CN108630002A - Method and apparatus at least one most probable path for determining vehicle - Google Patents
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- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
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- G06Q50/40—Business processes related to the transportation industry
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
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- G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/0969—Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
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Abstract
The present invention relates to the methods of at least one most probable path (110) for determining vehicle (100).The method includes at least one read step and calculate step.In read step, read at least one track signal, the track signal includes at least one track parameter at least one track (120) for the road (125) that the vehicle (100) is located at, to realize that the track of the vehicle (100) is accurately positioned oneself.In calculating step, at least one most probable path (110) is calculated using track signal.
Description
Technical field
The present invention relates to the method and apparatus at least one most probable path for determining vehicle.
Background technology
For determining device and side of the road vehicle from the current most probable path (abbreviation MPP) lighted with stopping of vehicle
Method is known.MPP includes at least one (usually multiple) companies in front of the current location of vehicle of digital road map
Continuous section (also referred to as link).The purposes of MPP is various, and is typically aimed at expected drive in manipulation and assists vehicle
Driver.Be subordinated to this is, for example, bend, the gradient or the traffic in front, can be also used for reducing combustion to these understanding
Material consumption increases safety or driver comfort.It is also contemplated by MPP in fully automated and/or part automatically drives.
Invention content
In this context, a kind of method for determining at least one most probable path of vehicle is herein proposed, in addition
It proposes a kind of device in this way and finally proposes a kind of corresponding computer program.
The advantages of utilizing proposed scheme that can realize is that the current track parameter in track be used to calculate most probable
Path.This provides a kind of meeting situation, very real and quick feasible program to calculate most probable path.In addition, logical
Crossing the calculated most probable path of method presented herein can be updated rapidly, so that may be used before leaving track
To provide the most probable path.
Propose a kind of method for determining at least one most probable path of vehicle.The method includes at least one
Read step and calculating step.In read step, at least one track signal is read, track signal includes what vehicle was located at
At least one track parameter at least one track of road, to realize that the track of vehicle is accurately positioned oneself.It is calculating
In step, at least one most probable path is calculated using track signal.
Method presented herein is advantageously carried out the track parameter using currently reading to calculate most probable path.The vehicle
Road parameter realizes that track is accurately positioned oneself, and positions oneself in another example depending on which track be arranged in road vehicle
On, can be inferred that may upcoming turning process.
It includes that this method, which can additionally have the receiving step for receiving target trajectory signal, the target trajectory signal,
Such as target trajectory derived from numerical map in other most probable paths for being pre-calculated and providing.It is proposed herein
In method, other most probable paths can be：Using the other track signal read before the signal of track,
It is calculated and is provided before the most probable path.However, other most probable paths can also pass through method known to another kind
To determine and provide.In calculating step, it then can change or match the mesh in other most probable paths using track signal
Track is marked, to calculate at least one most probable path.So as to be continuing with known to the difference for determining most probable path
Method, wherein when the specific track parameter of the one or more for reading track for example in read step, it is presented herein
Method can be used in correcting other identified most probable paths.
When the method also has the offer step for providing path signal, path signal according to an advantageous embodiment
When being configured to provide at least one section at least one calculated most probable path of vehicle, which can use
In being further processed for controller and/or being further processed for the numerical map of vehicle.
Track signal can be read in read step, at least one track parameter in wherein at least one track has been led to
The vehicle camera and/or laser radar scanner and/or radar detector and/or ultrasonic sensor for crossing vehicle are detected
It arrives.By the sensor as described herein typically already existed in vehicle, can identify especially can optical perception track
Parameter.
Track signal can be read in read step, at least one track parameter in wherein at least one track is for example
At least one type and/or geometry of at least one lane line in expression restriction track and/or position for vehicle.It is based on
Such track parameter for example can recognize turning feasible program on non-crisscross lane line.Lane line is relative to vehicle
Position can provide the case where can turning in which direction and/or angle example of the lane line relative to vehicle
The case where whether vehicle has been carried out turning process can be such as provided.
When reading track signal in read step, at least one track parameter in wherein at least one track indicates cloth
When setting at least one lane markings, especially direction arrow on track, then when vehicle is located at the phase with corner-bent arrow
When answering on track, so that it may rapidly and easily to identify the upcoming turning of vehicle.
