as using their mobile phone, than they would if the vehicle had no warning system at all.

[0011] Another problem that can arise for the driver is that the road, including lane markings, may be covered in snow, for example, in winter. When driving, perhaps especially in open rural areas and / or in poor visibility due to snowfall, darkness, etc., it can be difficult for the driver to even see the road ahead, which can cause the vehicle to end up in a ditch. Existing warning systems are of little or no help in such situations, as the camera is unable to detect lane markings.

[0012] Furthermore, in existing warning systems, the camera is sometimes unable to distinguish between the real lane marking lines on the road and false lines on the road resulting from tire tracks, for example in mud, rubber skid marks from braking the vehicle / tire slippage on the road, or simply fading or road graffiti.

[0013] EP 2 113 746 A1 discloses a navigation device that uses position information provided by a GPS sensor for navigation. Furthermore, images of the vehicle's surroundings, captured by multiple cameras, are evaluated to obtain road features such as road markings or road signs. These features are compared with information from a feature database to correct the vehicle's position information.

[0014] DE 10 2010 013 224 A1 discloses a method for displaying graphic images on a transparent windshield head-up display of a vehicle. A vehicle's position is determined using data from a GPS system, a camera, and vehicle kinematics. If a lane marking is crossed, a warning can be displayed on the windshield head-up display.

[0015] As a result, warning systems may be triggered to generate false warnings and / or accident avoidance measures in the form of evasive maneuvers, which can surprise surrounding road users and thus cause near misses. Furthermore, repeated false warnings of this kind can confuse the driver and lead them to switch off their warning system, thereby defeating its purpose.

[0016] It is clear that much remains to be done to achieve a reliable warning system in a vehicle to warn the driver that he is crossing lane marking lines. Summary of the invention

[0017] It is therefore an object of this invention to improve a warning system in a vehicle in order to solve at least one of the above problems and thus achieve a vehicle improvement.

[0018] The problem according to the invention is solved by a method according to claim 1. Furthermore, the problem according to the invention is solved by a computing unit according to claim 8. In addition, the problem according to the invention is solved by a computer program according to claim 10, by a system according to claim 11, and by a vehicle according to claim 12. Advantageous embodiments of the invention are described in the dependent claims.

[0019] According to a first aspect of the invention, this objective is achieved by a method in a computing unit in a vehicle for determining the vehicle's lane position on a road. The method comprises determining the vehicle's geographic position. The method further comprises detecting a road-related reference object by a sensor. The method further comprises comparing stored lane-related data for the specified geographic position with the detected reference object at that geographic position in a cartographic database. The method further comprises determining the vehicle's lane position by comparing the detected road-related reference object with stored lane-related data for the vehicle's specified geographic position.

[0020] According to a second aspect of the invention, this objective is achieved by a method in a computing unit in a vehicle, wherein the computing unit is configured to determine the vehicle's lane position on a road. The computing unit comprises a signal receiver configured to receive a signal from a sensor located in the vehicle, the signal representing a detected reference object belonging to the road. The computing unit further comprises a processor circuit configured to determine the vehicle's geographic position. The processor circuit is also configured to compare stored lane-related data for the determined geographic position with a detected reference object at that geographic position and to determine the vehicle's lane position by comparing the detected reference object with lane-related data for the vehicle's geographic position.

[0021] Comparing reference points in the vehicle's vicinity with stored lane-related data for the corresponding geographic position allows for the determination of the lane markings on a road and the vehicle's position relative to them. This enables better access to the lane departure warning function in situations where it is most needed, i.e., in poor visibility and adverse road conditions, such as when lane markings are covered with snow. According to certain embodiments, the number of false warnings is also reduced, as lane detections such as tire tracks in snow can be filtered out and rejected by the system, for example, when the distance between two detected lanes is nonsensical based on information from cartographic data.An improved lane departure warning system is thus achieved in a vehicle, leading to a vehicle improvement.

