A method for monitoring whether a vehicle has crossed the boundary of a zone in which it is permitted to travel, and a driver assistance system.

Abstract

The invention relates to a computer-implemented method for monitoring whether a vehicle (1) moving along a track (T) crosses the boundaries of a zone in which the vehicle (1) may travel, by determining the direction of rotation.

Description

[Technical Field]

[0001] This invention relates to the field of driver assistance systems for vehicles. In particular, this invention relates to a robust method for monitoring whether a vehicle guided by a driver assistance system is crossing the boundary of an allowable driving zone while traveling along a track. [Background technology]

[0002] Driver assistance systems for vehicles are generally known. Distance-based methods are also known, which include checking whether a vehicle moving on a track maintains a predetermined distance from the boundary of the drivable area along the entire travel path represented by the track. This is done by considering the geometry of the vehicle, i.e., the surface area generated by projecting the vehicle body contour onto the road.

[0003] Methods are also known that involve checking whether an intersection occurs between the vehicle's path, i.e., the area covered by the projection of the vehicle's contour onto the road as the vehicle moves along the track, and the boundary of the drivable area, i.e., whether the path extends beyond the boundary of the drivable area. Known methods require calculating the intersection with the boundary of the drivable area.

[0004] The problem with known methods is that, in order to determine the distance of the vehicle from the boundary of the drivable area or the intersection of a section of the vehicle's contour with the boundary, a system of equations must be solved in each case, resulting in a very high computational load. Furthermore, it is not always possible to guarantee that the solution to the system of equations leads to a realistic solution. If a realistic solution cannot be found, further checks must be performed.

[0005] The specification of Chinese Patent Application Publication No. 102295004A discloses a method for lane departure warning, which includes the following steps: providing the state information of the current vehicle movement and environmental information by a vehicle sensor; predicting the lane by a driving behavior model of a human driver, which includes predicting the possible lane area of the vehicle within a specific future period by combining the kinematic characteristics and motion model of the vehicle. This involves making a decision on lane departure warning, and analyzing the moving safety of the vehicle by regarding the relative relationship between the calculation time from the possible driving lane of the vehicle to the detection point range on the lane marking line and a preset threshold time as an indicator of lane departure warning.

[0006] The specification of US Patent Application Publication No. 2012 / 0212612A1 discloses a lane departure warning device that emits an alarm signal when detecting a vehicle deviating from a lane, and a lane departure warning device that estimates it when there is no lane marking.

[0007] The Korean Patent Publication No. 101406316B1 teaches a device and method for detecting a lane, in which a warning zone within the lane is represented based on the detected lane. When the vehicle exits this zone, a warning is issued.

[0008] The paper "A video-based lane keeping assistant" by Risack, R., N. Mohler and W. Enkelmann in the Proceedings of the IEEE intelligent vehicles symposium 2000 (Cat. No. 00TH8511) teaches various methods for detecting lane departure. One of these methods is to calculate the "time to cross the lane" based on the current trajectory and driving dynamics. Various driving dynamics models are used in the calculation, and the intersection points of the driving dynamics curve and the lane marking are calculated here.

Prior Art Documents

Patent Documents

[0009] [Patent Document 1] Specification of Chinese Patent Application Publication No. 102295004 A [Patent Document 2] Document U.S. Patent Application Publication No. 2012 / 0212612 A1 [Patent Document 3] Korean Patent No. 101406316 B1 [Non-Patent Document]

[0010] [Non-Patent Document 1] Risack, R., N. Mohler and W. Enkelmann, "A video-based lane keeping assistant", Proceedings of the IEEE intelligent vehicles symposium 2000 (Cat. No. 00TH8511) [Summary of the Invention] [Problems to be Solved by the Invention]

[0011] Based on the above, an object of the present invention is to provide a method that enables reliable checking of whether a vehicle has crossed the boundary of a drivable area with a low computational load. [Means for Solving the Problems]

[0012] This object is achieved by a method having the features of independent claim 1. The dependent claims relate to preferred embodiments. Equivalent independent claim 8 relates to a driver assistance system designed to check whether a vehicle has crossed the boundary of a drivable area.