Additionally or alternatively, in read step, track signal, at least one vehicle in wherein at least one track are read
Road parameter indicates at least one other vehicle recognized on the track or adjacent lane.Therefore, by vehicle relative to
Realize vehicle positioning oneself on road in the position of other vehicles of the vehicle periphery.If such as in the left side and the right side of vehicle
Side recognizes other vehicles, then the vehicle is likely to be arranged on the track of middle part, and thus the vehicle is estimated for the time being will not be from the road
In the turning to such as intersecting roads of road.
Additionally or alternatively, track signal can be read in read step, which includes at least one vehicle
At least one track parameter in road obtains at least one track from numerical map.Then track signal can also read
The comparison with the lane information in numerical map is carried out in step.
According to solution proposed here especially advantageous embodiment, track letter can be provided in read step
Number for being further processed in numerical map, in particular, wherein in processing step, using the such degree of track signal
Numerical map is handled, i.e., supplement the track signal being not present in numerical map and/or corrects inappropriate lane information.
Can for example for example it implement in the controller in software or in hardware or in the mixed form of software and hardware
This method.
Scheme presented herein has also set up a kind of device, which is configured to execute in corresponding equipment, grasp
The step of variations of method presented herein, is implemented in control in other words.By this programme using device as these realities of form
Applying variations also can quickly and effectively solve the task that this programme is based on.
In this regard, the device can have for handling at least one computing unit of signal or data, for storing signal
Or (it leads to sensor or actuator, to be read from the sensor at least one storage unit of data, at least one interface
Into sensor signal or for outputting data signals or signal is controlled to actuator) and/or it is at least one for reading or defeated
Go out the communication interface of data being embedded in communication protocol.Computing unit can be, for example, signal processor, microcontroller etc.,
Wherein storage unit can be flash memory, EPROM or magnetic cell.Communication interface can be configured to data are wireless and/or have
It reads or exports to line, wherein the communication interface that can read or export cable data is for example electrical or optical by these data
It reads or is output in corresponding data transmission link from corresponding data transmission link in ground.
Device is interpreted as electric instrument herein, which handles sensor signal and sent out according to sensor signal
Control signal and/or data-signal.The device can have interface, can construct the interface to hardware type and/or software type.
In the structural scheme of hardware type, which for example can be a part of so-called system ASIC, and system ASIC contains the dress
The different functions of setting.However the interface is the integrated circuit of itself or is made of at least partly discrete structural detail
It is possible.In the structural scheme of software type, interface can be software module, such as on a microcontroller in addition to other soft
There is also the software modules except part module.
In an advantageous structural scheme, control path signal is realized by described device.In this regard, device can be such as
Access sensors signal, such as track signal and target trajectory signal.The manipulation is carried out by actuator, and actuator is, for example, to read
Taking equipment, computing device and offer equipment.
Also advantageously a kind of computer program product or there is the computer program of program code, program code can be stored up
In the presence of can be machine-readable carrier or storage medium, such as semiconductor memory, harddisk memory or optical memory on and by
For the step of executing, implement and/or manipulating the method according to any one of aforementioned embodiments, especially when the program
Product or program on device on computers or when running.
Description of the drawings
The implementation of scheme described here is illustrated and illustrated in further detail in the explanation below in the accompanying drawings
Example.Wherein：
Fig. 1 shows the vehicle with the device for determining at least one most probable path according to one embodiment；
Fig. 2 shows the devices according at least one most probable path for determining vehicle of one embodiment；
Fig. 3 shows the process of the method at least one most probable path for determining vehicle according to one embodiment
Figure；And
Fig. 4 shows the frame of the device at least one most probable path for determining vehicle according to one embodiment
Figure.
Specific implementation mode
In the next explanation of the embodiment appropriate of Current protocols, for showing in different figures and similar
The element that ground works is using identical or similar reference numeral, wherein saving the repeated explanation to these elements.
Fig. 1 shows the device 105 having for determining at least one most probable path 110 according to one embodiment
Vehicle 100.
Device 105 is configured to read track signal, track signal include the road 125 that is located at of vehicle 100 at least
At least one track parameter in one track 120, to realize that the track of vehicle 100 is accurately positioned oneself.Device 105 goes back quilt
It is configured to：At least one most probable path 110 is calculated using track signal.