[0022] Other advantages and additional new features are evident from the following detailed description of the invention. List of characters

[0023] The invention will now be described in more detail with reference to the attached figures, which illustrate various embodiments of the invention: Fig. Figure 1 illustrates an embodiment of a vehicle with a computing unit according to one embodiment. Fig. Figure 2A illustrates a section of road viewed from above, with intact lane markings on the road and a reference object belonging to the road. Fig. Figure 2B illustrates a section of road, viewed in cross-section from the end of the road, with intact lane marking lines on the road and a reference object belonging to the road. Fig. Figure 3A illustrates a road section viewed from above with partially covered lane marking lines on the road, a reference object belonging to the road and a vehicle according to one embodiment. Fig. Figure 3B illustrates a section of road, viewed in cross-section from the end of the road, with partially covered lane marking lines on the road, a reference object belonging to the road, and a vehicle according to one embodiment. Fig. Figure 4A illustrates a road section, viewed from the perspective of the driver in the vehicle according to one embodiment, wherein the road section has at least partially covered lane marking lines on the road and a reference object belonging to the road. Fig. Figure 4B illustrates a magnification on a display screen in the vehicle according to one embodiment, on which screen the driver can view the position of the vehicle in relation to the lane marking lines on the road. Fig. Figure 5 shows a flowchart illustrating one embodiment of the invention. Fig. Figure 6 is an illustration of a computing unit according to one embodiment of the invention. Detailed description of the invention

[0024] The invention is defined as a method and a computing unit for determining the lane position of a vehicle on the road, which can be implemented in any of the embodiments described below. However, this invention can be implemented in many different forms and is not to be considered limited to the embodiments described here, which rather serve to illuminate and clarify various aspects of the invention.

[0025] Additional aspects and features of the invention can be derived from the following detailed description when considered in conjunction with the accompanying drawings. However, the figures are to be regarded only as examples of different embodiments of the invention and not as limiting the invention, which is limited solely by the accompanying claims. Furthermore, the figures are not necessarily to scale and are intended to conceptually illustrate aspects of the invention unless expressly stated otherwise.

[0026] Fig. Figure 1 shows a vehicle 100 traveling in a direction 105. This direction 105 refers to an existing or planned direction 105, i.e. the vehicle 100 may be moving in the direction 105 or be stationary, ready for a planned movement in the direction 105.

[0027] The vehicle 100 contains a computing unit 110 and a sensor 120. The computing unit 110 is designed to determine the lane position of the vehicle on a road 130 based on information detected by the sensor 120 and transmitted to the computing unit 110.

[0028] The sensor 120 can be mounted in or on the vehicle 100, e.g., in or on the driver's cab. The sensor 120 can, for example, include or consist of a 3D camera, a time-of-flight camera (ToF camera), a stereo camera, a light field camera, a camera, a radar measuring device, a laser measuring device such as Light Detection and Ranging (LIDAR), sometimes also referred to as LADAR or laser radar, or a similar device designed for distance determination.

[0029] A LiDAR is an optical measuring device that measures the properties of reflected light to determine the distance to distant objects and / or other properties of those objects. The technology is similar to radar (Radio Detection and Ranging), but instead of radio waves, it uses light. The distance to an object is typically measured by determining the time delay between an emitted laser pulse and the recorded reflection from the object.

[0030] A ToF camera is a type of camera that takes a sequence of images and measures a distance to an object based on the known speed of light by measuring the amount of time the light signal takes to pass between the camera and the object, e.g. by measuring the phase shift between an emitted light signal and a received reflection of the light signal from the object.

[0031] In certain embodiments, more than one sensor 120 can be mounted on the vehicle 100. An advantage of more than two sensors 120 is that more reliable distance measurements can be taken and a larger area can be monitored by an additional sensor. In such embodiments with more than one sensor 120, the sensor 120 can consist of the same type of sensor or of different types of sensors, according to various embodiments.

[0032] As stated above, the vehicle 100 also contains a processing unit 110, which is configured to receive measurement data from the sensor 120 and to perform calculations based on this measurement data. For example, the distance from the vehicle 100 to the lane markings on the road and / or other reference objects belonging to the road 130 can be measured by the sensor 120 and sent to the processing unit 110, which can compare the measurement with lane-related data for the corresponding road segment and thereby determine where the lane markings of the road are located and whether the vehicle 100 is crossing the lane markings.