[0013] According to a first aspect, a method for checking whether a vehicle has crossed the boundary of a drivable area is disclosed. The vehicle has a driver assistance system designed to automatically or partially automatically move the vehicle along a track. The driver assistance system is further configured to execute a checking method including the following steps.

[0014] First, information is received regarding at least one boundary of the drivable area, where the drivable area is defined in particular by at least one boundary, especially preferably a left and right boundary that are spaced apart from each other and define, for example, a lane. The information may be provided by the vehicle's environment detection unit, which creates a model of the surrounding environment of the vehicle. As an example, the boundary can identify a boundary in free space, in particular defining a lane in which the vehicle is traveling. Alternatively, the boundary can also characterize surrounding objects in the vehicle's environment.

[0015] Preferably, at least one boundary line is defined by a polyline consisting of multiple points, i.e., multiple lines, where each line extends between two adjacent points. Alternatively, the boundary line may be formed by a continuous line.

[0016] Furthermore, information regarding the vehicle's path is also received. The path is, in particular, the area covered by the projection of the vehicle's contour onto the road when it is traveling along a track. In other words, the path is, in particular, a tubular area with a width of at least equal to the vehicle's width (and wider if a safety margin is incorporated).

[0017] First and second points are selected on at least one boundary line of the drivable area. When information is received regarding two boundary lines, particularly the left and right boundary lines of the drivable area, preferably, a first point and a second point are selected on each of the two boundary lines. In this case, the first point is behind the second point on the same boundary line in the direction of the vehicle's movement. Thus, these points define a section of at least one boundary line, and with respect to that section, a check is performed to determine whether the boundary line has been crossed while traveling along the track.

[0018] A third point is also identified, at least one or exactly one, on the edge of the vehicle's track. The track in this method may be defined by either a continuous line or a plurality of vehicle contours positioned at different locations along the track. The vehicle contour may be formed, for example, by polygons, particularly rectangles, that at least approximately represent the vehicle contour when the vehicle is viewed from above. To obtain a safety margin, the vehicle contour may be chosen to be larger than the actual vehicle contour.

[0019] Next, the position of at least one or exactly one third point relative to the line between the first and second points on the same boundary line is confirmed by determining the direction of rotation at least intermittently, particularly for at least the third point. Furthermore, it is checked whether the determined direction of rotation is clockwise or counterclockwise. That is, three points are connected by a polyline, two of which lie on the same boundary line, and one point indicates a point on the vehicle's travel path. The check for the direction of rotation is generated, in particular, when the polyline is traced such that the path between two points on the boundary line of the drivable area is traced in the direction of movement.

[0020] The next step is to check whether the vehicle has crossed the boundary of the drivable area, based on the direction of rotation that has been checked for at least the third point.

[0021] This method has the technical advantage of enabling a technically simple check with minimal computational load, thanks to its rotation-direction-based checking method. This is because the checking method is point-based, which means that computationally efficient vector calculation methods can be used, and therefore there is no need to solve computationally intensive systems of equations. Furthermore, this checking method makes it possible to identify whether the vehicle has already completely left the drivable area, thereby improving the safety of the checking method.

[0022] According to an exemplary embodiment, the direction of rotation is determined by determining the direction of rotation at the third point when traversing a polyline formed starting from a first point, passing through a second point, to the third point. Any discrepancy between the determined direction of rotation and the expected direction of rotation indicates, in particular, a boundary violation.

[0023] According to one exemplary embodiment, the third point is the vehicle vertices of a polygon, in particular a quadrilateral, in particular a rectangle, that reproduces the vehicle body contour. Thus, the vehicle body contour is approximated by a rectangle having four corners in particular.

[0024] According to one exemplary embodiment, at least or exactly one boundary line of the drivable area is approximated by a plurality of points spaced apart from each other, and pairs of boundary line points are sequentially selected as first and second points and used to confirm the direction of rotation and to check whether the boundary line of the drivable area has been crossed. This makes it possible to repeatedly check whether the drivable area has been crossed based only on pairs of boundary line points, without using a system of equations.