According to this embodiment, vehicle 100 is shown at the first vehicle location on the track 120 of road 125 first
In 130, and it is subsequently placed in time in the second vehicle location 135.
In the first vehicle location 130, vehicle 100 is parallel to the first lane line 140 for limiting track 120 and limits track
120 second lane line 145 and positioned at the middle part of track 120.According to the embodiment, by the controller of vehicle 100 by means of
Continue on track 120 to other most probable paths 150 straight trip that perception method calculates.According to an alternative embodiment, other
Most probable path 150 is calculated by device 105 itself in advance.
In the second vehicle location 135 immediately after as shown here, vehicle 100 is located at towards 145 side of second lane line
Into the position of rotation.According to this embodiment, device 105 described here calculates most probable path 110, this is because should
Device 105 has read track signal, wherein the track parameter list in track 120 in second vehicle location 135 of vehicle 100
Show position of the second lane line 145 relative to vehicle 100, which indicates that 100 part of vehicle is more than the according to this embodiment
Two lane highways line 145.
According to this embodiment, before eventually off track 120, provides for the controller of vehicle 100 and use the track
The most probable path 110 that signal calculates.
Hereinafter, the details of device 105 is more accurately described in detail again：
With for determining most probable path (English：Most probable path, abbreviation MPP) the different (known devices of known devices
Using the geographical location of vehicle itself and vehicle directional is determined based on GPS positioning), device 105 described here realizes
Illustrate and evaluate the self-position on current lane, and this is independent of the geographical inaccuracy for the numerical map being based on
With the inaccuracy of GPS positioning.It is different from for determining other known devices in most probable path, wherein other known devices
Calculated route with the destination guiding activated by navigation system is inquired or other known devices are to from working as
The known route that front position starts usually to be passed by is inquired or other known devices are to driving direction indicator thereof, speed
Degree, acceleration, steering angle and/or other sensor information are inquired or this other before intersection and branch
Known devices inspire algorithm and inquire, and the algorithm is arranged with different probability before intersection or branch
Straight trip and/or the possibility turned right and turned left；Wherein, consider road, the grade of main/secondary road, steering angle and its
His road attribute, device 105 described here calculates appropriate most probable path 110, this is because dress described here
It sets reading and considers the current lane parameter of traffic, device 105 realizes different from known devices and utilizes track herein
The video information accurately positioned oneself generates most probable path 110.
Possible inappropriate other most probable paths 150 previously calculated pass through the device 105 according to this embodiment
It is corrected ahead of time, and the accurate resolution ratio in track is also provided.Therefore advantageously, the most probable path 110 being updated with it is known
Device is differently also just determined before leaving track 120.In addition, having obtained most probable path relative to next close
The higher hit rate of intersection or branch.
According to this embodiment, device 105 (including be used to the lane identification of the video camera from vehicle 100 to be closed
Exist in currently used track 120 or current information image evaluation about the self-position in the track of road 125 120
It is interior) before intersection/branch and intersection/branch in, with derived from numerical map with previously calculated other most
Possible path 150 is that the accurate target trajectory in track of form is associated.Herein according to this embodiment, using track signal,
Most probable path 110 is changed into other most probable paths 150 calculated before.
In addition, the device 105 is configured to consider using being obtained from image evaluation about reliable turn control, such as
Direction arrow, track change the information of (solid line) and for example special track (acceleration lane, expressway exit track) of track property,
To calculate most probable path 110.These information by the track signal-obtaining of vehicle camera, and when necessary be present in
Lane information in numerical map is compared.
In short, introduce herein scheme the advantages of be, identify and other most probable paths 150 for previously being calculated in advance
Deviation.The deviation may be changed by the track not expected from the system of vehicle 100 and/or turn control causes or example
Such as change also by track that is expected but being not carried out and causes.Herein, leave for example special track, branch or
Before intersection, realizes and be compared and identify if necessary and its deviation with other most probable paths 150 currently.
It updates and corrects other most probable paths 150 when necessary and carried out at the time of as early as possible, and specifically independent of being
The route of the no destination guiding based on activation calculated, or calculate based on inspiration other most probables of script
Path 150.Even in the track when necessary without permission before branch changes, at least vehicle in addition without permission is being excluded
Road can also correct other most probable paths 150 immediately in the case of changing.