[0033] Using a cartographic database and a specific geographic location, such as a GPS position, it is possible to determine how many lanes the corresponding road 130 has. If the sensor 120 successfully detects one or more lane markings or other reference objects near road 130, a model of the corresponding road segment can be used to estimate where the other lane markings should be.

[0034] The sensor 120 can also be configured to detect distances to reference objects such as objects that may be encountered, such as a central barrier, a road sign, a wall, a building, a tree or the like, and thereby enable the modeled lane marking lines to be placed at correct intervals, using the detected objects as a reference.

[0035] According to certain embodiments, this thus allows better access to the lane departure warning function in situations where the function is most needed, i.e., in poor visibility and inadequate road conditions. According to certain embodiments, the number of false warnings is also reduced, as incorrect lane markings can be filtered out and rejected by the system, for example, when the distance between two detected lanes is nonsensical based on information from cartographic data.

[0036] In the case of a muddy road 130 where asphalt is exposed in the tire tracks, measurement points are likely to be missing where the asphalt is exposed. Without further considerations, the exposure can be calibrated for the sensor 120 to account for this, and it is then possible, according to various embodiments, to use an IR-based sensor 120 as an asphalt detector on a snow-covered road or as a tire track detector to obtain indirect knowledge of the road, or a sensor 120 that indicates whether lines are actually present or something else.

[0037] Fig. Figure 2A shows a geographical position 140 of road 130 with a multitude of intact lane marking lines 150, a median barrier 160, and a ditch 170 along the side of road 130, viewed from a bird's-eye perspective. These features of road 130, i.e., lane marking lines 150, the median barrier 160, and the ditch 170, can be referred to as reference objects 150, 160, and 170 belonging to road 130.

[0038] Fig. 2B shows the same geographical position as in Fig. 2A illustrates this, but in cross-section viewed from the end of the road section.

[0039] Fig. Figure 3A shows a road section 130 where certain lane marking lines 150 are covered, for example, with snow, sand or the like, or are difficult to see due to wear or inadequate maintenance.

[0040] Here we also see an embodiment of the vehicle 100 with the sensor 120, which detects certain reference objects 150, 160, 170 belonging to the road 130 (see dashed lines).

[0041] For example, in this example, sensor 120 can successfully detect and determine the distance from vehicle 100 to a guardrail 160, the distance from the vehicle to a lane marking line 150, which sensor 120 successfully detects, and to a roadside ditch or snowdrift 170. Based on these measurements, a mapping and alignment process with corresponding reference objects 150, 160, 170 at the appropriate geographical location can be performed using cartographic data from a cartographic database. According to certain embodiments, virtual lane marking lines 150 can thus be displayed or clarified for the driver of vehicle 100, e.g., on a display screen in vehicle 100, projected onto the windshield, onto the driver's glasses, or the like.

[0042] In this example, sensor 120 detects three reference objects 150, 160, and 170 belonging to road 130. This is only a non-restrictive example and is not necessary to uniquely determine the vehicle's position relative to the lane markings 150 on road 130. For example, more than three reference objects could be detected for more reliable positioning, or fewer reference objects, i.e., two or one, if conditions do not permit the detection of more than, for example, one reference object.

[0043] Fig. 3B shows the same section of road as in Fig. 3A illustrates this, but in cross-section viewed from the end of the road section.

[0044] Fig. Figure 4A illustrates a road segment, as seen from the perspective of the driver in vehicle 100 according to one embodiment, wherein the road segment has at least partially covered lane marking lines 150 on the road 130 and reference objects 150, 160, 170 belonging to the road 130. In this embodiment, the computing unit 110 can include or be connected to a display screen 115. In such an embodiment, the driver can thus see on the display screen 115 an image of his vehicle 100 in relation to lane marking lines 150 on the road 130 along the corresponding road segment.

[0045] A non-restrictive example of the latter is in Fig. Figure 4B shows an enlargement of the display screen 115 in the vehicle 100 according to an embodiment in which the driver can see the position of the vehicle in relation to lane marking lines 150 on the road 130.