[0025] According to one exemplary embodiment, the drivable area has spaced-apart left and right boundary lines that define lanes. The vehicle contour is approximated by a polygon having two left vehicle vertices and two right vehicle vertices. The positions of at least two left vehicle vertices with respect to a line between first and second points located on the left boundary line are checked at least intermittently with respect to the left vehicle vertices. Furthermore, for at least two left vehicle vertices, it is preferable that the determination of the direction of rotation is carried out by determining the direction of rotation for each left vehicle vertex in each case, i.e., by traversing a polyline formed starting from a first point, passing through a second point to each vehicle vertex. Thus, at least two directions of rotation are specifically determined. Next, it is checked whether the determined directions of rotation are clockwise. Based on the checked directions of rotation, it is checked whether the vehicle has crossed the left boundary line of the drivable area. Thus, this method can be advantageously applied with a lower computational load to achieve compliance with the left boundary line of a predefined lane.

[0026] According to one exemplary embodiment, the drivable area has left and right boundary lines that are spaced apart from each other and define lanes. The vehicle contour is approximated by a polygon having two left vehicle vertices and two right vehicle vertices. The position of the right vehicle vertices relative to the line between the first and second points on the right boundary line is checked. Furthermore, for the two right vehicle vertices, it is preferable that the determination of the direction of rotation is carried out by determining the direction of rotation for each right vehicle vertex in each case, i.e., by traversing a polyline formed starting from the first point, passing through the second point to the respective vehicle vertex. Thus, at least two directions of rotation are specifically determined. Next, it is checked whether the determined directions of rotation are clockwise. Based on the checked directions of rotation, it is checked whether the vehicle has crossed the right boundary line of the drivable area. Thus, this method can be advantageously applied with a lower computational load to achieve compliance with the right boundary line of a predefined lane.

[0027] In a preferred further development, the determination and checking of the direction of rotation are performed for at least two vehicle vertices, and more preferably all vehicle vertices that reproduce the vehicle body contour.

[0028] According to one exemplary embodiment, the boundary of the drivable area is related to the boundary of a lane or road boundary.

[0029] A further subject of the present invention relates to a driver assistance system designed to check whether a vehicle has crossed the boundary of a drivable area. This driver assistance system includes a plurality of sensors, particularly at least two, distributed around the vehicle, and a computing unit for processing the information provided by the sensors. The computing unit, - A step of receiving information about at least one boundary line of the drivable area, - A step of receiving information about the vehicle's travel path, wherein the travel path is the area covered by the projection of the vehicle's contour onto the road when the vehicle is traveling along a track, - A step of selecting first and second points on at least one boundary line of a drivable area, wherein the first point is behind the second point in the direction of movement of the vehicle, - A step of defining at least or exactly one third point located on the vehicle, - A step of checking the position of at least a third point with respect to the line between the first and second points, verifying that a rotation direction is determined for at least the third point, and checking whether the determined rotation direction is clockwise or counterclockwise. - A step to determine whether the vehicle has crossed at least one boundary of the drivable area, based on the verified direction of rotation of at least a third point. It was configured to perform the following actions.

[0030] For the purposes of this invention, the terms “approximately,” “substantially,” or “about” mean a deviation of ±10%, preferably ±5%, from the respective exact value and / or a deviation of any change that is not significant to the function.

[0031] Further developments, advantages, and possible applications of the present invention can also be seen from the following description and drawings of exemplary embodiments. In this case, all of the features described and / or illustrated, whether in themselves or in any desired combination, are fundamentally the subject of the present invention, regardless of the combination of those features in the claims or their dependent claims. The content of the claims also forms part of this specification.