It is the more detailed description of the scheme to introducing herein below：According to this embodiment, the navigation system of vehicle is logical
Cross current vehicle location 130 of the known method from vehicle 100,135 Continuous plus most probable paths 150.For this purpose, will usually by
The geographical location that GPS is determined is compared with numerical map, which is also referred to as map match.Vehicle 100 is generally along most may be used
It can the movement of path 150.However, this is not necessarily such.Such as deviation may be led to due to unexpectedly manipulating.
Differently, joined by track by the most probable path 110 being corrected determined by device 105 described here
It counts and is showed, track parameter can also be referred to as lane information.In addition to section (the also referred to as chain before current location
Road) except, most probable path 110 also includes the track for being ready to use in most probable path 110 for each link.Here, consider from
Belong to the turning feasible program in each track 120, i.e. connectivity.
In first form of expression, the track parameter in all tracks of current ink is included in numerical map, and
It is taken from the numerical map.Vehicle is equipped at least one sensor and for the computing unit of lane identification.According to this
Embodiment, sensor are cameras, or according to an alternative embodiment are another type of scanners, which passes through
Image evaluation in computing unit identifies and assesses lane markings.Here, the assessment can be provided about lane line type
Information, such as line width, line color and/or line type, such as solid line, dotted line and/or jagged lane line.Assessment can also carry
For the information about geometry, the i.e. lane line of straight line or bending and position, such as at a distance from vehicle 100 and/or angle
Degree.In addition, assessment can also provide additional information, such as corner-bent arrow.These information are believed in the form of the parameter of track by track
Numbers 215 provide and are read by device 105 for device 105.By means of these information, vehicle 100 is located at the spy on current ink
Determine in track.Herein usually using video sensor, but laser radar scanner can also be used for detection lane markings.In addition,
The use of radar detedtor or ultrasonic sensor also realize detection adjacent lane on can other movable vehicles, so as to
To obtain the conclusion of the quantity about existing track He itself track.
If vehicle 100 and other most probable paths 150 are deviateed, this is by device 105 directly by means of being stored
Comparison between specified track and the practical track identified detects, and triggers recalculating for most probable path.At this
In shown in the first vehicle location 130, other most probable paths 150 are calculated, and may keep straight on along road.
Inquiry that can be based on the route for guiding or learning by the destination of navigation system or before intersection and branch
Driving direction indicator thereof, speed, acceleration, steering angle and/or other sensors information inquiry or inspiration (inspiration exists
The possibility that the algorithm is provided with straight trip with different probability and/or turns right and turn left before intersection or branch), it determines
Most probable path 150.It is identified with the second lane line in the second vehicle location 135 by means of the vehicle sensory device of vehicle 100
145 be the intersection in the turning road of form, to calculate the most probable path 110 being corrected in time.
In the case where current lane allows multiple turning feasible programs, calculating meets the multiple of currently used track
Alternative most probable path.If arrived by lane identification determination, such as since driver has sailed wrong road and track changes
Change is no longer possible at current time, therefore with the route of the destination guiding being activated by navigation system previously calculated
It is no longer able to be traveling, then this is particularly advantageous.In this case, the route for triggering navigation system recalculates, road
Line is recalculated considers permitted turning feasible program based on currently used track.Herein, each alternative turning
Feasible program leads to the variation route of itself with script target point.Then, the navigation system of vehicle is according to turning feasible program
For different routes, and corresponding most probable path is available again.According to predefined route standard (such as environment-friendlyroad road
Line, most fast route, minimal path) to most probable path be ranked up be also it is possible.An advantage herein be or not
After leaving the route (but being for example no longer fully able to the route of traveling) calculated originally, but before this, Neng Gouji
New route alternative.Which increase determine driver about present case and projected route standard best route it is general
Rate.
Device 105 described here is configured to furthermore according to this embodiment：It is read from central server with 120
Track parameter is the other current lane information of form, has additional detail when necessary.