[0046] Fig. Figure 5 illustrates an example of an embodiment of the invention. The flowchart in Fig. Figure 5 illustrates a procedure 500 in a computing unit 110 in a vehicle 100 for determining the lane position of the vehicle 100 on a road 130.

[0047] According to certain embodiments, the method is only carried out if the lane marking line 150 on the road 130 is obscured, if weather conditions cause the sensor 120 to have a limited range, and / or if the road surface gives rise to a false detection 502 of the lane marking line 150. If it can be confirmed that the sensor 120 can detect all lane marking lines 150 on the road 130 without comparing them with the collected data in a database, then this step can be skipped, thereby saving processor capacity and time. The main advantage of the method 500 first becomes apparent under the opposite conditions, i.e.,if the road 130 is obscured, if weather conditions cause the sensor 120 to have a limited range, and / or the road surface gives rise to a false detection 502 of the lane marking line 150, since the procedure 500 is intended to eliminate or at least reduce such defects.

[0048] Method 500 may comprise a number of steps 501 to 507 to enable the correct determination of the lane position on road 130. However, it should be noted that certain of the described steps 501 to 507 may be performed in a chronological order that differs somewhat from the numerically indicated sequence, and that certain of them may be performed concurrently according to different embodiments. Furthermore, certain of the described steps 501 to 507 are performed only in certain embodiments, such as 503, 506, and / or 507. Method 500 comprises the following steps: Step 501

[0049] The vehicle's geographic position 140 is determined. Such a determination of the vehicle's current geographic position 140 can be based on a satellite-based positioning system such as the Global Positioning System (GPS), triangulation using signals transmitted from base stations in a mobile phone network with known positions, mileage data, trip odometer data in conjunction with a road number, a wireless sensor signal, and / or manual input by, for example, the vehicle's driver. Step 502

[0050] A reference object 150, 160, 170 belonging to street 130 is detected by sensor 120.

[0051] In certain embodiments, the reference object 150, 160, 170 belonging to road 130 can consist of a lane marking line 150 on road 130.

[0052] In certain embodiments, the reference object 150, 160, 170 may consist of an object 160, 170 located near the road, such as a central guardrail 160, a ditch 170, a road sign, a building, an exit ramp, a wall, a light pole or the like.

[0053] According to various embodiments, the sensor 120 can, for example, consist of a camera, a 3D camera, a time-of-flight camera, a stereo camera, a light field camera, a radar measuring device, a laser measuring device, a LiDAR, or a distance measuring device based on ultrasonic waves. According to various embodiments, the sensor 120 can also be configured for communication with the computing unit 110 via a wireless or wired interface. Step 503

[0054] This process step can be performed in some, but not necessarily all, embodiments of Method 500.

[0055] A distance to a reference object 150, 160, 170 is measured at the specific 501 geographical position 140 using the sensor 120. Step 504

[0056] A comparison is made between the track-related data for the specific 501 geographical position 140, which is stored in a cartographic database, and the recognized 502 reference object 150, 160, 170 at this geographical position 140. Step 505

[0057] The lane position of vehicle 100 is determined by comparing the recognized reference object 150, 160, 170 belonging to road 130 with stored lane-related data for the specific geographical position 140 of vehicle 100.

[0058] In certain embodiments, determining the lane position of the vehicle 100 by comparing the detected 502 reference object 150, 160, 170 may include determining a false detection 502 of a lane marking line 150 on the road 130 and ignoring the false detection 502 when determining the lane position 505. Such a determination of a false detection 502 of a lane marking line 150 may involve confirming that the distances between the detected 502 lane marking line 150 and the existing lane markings according to cartographic data for the geographical position 140 do not match, or that the number of detected 502 and the number of existing lane marking lines 150 do not match. Step 506

[0059] This process step can be performed in some, but not necessarily all, embodiments of the process.

[0060] A warning signal is generated when it is detected that vehicle 100 has crossed a lane marking line 150 on road 130. Step 507

[0061] This process step can be performed in some, but not necessarily all, embodiments of Method 500.