[0032] The present invention will be described in more detail below with reference to the figures, using exemplary embodiments. [Brief explanation of the drawing]

[0033] [Figure 1] A schematic plan view of a vehicle with a driver assistance system including multiple sensors and a computing unit is shown as an example. [Figure 2] The following examples illustrate the rotation directions that can be obtained given the direction of rotation of a point, using different arrangements of points A, B, and C as examples. [Figure 3] This example illustrates the movement of a vehicle along a trajectory using pairs of boundary lines that define lanes, and a method based on the direction of rotation for checking whether the vehicle has crossed a lane boundary line. [Figure 4] This example illustrates the movement of a vehicle that crosses the left-hand boundary line of the lane, based on a track that follows the lane. [Figure 5] This flowchart shows the procedure for checking whether you have crossed the boundary of the drivable area. [Modes for carrying out the invention]

[0034] Figure 1 schematically shows a plan view of a vehicle 1 having a driver assistance system for performing automatic or partially automatic driving operations. The driver assistance system may be designed, in particular, to recognize an area in which the vehicle 1 can drive automatically or partially automatically, and to control the vehicle 1 so that it does not cross the boundaries of the drivable area. For example, the drivable area may be a lane with left and right boundaries. Alternatively, the drivable area may also be limited by one or more surrounding objects that should be avoided in collision.

[0035] Vehicle 1 has multiple sensors 2, which can detect the area surrounding Vehicle 1. The sensors 2 are coupled to a computing unit 3 of the driver assistance system, which processes the sensor information and provides information about at least one boundary of the drivable area. This surrounding detection gives the driver assistance system the ability to identify local areas in which Vehicle 1 can be guided without collision.

[0036] The driver assistance system is further designed to determine the trajectory along which vehicle 1 travels during autonomous or partially autonomous driving operations. When traveling along the trajectory, the vehicle moves along the path. The path is given by the area covered or temporarily occupied by the vehicle body as the vehicle is moving. The vehicle has a body contour obtained, for example, when vehicle 1 is viewed from above, i.e., in a bird's-eye view. The projection of this body contour onto the road directed vertically downward defines the area of ​​the road occupied by vehicle 1. In order to allow vehicle 1 to move without collision, this area must always be clear for travel. Thus, the path is tubular and has a width at least equal to the width of the vehicle contour. To enhance the safety of this method, the path may be designed to be wider than the width of the vehicle.

[0037] A rotation-direction-based checking method can be applied to determine whether vehicle 1 has crossed the boundary of the drivable area.

[0038] Figure 2 shows two possible ways in which points A, B, and C may be positioned.

[0039] For example, the line between the first point B and the second point C forms a section of the boundary of the drivable area. For example, the third point A may be a vertex of the body contour of vehicle 1. Points A, B, and C form a triangle, usually a polygon. In a predetermined order, for example, when tracing a polyline along the points from point B to point A via point C, it is possible to determine the position of point A relative to the line between points B and C. If a clockwise rotation occurs when tracing the polyline, it can be concluded that point A is to the right of line BC. Conversely, if the rotation is counterclockwise when tracing the polyline, it can be concluded that point A is to the left of line BC (right diagram in Figure 2).

[0040] Figure 3 shows one exemplary application of the method described above, in which vehicle 1 is moved on track T in direction TD within a lane defined by a left boundary line G1 and a right boundary line G2. Boundaries G1 and G2 can be represented by discrete points spaced apart from each other. In the exemplary embodiment shown in Figure 3, points B and C are two points on the left boundary line G1, and points B' and C' are two points on the right boundary line G2.

[0041] The body contour of vehicle 1 is represented by a rectangle. The size of the rectangle is selected such that, for example, all areas of vehicle 1, including the side mirrors, fit within this body contour.

[0042] To ensure that vehicle 1 can move along track T without collision, it is necessary to check that the path of vehicle 1, resulting from the movement of the vehicle's contour along track T, does not intersect with boundary lines G1 and G2. The path of vehicle 1 may be a tubular area that must be located within boundary lines G1 and G2 in order to ensure that there is no collision on track T.

[0043] The check for collisions along track T can be repeated based on the discrete vehicle positions of vehicle 1, as shown in Figure 3 by multiple rectangles representing vehicle 1.