According to an alternative embodiment, export includes the turning feasible program of subordinate from camera or sensor information
Track parameter inside.In this variations, numerical map need not include the complete letter about track quantity and connectivity
Breath.For this purpose, the track of other vehicles of front form can also be for example detected by means of sensing data, it is estimated to predict
Track connectivity.
According to other alternative embodiment, camera (sensor) information or track property of multiple vehicles pass through at them
Device 105 is sent to central server and stores up there before reading.An advantage in this is single stroke and list
The track parameter of the imperfect reading of possibility of a vehicle can be added whole image and then be used.
Fig. 2 shows the devices according at least one most probable path 110 for determining vehicle of one embodiment
105.Here, can be the device 105 described by Fig. 1.
According to this embodiment, device 105, which has, reads equipment 200, computing device 205 and optional offer equipment 210.
Equipment 200 is read to be configured to read track signal 215.Computing device 205 is further configured to use track signal
215 calculate most probable path 110.According to this embodiment, it includes previously being counted to read equipment 200 and be alternatively configured to receive
The target trajectory signal 220 of the target trajectory in other most probable paths 150 calculated, wherein computing device 205 are configured to use
Track signal 215 changes target trajectory, to calculate most probable path 110.Equipment 210 is provided to be configured to provide path signal
225, which includes at least one section in the most probable path 110 of vehicle calculated.
Fig. 3 shows the method 300 at least one most probable path for determining vehicle according to one embodiment
Procedure chart.In the enforceable method of this device in being the device described in the attached drawing by means of front 300.
Method 300 includes at least one read step 305 and calculating step 310.In read step 305, read at least
One track signal, track signal include at least one track parameter at least one track for the road that vehicle is located at, with
Just realize that the track of vehicle is accurately positioned oneself.In calculating step 310, at least one most probable is calculated using track signal
Path.Optionally, exemplary method 300 further includes receiving step 315 and offer step 320 according to this embodiment.
Reception includes the target trajectory signal of target trajectory in receiving step 315 makes wherein in calculating step 310
Change target trajectory with track signal, to calculate at least one most probable path.
Path signal is provided in step 320 is provided, which is configured to：The described at least one of vehicle is provided
Calculated most probable path at least one section.
According to this embodiment, track signal is read in read step 305, wherein being imaged by the vehicle of vehicle
Head and/or laser radar scanner and/or radar detector and/or ultrasonic sensor detect at least one track at least
One track parameter.In addition, reading track signal, at least one track in wherein at least one track in read step 305
Parameter indicates to limit at least one type of at least one lane line of track in track and/or geometry and/or position.
According to an alternative embodiment, additionally or alternatively, track signal is read in read step 305, wherein
At least one track parameter at least one track indicates at least one lane markings being arranged on track, especially direction arrow
Head.According to an alternative embodiment, additionally or alternatively, the reading track signal in read step 305, wherein at least one
At least one track parameter in a track indicates at least one other vehicle recognized on the track or adjacent lane.
Furthermore, it is possible to repeatedly and it is a kind of different from the sequence of illustrated sequence in implement exist
Fig. 4 is shown according to the participated in equipment with automobile navigation of one embodiment for determining vehicle at least
The block diagram of the device in one most probable path.Here, method 300 as described in Figure 3 can be applied using additional step.
In sensor device 400, sensor signal is generated by the vehicle sensors of vehicle.According to this embodiment,
Sensor signal is formed as the camera signals of the sensor of the vehicle camera of vehicle, and camera signals indicate that vehicle is taken the photograph
As at least one camera image of head.In lane identification equipment 405, at least one track of sensor signal detection is used.
Map signal is read from numerical map 410, map signal includes the correlation of the numerical map at least one lane information
Part.It is happened in unit equipment 420 and carries out selection correlation map part (map match).Unit equipment 420 is assessed position and is passed
The one or more of the signal of sensor equipment 415, such as GPS and/or odometer, gyroscope, steering angle sensor etc.
The signal of other sensors simultaneously thereby determines that temporary position.The temporary position in unit equipment 420 in map-matching method
Map signal combination, and determine numerical map on current location.The current location (is included in number by unit equipment 420
Including the lane information stored on word map) be not only sent to for determining the device 105 at least one most probable path and
And it is sent to route calculation unit 425.If there is the information about current driving target in route calculation unit 425,
The route from current location to traveling target can be calculated.If route calculation unit 425 has calculated that route, the route
Device 105 can be transferred into at least one most probable path of determination.