[0062] According to certain embodiments, a lateral position correction can be generated when it is determined 505 that the vehicle 100 crosses a lane marking line 150 on the road 130.

[0063] Fig.Figure 6 shows an embodiment of a system 600 configured to determine the lane position of a vehicle 100 on a road 130. The system 600 comprises at least one sensor 120, a cartographic database 640, and a computing unit 110, configured to communicate with each other via a wired or wireless interface. The system 600 may also include a tracking unit 650 configured to determine the geographic position of the vehicle 100. The tracking unit 650 may, for example, consist of a GPS receiver or another satellite-based unit configured for position determination.

[0064] According to various embodiments, the wireless interface may be based on, for example, one of the following technologies: Global System for Mobile Communications (GSM), Enhanced Data rate for GSM Evolution (EDGE), Universal Mobile Telecommunications System (UMTS), Code Division Access (CDMA), Time Division Synchronous CDMA (TD-CDMA), Long Term Evolution (LTE), Wireless Fidelity (Wi-Fi), as defined by the Institute of Electrical and Electronics Engineers (IEEE) standards 802.11 a, ac, b, g and / or n, Internet Protocol (IP), Bluetooth and / or Near Field Communication (NFC), or a similar communication technology.

[0065] According to certain embodiments, the computing unit 110, the database 640, and the sensor 120 are configured for communication and information transfer via a wired interface. Such a wired interface may comprise a communication bus system consisting of one or a plurality of communication buses for connecting a number of electronic control units (ECUs) or control units / controllers and various components and sensors located on the vehicle 100. The vehicle's communication bus may, for example, consist of one or a plurality of cables, a data bus such as a CAN bus (Controller Area Network), a MOST bus (Media Oriented Systems Transport), or another bus configuration, or a wireless connection, e.g., according to one of the wireless communication techniques mentioned above.

[0066] In various embodiments, the sensor 120 in the vehicle 100 can consist, for example, of a camera, a 3D camera, a time-of-flight camera, a stereo camera, a light field camera, a radar measuring device, a laser measuring device, a LIDAR and / or a distance measuring device based on ultrasonic waves.

[0067] The computing unit 110 is designed to carry out at least parts of the procedure 500 in order to determine the lane position of the vehicle on a road 130.

[0068] To correctly determine the vehicle's lane position, the computing device 110 comprises a number of components, which are described in more detail below. Some of these described secondary components are present in some, but not necessarily all, embodiments. The computing unit 110 may also contain additional electronics, which are not entirely necessary to understand the function of the computing unit 110 and the method 500 according to the invention.

[0069] The computing unit 110 comprises a signal receiver 610, which is configured to receive a signal from the sensor 120 contained in the vehicle 100, wherein the signal represents a detected reference object 150, 160, 170 belonging to the road 130. The signal receiver 610 typically includes a receiving circuit configured to receive a wireless or wired signal from the sensor 120, e.g., through one of the communication interfaces listed above.

[0070] Furthermore, the computing unit 110 also contains a processor circuit 620, which is configured to determine the geographic position 140 of the vehicle 100 and is also configured to compare stored track-related data for the determined geographic position 140 with a reference object 150, 160, 170 at the geographic position 140. Track-related data can be stored in and retrieved from a cartographic database 640, which may be contained in the computing unit 110 or may consist of an external unit with which the computing unit 110 can communicate, for example, via a wireless interface. Furthermore, the processor circuit 620 is configured to determine the track position of the vehicle 100 by comparing the recognized reference object 150, 160, 170 with stored track-related data for the geographic position 140 of the vehicle 100.

[0071] The processor circuit 620 can also be configured to measure a distance to the reference object 150, 160, 170 at the specified geographical position 140 based on a signal received from a sensor 120 in the vehicle 100.

[0072] In certain embodiments, the processor circuit 620 can also be configured to determine a false detection of a lane marking line 150 on the road 130 and to ignore such a false detection when determining the lane position.

[0073] The 620 processor circuit can, for example, consist of one or more central processing units (CPUs), microprocessors, or other logic designed for executing instructions and / or reading and writing data. The 620 processor circuit can handle data input, output, or data processing, and may also include data buffering, control functions, and the like.