[0044] At the specified vehicle position, it must be checked whether the left vehicle contour line is located to the right of the left boundary line G1 and whether the right vehicle contour line is located to the left of the right boundary line G2. In the illustrated exemplary embodiment, this test may be performed based on the left front and left rear corners or the right front and right rear corners. It is necessary to check in more detail whether the left front and left rear corners have the same position with respect to the left boundary line G1, that is, whether both are to the right of the left boundary line G1. The same applies to the right front and right rear corners with respect to the right boundary line G2. These two corners must also have the same position with respect to the right boundary line G2, that is, both must be to the left of the right boundary line G2.

[0045] For example, this check involves determining a pair of points on the left-hand boundary line G1 of the lane, close to the left-hand vehicle contour line. In the illustrated exemplary embodiment, these are points B and C. The left front corner of vehicle 1 is represented by point A. With respect to a polyline consisting of the sequence of points BCA, this results in a clockwise rotation direction.

[0046] Next, the same check is performed with respect to the left rear corner of vehicle 1 relative to points B and C. If the polygonal polyline is traced from point B to C, and then back to point B via the left rear corner, this also results in a clockwise rotation direction. Therefore, the check reveals that both vertices of the left vehicle contour line are on the same side of the left boundary line G1, meaning that the left vehicle contour line does not intersect with the left boundary line G1, and therefore there is no collision with the left boundary line G1. Furthermore, it can be identified that both vertices of the left vehicle contour line are on the right side of the left boundary line G1.

[0047] The same check is performed on the two vertices of the vehicle contour line to the right of the right boundary line G2.

[0048] As shown in Figure 3, the right boundary line G2 is also represented by a number of points, where points B' and C' define a line that forms part of the right boundary line G2. To determine whether vehicle 1 is crossing this right boundary line G2 while traveling on the road, the algorithm described above is similarly applied to the vertices of the right vehicle contour line. That is, a rotation direction is determined with respect to the right front corner A' of the vehicle contour line and the resulting polyline B'-C'-A', which occurs when the polygonal polyline is traced in the direction of movement described above. In the illustrated exemplary embodiment, this is counterclockwise.

[0049] Next, the same check is performed with respect to the right rear corner of vehicle 1 with respect to points B' and C'. If the polygonal polyline is traversed from point B' to C' and returns to point B' via the right rear corner of vehicle 1, this also results in a clockwise rotation direction. Thus, the check reveals that both vertices of the right vehicle contour line are on the same side of the right boundary line G2, that is, the right vehicle contour line does not intersect with the right boundary line G2, and therefore there is no collision with the right boundary line G2. Furthermore, it can be identified that both vertices of the right vehicle contour line are on the left side of the right boundary line G2.

[0050] The above-described check step is preferably repeated for multiple vehicle positions along the track and for different sections of boundary lines G1 and G2 (defined by point BC or B'-C' pairs) to ensure that there are no collisions on the track T.

[0051] Figure 4 shows an example where the track of vehicle 1 intersects with the left boundary line G1 in the area marked by the ellipse, and thus the track T is determined to cross the boundary of the drivable area.

[0052] A discrepancy with the expected direction of rotation indicates, in particular, a boundary violation. In this exemplary embodiment, each vehicle apex A FL , A RL , A FR , A RR The expected rotation direction for the polyline is as follows:

[0053]

Table 1

[0054] The section of the boundary line G1 in the area of vehicle 1 is defined by point B L and point C L . The left front corner of vehicle 1 is represented by point A FL . For the polyline consisting of the sequence of point B L -C L -A FL , this results in a counterclockwise rotation direction. When the proposed method is applied to the left rear corner of vehicle 1 (represented by point A L ) with respect to the boundary line G1 (defined by point B L and point C RL ), this results in a clockwise rotation direction when tracing the polyline along point B L -C L -A RL . Since the rotation directions are different for the front and rear corners, the proposed method makes it possible to recognize the intersection of the boundary line G1.