Other than sensor device 400 and 415, all devices of 4 block diagram of block diagram not necessarily must be in vehicle itself
Implement, but can also for example implement on the fixed high-performance computer in one or more positions.
It connects, should be understood as if one embodiment includes "and/or" between fisrt feature and second feature
The embodiment is wanted according to one embodiment both with fisrt feature or with second feature according to another embodiment
Or only with fisrt feature only with second feature.
Claims (12)
1. the method (300) of at least one most probable path (110) of the one kind for determining vehicle (100), wherein the method
(300) following step is included at least：
Read (305) track signal (215), the track signal include the road (125) that is located at of the vehicle (100) extremely
At least one track parameter of a few track (120), to realize that the track of the vehicle (100) is accurately positioned oneself；
And
(310) at least one most probable path (110) is calculated using the track signal (215).
2. according to the method for claim 1 (300), the method has the target track for receiving that (215) include target trajectory
The step of mark signal (220), uses the track signal (215) to change the mesh wherein in the calculating (310) the step of
Track is marked, to calculate at least one most probable path (110).
3. (300) according to any method of the preceding claims have the step for providing (320) path signal (225)
Suddenly, the path signal is configured to provide at least one most probable path (110) of the calculated vehicle (100)
At least one section.
(300) 4. according to any method of the preceding claims, wherein in the reading (305) the step of, read
The track signal (215) is taken, wherein at least one track parameter at least one track (120) passes through the vehicle
The vehicle camera and/or laser radar scanner and/or radar detector and/or ultrasonic sensor of (100) are detected
It arrives.
(300) 5. according to any method of the preceding claims, wherein in the reading (305) the step of, read
The track signal (215) is taken, wherein at least one track parameter at least one track (120) indicates the vehicle
At least one type and/or geometric form of at least one lane line (140,145) in the restriction track (120) in road (120)
Shape and/or position.
(300) 6. according to any method of the preceding claims, wherein in the reading (305) the step of, read
The track signal (215) is taken, wherein at least one track parameter expression at least one track (120) is arranged in
At least one lane markings on the track (120), especially direction arrow.
(300) 7. according to any method of the preceding claims, wherein in the reading (305) the step of, read
The track signal (215) is taken, wherein at least one track parameter at least one track (120) is indicated described
At least one other vehicle recognized on track (120) or on adjacent lane.
(300) 8. according to any method of the preceding claims, wherein in the reading (305) the step of, institute
It states track signal (215) and is provided for being further processed in numerical map (410), especially wherein in the processing
The step of in, handle the numerical map (410) using the track signal (215).
(300) 9. according to any method of the preceding claims, wherein in the step of reading (305) the track signal
In rapid, the comparison with the lane information from the numerical map (410) is carried out.
10. a kind of device (105), described device are provided in corresponding unit (200；205；210) implement in and/or manipulate
The step of (300) according to any method of the preceding claims.
11. a kind of computer program, the computer program is configured to implement according to described in any one of claim 1 to 9
Method (300).
12. a kind of machine readable storage medium, is stored with calculating according to claim 11 on said storage
Machine program.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102017204601.5A DE102017204601A1 (en) | 2017-03-20 | 2017-03-20 | Method and device for determining at least one most probable route for a vehicle |
| DE102017204601.5 | 2017-03-20 |
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| CN108630002A true CN108630002A (en) | 2018-10-09 |
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| CN201810230091.6A Pending CN108630002A (en) | 2017-03-20 | 2018-03-20 | Method and apparatus at least one most probable path for determining vehicle |
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| Country | Link |
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| CN (1) | CN108630002A (en) |
| DE (1) | DE102017204601A1 (en) |
| FR (1) | FR3064098B1 (en) |
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| DE102021206355A1 (en) | 2021-06-21 | 2022-12-22 | Volkswagen Aktiengesellschaft | Method for allocating the lane currently being traveled by a vehicle |
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Also Published As
| Publication number | Publication date |
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| FR3064098A1 (en) | 2018-09-21 |
| DE102017204601A1 (en) | 2018-09-20 |
| FR3064098B1 (en) | 2024-06-14 |
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