[0074] In certain embodiments, the computing unit 110 may also include a signal transmitter 630 configured to send a control signal to trigger a warning signal and / or a lateral position correction when it is detected that the vehicle 100 is crossing a lane marking 150 on the road 130. In certain embodiments, the signal transmitter 630 may be configured to send a control signal to prevent the vehicle 100 from accelerating and / or to initiate braking of the vehicle 100.

[0075] According to certain embodiments, the computing unit 110 may also include a storage unit 625, which in certain embodiments may consist of a storage medium for data. The storage unit 625 may, for example, consist of a memory card, flash memory, USD memory, a hard disk, or any other similar data storage unit, such as any one from the group comprising ROM (Read-Only Memory), PROM (Programmable Read-Only Memory), EPROM (Erasable PROM), flash memory, EEPROM (Electrically Erasable PROM), etc., in various embodiments.

[0076] The aforementioned cartographic database 640 can be contained within or connected to the computing unit 110. For example, the cartographic database 640 can comprise a USB storage device containing cartographic data. In certain embodiments, cartographic data can be downloaded or updated, for example, via an internet connection or another similar upstream connection. However, in certain embodiments, the cartographic database 640 can be located outside the vehicle 100 and be accessible to the computing unit 110 via a wireless interface, such as one of those listed above.

[0077] This cartographic database 640 can be built by having, for example, certain reference vehicles travel road routes in favorable weather and road conditions and record and store road data belonging to geographical positions.

[0078] Furthermore, according to certain embodiments, the invention includes a computer program for determining the lane position of a vehicle 100 on a road 130.

[0079] The computer program is designed to execute the procedure 500 according to at least one of the previously described steps 501 to 507 when the program is executed in a processor circuit 620 in the computing unit 110.

[0080] The method 500 can thus be implemented, according to at least one of the previously described steps 501 to 507, for determining the lane position of the vehicle on a road 130 by one or a plurality of processor circuits 620 together with the computer program code for performing one, several, specific, or all of the above-described steps 501 to 507. A computer program that executes instructions for performing steps 501 to 507 when the program is loaded into the processor circuit 620 can thereby be implemented.

[0081] In certain embodiments, the above-mentioned computer program in the vehicle 100 is designed to be installed in the storage unit 625 in the computing unit 110, e.g. via a wireless interface.

[0082] The signal receiver and / or signal transmitter described and discussed above may, in certain embodiments, consist of separate transmitters and receivers. However, in certain embodiments, the signal receiver 610 and signal transmitter 630 in the processing unit 110 may consist of a transmitter-receiver capable of sending and receiving radio signals, with the transmitter and receiver sharing parts of the design. The communication may be suitable for wireless information transmission via radio waves, WLAN, Bluetooth, or an infrared transceiver module. However, in certain embodiments, the signal receiver 610 and / or signal transmitter may alternatively be specifically designed for wired information exchange or, according to some embodiments, for both wireless and wired communication.

[0083] All embodiments of the invention can also include a vehicle 100 containing a system 600 installed in the vehicle, which is configured to perform a method 500 according to at least one of the method steps 501 to 507 for determining the lane position of the vehicle 100 on a road 130.