[0055] To recognize that vehicle 1 is not completely outside the drivable area, it may be useful to check the positions of the left and right pair of corners of the vehicle contour line with respect to at least one of the boundary lines G1, G2 at each cycle or at longer time intervals. For example, if a counterclockwise rotation direction occurs for the left corner of the vehicle contour line of vehicle 1 with respect to the line identified by point B L and point C L , and this rotation direction indicates that the left corner of the vehicle body contour is to the left of the left boundary line G1, it can be concluded from this that vehicle 1 is already outside the drivable area at this point on the track T and thus has crossed the boundary of the drivable area. While this application relates to the invention described in the claims, it also includes the following other aspects. 1. A computer implementation method for monitoring whether a vehicle (1) moving along a track (T) has crossed the boundary of a traversable area, a) Step (S10) to receive information regarding at least one boundary line (G1, G2) of the drivable area, b) Step (S11) to receive information regarding the travel path of the vehicle (1), c) Step (S12) selecting first and second points (B, C, B', C') on the at least one boundary line (G1, G2) of the drivable area, wherein the first point (B, B') is behind the second point (C, C') in the direction of movement (TD) of the vehicle (1), d) At least one third point (A, A', A) located at the edge of the road of the vehicle (1) FL 、A FR 、A LR 、A RR Step (S13) to define ) e) The first and second points (B, C, B', C', B L 、C L The line between (A, A', A) FL 、A FR 、A LR 、A RR Check the position of at least the third point (A, A', A FL 、A FR 、A LR 、A RR Step (S14), which involves checking whether the direction of rotation has been determined, and whether the determined direction of rotation is clockwise or counterclockwise. f) The at least third point (A, A', A FL 、A FR 、A LR 、A RR Step (S15) to determine whether the vehicle (1) has crossed the at least one boundary line (G1, G2) of the drivable area based on the checked direction of rotation of the vehicle (1). A method that includes this. 2. The method according to claim 1, characterized in that the determination of the direction of rotation is performed by determining the direction of rotation with respect to the third point (A, A') when tracing a polyline formed from the first point (B, B') through the second point (C, C') to at least the third point (A, A'). 3. The method according to 1 or 2, characterized in that the at least one boundary line (G1, G2) of the drivable area is approximated by a plurality of points spaced apart from each other, and pairs of points of the boundary line are sequentially selected as first and second points (B, C, B', C') and used for confirming the direction of rotation and for checking whether the boundary line of the drivable area has been crossed. 4. The aforementioned at least third point (A, A', A FL 、A FR 、A LR 、A RR The method according to any one of the above 1 to 3, characterized in that ) is a vehicle vertex of a polygon that reproduces the body contour of the vehicle (1). 5. The method according to any one of 1 to 4 above, characterized in that the drivable area has left and right boundary lines (G1, G2) that are spaced apart from each other and define driving lanes, the vehicle contour is approximated by a polygon having two left vehicle vertices and two right vehicle vertices, the positions of at least the two left corners relative to the line between the first and second points located on the left boundary line (G1) are checked at least intermittently, the direction of rotation for at least the two left vehicle vertices is determined in each case by determining the direction of rotation for each left vehicle vertex when following a polyline formed starting from the first point, passing through the second point to each vehicle vertex, and it is checked whether the two directions of rotation are clockwise. 6. The method according to any one of 1 to 5 above, characterized in that the drivable area has left and right boundary lines (G1, G2) that are spaced apart from each other and define driving lanes, the vehicle contour is approximated by a polygon having two left vehicle vertices and two right vehicle vertices, the positions of the two right vehicle vertices with respect to the line between the first and second points located on the right boundary line (G2) are checked at least intermittently, and for the two right vehicle vertices, the direction of rotation is determined in each case by determining the direction of rotation for each right vehicle vertex when following a polyline formed starting from the first point, passing through the second point to each vehicle vertex, and it is checked whether the two directions of rotation are counterclockwise. 7. The method according to any one of items 1 to 6 above, characterized in that the determination of the rotation direction and the monitoring of the rotation direction are performed for all vehicle vertices that reproduce the vehicle body contour. 8. A driver assistance system designed to check whether a vehicle (1) has crossed the boundary of a drivable area, comprising a plurality of sensors (2) distributed around the vehicle (1), and a computing unit (3) for processing information provided by the sensors (2), wherein the computing unit (3) a) A step of receiving information regarding at least one boundary line of the drivable area, b) Step (S11) receiving information relating to the travel path of the vehicle (1), wherein the travel path is a zone covered by the projection of the vehicle body contour (F) onto the road when the vehicle is traveling along the track (T), c) A step of selecting first and second points (B, C, B', C') on the at least one boundary line (G1, G2) of the drivable area, wherein the first point (B, B') is behind the second point (C, C') in the direction of movement (TD) of the vehicle (1), d) A third point (A, A', A) located at the edge of the road of the vehicle (1) FL 、A FR 、A LR 、A RR ) step to define e) At least the third point (A, A', A) on the line between the first and second points (B, C, B', C') FL 、A FR 、A LR 、A RR Check the position of at least the third point (A, A', A FL 、A FR 、A LR 、A RR The steps include verifying that the direction of rotation is determined and verifying whether the determined direction of rotation is clockwise or counterclockwise, f) The at least third point (A, A', A FL 、A FR 、A LR 、A RR A step to determine whether the vehicle (1) has crossed the at least one boundary line (G1, G2) of the drivable area based on the verified direction of rotation of the vehicle (1). A driver assistance system configured to perform the following actions. [Explanation of symbols]

[0056] 1 vehicle 2 sensors 3 Computing Units B First point C. Second point A FL , A FL , A FR , A LR , A RR Third point F Body outline TD moving direction G1 Left Boundary Line G2 Right border T orbit

Claims

1. A computer implementation method for monitoring whether a vehicle (1) moving along a track (T) has crossed the boundary of a drivable area, a) Step (S10) of receiving information relating to at least one boundary line (G1, G2) of the drivable area, wherein the drivable area is an area that is spaced apart from each other and has left and right boundary lines (G1, G2) that define driving lanes, b) Step (S11) of receiving information relating to the travel path of the vehicle (1), wherein the travel path is an area covered by the projection of the vehicle body contour (F) onto the road when the vehicle is moving along the track (T), c) Step (S12) selecting first and second points (B, C, B', C') on the at least one boundary line (G1, G2) of the drivable area, wherein the first point (B, B') is behind the second point (C, C') in the direction of movement (TD) of the vehicle (1), d) At least one third point (A, A', A) located at the edge of the road of the vehicle (1) ＦＬ A ＦＲ , ARL, A ＲＲ Step (S13) to define a third point (A, A', AFL, AFR, ARL, ARR) which represents the vehicle vertices of a polygon that reproduces the outline of the vehicle body of the vehicle (1), e) A step (S14) of checking the position of said at least third point (A, A', A, A, ARL, A) with respect to the line between said first and second points (B, C, B', C', B, C), wherein for at least said third point (A, A', A, ARL, A), the direction of rotation is determined and it is checked whether the determined direction of rotation is clockwise or counterclockwise. The determination of the direction of rotation is made by determining the direction of rotation for said third point (A, A') when tracing a polyline formed from said first point (B, B') via said second point (C, C') to said third point (A, A', AFL, AFR, ARL, ARR). Ｌ (No change required as it's a tag) Ｌ (No change required as it's a tag) ＦＬ (No change required as it's a tag) ＦＲ (No change required as it's a tag) ＲＲ (No change required as it's a tag) ＦＬ (No change required as it's a tag) ＦＲ (No change required as it's a tag) ＲＲ (No change required as it's a tag) f) At least the third point (A, A', A ＦＬ A ＦＲ , ARL, A ＲＲ Step (S15) to determine whether the vehicle (1) has crossed the at least one boundary line (G1, G2) of the drivable area, based on the checked rotation direction of the vehicle, the checked rotation directions of the front and rear of one side of the vehicle are compared with respect to the sequential sequence of points of a polyline formed starting from a first point (B, B'), passing through a second point (C, C'), to a third point (A, A', A FL, A FR, A RL, A RR), and if the rotation directions do not match, it is determined that the vehicle has crossed the boundary line (G1, G2). A method that includes this.