Claims

[1] Method (500) in a computing unit (110) in a vehicle (100) for determining the lane position of the vehicle (100) on a road (130), comprising the steps: Determination (501) of the geographical position (140) of the vehicle (100); Detection (502) of a reference object (150, 160, 170) belonging to the road (130) by a sensor (120); Comparison (504) in a cartographic database (640) between track-related data for the specified (501) geographic position (140) and the recognized (502) reference object (150, 160, 170) at the geographic position (140); and Determination (505) of the lane position of the vehicle (100) by comparing the detected (502) reference object (150, 160, 170) belonging to the road (130) with stored lane-related data for the determined (501) geographical position (140) of the vehicle (100), wherein the determination also includes identifying a false detection (502) of a lane marking (150) on the road (130) and ignoring such a false detection (502) when determining (505) the lane position; the aforementioned steps of procedure (500) shall be carried out if at least one of the following criteria is identified: - at least one lane marking line (150) is hidden on the road (130); - the sensor (120) has a limited range; or - the road surface gives rise to a false recognition (502) of the lane marking line (150). [2] Method (500) according to claim 1, wherein the reference object (150, 160, 170) belonging to the road (130) consists of a lane marking (150, 160, 170) on the road (130). [3] Method (500) according to one of claims 1 to 2, wherein the reference object (150, 160, 170) consists of an object (160, 170) located near the road (130). [4] Method (500) according to any one of claims 1 to 3, wherein the determination (501) of the geographical position (140) of the vehicle (100) is based on: a satellite-based positioning system, a triangulation of signals transmitted by base stations in a mobile telephone network, route planning data, a trip odometer setting in conjunction with a street number, a wireless sensor signal and / or a manual input by the driver of the vehicle. [5] Method (500) according to any one of claims 1 to 4, wherein the sensor (120) consists of: a camera, a 3D camera, a time-of-flight camera, a stereo camera, a light field camera, a radar measuring device, a laser measuring device, a LIDAR or a distance measuring device based on ultrasonic waves. [6] Method (500) according to any one of claims 1 to 5, further comprising: Generation (509) of a warning signal when it is detected (505) that the vehicle (100) is crossing a lane marking line (150) on the road (130). [7] Method (500) according to any one of claims 1 to 6, further comprising: Generation (509) of a lateral position correction when it is detected (505) that the vehicle (100) is crossing a lane marking line (150) on the road (130). [8] Method (500) according to any one of claims 1 to 7, further comprising: Measurement (503) of a distance to a reference object (150, 160, 170) at the specified (501) geographic position (140) by the sensor (120). [9] Computing unit (110) in a vehicle (100) for determining the lane position of the vehicle (100) on a road (130), comprising: a signal receiver (610) which is configured to receive a signal from a sensor (120) contained in the vehicle (100), wherein the signal represents a detected reference object (150, 160, 170) belonging to the road (130); a processor circuit (620) configured to determine the geographic position (140) of the vehicle (100), and also configured to compare stored lane-related data for the determined geographic position and a recognized reference object (150, 160, 170) at the geographic position (140) in a cartographic database (640) and to determine the lane position of the vehicle (100) by comparing the recognized reference object (150, 160, 170) with stored lane-related data for the geographic position (140) of the vehicle (100), characterized by , that the processor circuit (620) is further configured to detect a false detection of a lane marking (150) on the road (130) and to ignore such a false detection when determining the lane position, and that the computing unit (110) is configured to perform the determination of the lane position of the vehicle (100) on a road (130) when at least one of the following criteria is recognized: - at least one lane marking line (150) is hidden on the road (130); - the sensor (120) has a limited range; - the road surface gives rise to a false recognition (502) of the lane marking line (150). [10] Computing unit (110) according to claim 9, further comprising a signal transmitter (630) configured to send a control signal to trigger a warning signal and / or a lateral position correction when it is detected that the vehicle (100) is crossing a lane marking (150) on the road (130). [11] Computing unit (110) according to claim 9 or 10, wherein the processor circuit (620) is further configured to measure a distance to a reference object (150, 160, 170) at the specified geographical position (140) on the basis of a signal received from the sensor (120). [12] Computer program for determining the lane position of a vehicle (100) on a road (130) by a method (500) according to one of claims 1 to 8, when the computer program is executed in a processor circuit (620) in a computing unit (110) according to one of claims 9 to 11. [13] System (600) for determining the lane position of a vehicle (100) on a road (130), wherein the system (600) comprises: a sensor (120); a cartographic database (640); and a computing unit (110) according to one of claims 9 to 11. [14] System (600) according to claim 13, wherein the sensor (120) consists of: a camera, a 3D camera, a time-of-flight camera, a stereo camera, a light field camera, a radar measuring device, a laser measuring device, a LIDAR or a distance measuring device based on ultrasonic waves. [15] Vehicle (100) comprising a system (600) according to any one of claims 13 to 14, which is configured to perform a method (500) according to any one of claims 1 to 8 for determining the lane position of the vehicle (100) on a road (130).

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