2. The method according to claim 1, characterized in that the at least one boundary line (G1, G2) of the drivable area is approximated by a plurality of points spaced apart from each other, and pairs of points of the boundary line are sequentially selected as first and second points (B, C, B', C') and used for confirming the direction of rotation and checking whether the boundary line of the drivable area has been crossed.

3. The method according to claim 1, characterized in that the vehicle body contour is approximated by a polygon having two left vehicle vertices and two right vehicle vertices, the positions of at least the two left vehicle vertices with respect to the line between the first and second points located on the left boundary line (G1) are checked at least intermittently, the direction of rotation for at least the two left vehicle vertices is determined in each case, that is, by determining the direction of rotation for each left vehicle vertex when following a polyline formed starting from the first point, passing through the second point to each vehicle vertex, and it is checked whether the two directions of rotation are clockwise.

4. The method according to claim 1, characterized in that the vehicle body contour is approximated by a polygon having two left vehicle vertices and two right vehicle vertices, the positions of the two right vehicle vertices with respect to the line between the first and second points located on the right boundary line (G2) are checked at least intermittently, the direction of rotation for the two right vehicle vertices is determined in each case, that is, by determining the direction of rotation for each right vehicle vertex when traversing a polyline formed starting from the first point, passing through the second point, to each vehicle vertex, and it is checked whether the two directions of rotation are counterclockwise.

5. The method according to claim 1, characterized in that the determination of the direction of rotation and the monitoring of the direction of rotation are performed for all vehicle vertices that reproduce the vehicle body contour.

6. A driver assistance system designed to check whether a vehicle (1) has crossed the boundary of a drivable area, comprising a plurality of sensors (2) distributed around the vehicle (1), and a computing unit (3) for processing information provided by the sensors (2), wherein the computing unit (3) a) Step (S10) receiving information relating to at least one boundary line (G1, G2) of the drivable area, wherein the drivable area is an area that is spaced apart from each other and has left and right boundary lines (G1, G2) that define driving lanes. b) Step (S11) Receiving information relating to the travel path of the vehicle (1), wherein the travel path is an area covered by the projection of the vehicle body contour (F) onto the road when the vehicle is traveling along the track (T), c) Step (S12) selecting first and second points (B, C, B', C') on the at least one boundary line (G1, G2) of the drivable area, wherein the first point (B, B') is behind the second point (C, C') in the direction of movement (TD) of the vehicle (1), d) A third point (A, A', A) located at the edge of the road of the vehicle (1) ＦＬ A ＦＲ A ＲＬ A ＲＲ ) a step of defining a third point (A, A', A ＦＬ A ＦＲ A ＲＬ A ＲＲ ) indicates the vertices of a polygon that reproduces the outline of the body of the vehicle (1), step (S13), e) At least the third point (A, A', A) on the line between the first and second points (B, C, B', C') ＦＬ A ＦＲ A ＲＬ A ＲＲ A step of checking the position of at least the third point (A, A', A ＦＬ A ＦＲ A ＲＬ A ＲＲ The direction of rotation is determined for each of the following points, and it is checked whether the determined direction of rotation is clockwise or counterclockwise. The determination of the direction of rotation starts from the first point (B, B'), passes through the second point (C, C'), and goes to the third point (A, A', A ＦＬ A ＦＲ A ＲＬ A ＲＲ Step (S14), when tracing the polyline formed up to the third point (A, A'), is performed by determining the direction of rotation for the third point (A, A'). f) At least the third point (A, A', A ＦＬ A ＦＲ A ＲＬ A ＲＲ A step of determining whether the vehicle (1) has crossed the at least one boundary line (G1, G2) of the drivable area, based on the checked direction of rotation of the vehicle, starting from a first point (B, B'), passing through a second point (C, C'), and going to a third point (A, A', A ＦＬ A ＦＲ A ＲＬ A ＲＲ Step (S15): With respect to the sequence of points of the polyline formed up to ), compare the checked rotation directions of the vehicle on one side, forward and backward, and if the rotation directions do not match, determine that the vehicle has crossed the boundary line (G1, G2). A driver assistance system configured to perform the following actions.

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