• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    SAM MAN DRAGMethod (500) and calculation unit (110) in a vehicle (100), for determining the corrugation position on a scale (130) for the vehicle (100). The method (500) comprisesdetermination (501) of the geographical position (140) of the vehicle (100). The method (500) further comprises detecting (502) with a sensor (120) a reference object (150, 160, 170) associated with the scale (130) and a comparison (504) in a map database (640) between stored corval related data at the determined (501) geographical position (140) and the detected (502) reference object (150, 160, 170)at this geographical position (140). Further, the method (500) comprises determining (505) the corphal position of the vehicle (100), by fitting the detected (502) reference object (150, 160, 170) associated with the carriage (130), with stored coral-related data at the determined (501) ) the geographical position (140) of the vehicle (100).
    公开号:SE1350898A1
    申请号:SE1350898
    申请日:2013-07-18
    公开日:2015-01-19
    发明作者:Fredrich Claezon；Mikael Lindberg；Carl Fredrik Ullberg；Mikael Salmén
    申请人:Scania Cv Ab；
    IPC主号:
    专利说明:

    1DETERMINATION OF CORFAL POSITIONTECHNICAL FIELDThe invention relates to a method and a calculating unit associated with a vehicle. More particularly, the invention provides a mechanism for determining the coral position of the vehicle on a road.
    BACKGROUNDA vehicle may use a warning system, sometimes called the Lane Departure Warningn) flake (LDW) to alert the driver of the vehicle that the vehicle is about to cross a lane marking line, or to initiate an active intervention to prevent the vehicle from crossing the line, such as steering the vehicle in the opposite direction or braking.
    In this context, vehicles refer to, for example, trucks, lorries, transport cars, cars, emergency vehicles, cars, SUVs, tracked vehicles, buses, or other similar motorized or unmanned means of transport, adapted for mainly land-based geographical movement.
    By giving a warning and / or taking an accident-reducing action, the driver can be alerted that the road marking line is exceeded by the vehicle, e.g.wise because the driver has fallen asleep, or for some other reason lost focus on the road and the traffic situation. This can prevent the vehicle from driving off the N / Agen, alternatively driving over to the opposite lane and causing a frontal collision with oncoming vehicles.
    Such a warning system in the vehicle comprises a camera which detects the road marking lines on the road and, with the aid of image processing, traces distance to these road marking lines.
    A problem with existing warning systems is that these assume that the camera in the vehicle can detect the road marking lines.2However, road marking lines can often be unclear or worn as a result of traffic and / or inadequate maintenance. Furthermore, vagal marking lines may be wholly or partly covered by snO / ice (preferably winter time), fallen leaves (preferably cough time), water and / or sand (other seasons).
    Another problem with existing warning systems is that the camera sometimes, due to darkness, fog, heavy rainfall or the like, cannot see so far in front of the vehicle that it can detect the road marking lines.
    Furthermore, in the case of tat traffic, for example, the camera can sometimes not detect the road marking lines cla other surrounding vehicles obscure the view of the camera.As a result, the function of the warning system to warn the driver in the event of a line breach can be deactivated, which is why the inattentive driver, despite the warning system, risks driving off the road. Perhaps the vehicle's warning system purely imposes a false security on the driver, who therefore possibly relaxes and / or depends on attention-grabbing alternative employment with a mobile phone orsimilar to what would have been done if the vehicle had not had a warning system at all.
    Another problem that can arise for the driver is the clave road, including any road marking lines on the road are covered with snow, for example, in winter. At 'corning, perhaps especially over an open agricultural landscape and / or poor visibility tofollowed by snowfall, morker etc., it can be black for -Waren to see the wagon stretching at all, which can lead to ditching with the vehicle. Existing warning systems are useful in this type of situation or no one helped as the camera cannot detect any lane markings.
    In addition, the camera in existing warning systems can sometimes not distinguish between the correct road marking lines on the road and false lines in the roadway due to wheel pairs, for example in snow mode, rubber friction savings to -1610 of vehicle braking / wheel slippage in the roadway or simply discoloration or graffiti in the roadway.
    Up to -1610 of this, warning systems may therefore generate false warnings and / or accident-avoiding actions in the form of evasive Warnings which may Surprise3surrounding vehicle drivers and thereby cause accidents. Furthermore, repeated false warnings of this kind can irritate the driver and lead him to switch off the warning system, which then leads to the purpose of the warning system being completely lost.
    It can be stated that much remains to be done to obtain a reliable warning system in a vehicle, to warn the driver when crossing lane marking lines.
    SUMMARY OF THE INVENTIONIt is therefore an object of this invention to improve a warning system in a vehicle, to solve at least some of the above problems and to achieve a vehicle improvement.
    According to a first aspect of the invention, this grinding is achieved by a method in a calculating unit in a vehicle, for determining the coral position on a vaguefor the vehicle. The procedure involves determining the geographical position of the vehicle. The method further comprises detection with a sensor of a reference object, associated with the scale. Furthermore, the method also comprises a comparison in a map database between stored corphal related data at the determined geographical position and the detected reference object at this geographical position. In addition,the method of determining the corrugation position of the vehicle, by fitting the detected reference object associated with the carriage, with stored corrugation-related data at the determined geographical position of the vehicle.
    According to a second aspect of the invention, this setting is achieved by a calculating unit in a vehicle, the calculating unit being arranged to determine the corphaltposition on a vag for the vehicle. The calculating unit comprises a signal receiver, arranged to receive a signal from a sensor included in the vehicle, where the signal represents a detected reference object associated with the carriage. Furthermore, the calculating unit comprises a processor circuit, arranged to determine the geographical position of the vehicle. The processor circuit is also arranged to compare stored correlation ratios.4row data at the determined geographic position with detected reference object at this geographic position and determine the corrugation position of the vehicle, by fitting the detected reference object with stored corval related data at the geographical position of the vehicle.
    In this way, by comparing reference points in the vehicle's surroundings with stored correlation-related data for the current geographical position, it is possible to determine the positions of correlation lines on a lane and to determine the position of the vehicle in relation to these. This enables a higher availability of the warning function for Violation of road marking lines in situations wherewhich bast needs the function, that is to say in poor visibility and deficient wagon conditions, such as when the wagon's line markings are covered, for example, by sno. In addition, in some embodiments, the number of false warnings is reduced as false line detections, such as twists and turns, can be filtered out and discarded by the method, for example when the distance between two detected lines is unreasonably based.on data from map data. This results in an improved warning system for line violations in a vehicle, which results in a vehicle improvement.
    Other advantages and further features will become apparent from the following detailed description of the invention.
    LIST OF FIGURESThe invention will now be described in further detail with reference to the accompanying figures, which illustrate various embodiments of the invention:Figure 1 illustrates an embodiment of a vehicle with a calculation unitaccording to one embodiment.
    Figure 2Allustrates a wagon section seen from above, with intact wagon marking linesyou on the road and reference objects associated with the road.
    Figure 2BFigure 3AFigure 3BFigure 4Aillustrates a section of the road seen in section Than the short side, with intact road marking lines on the road and reference objects associated with the road.illustrates a road section seen from above, with partially dashed road marking lines on the road and reference objects associated with the road, as well as a vehicle according to an embodiment.illustrates a section of the road seen in cross section on the short side, with partially dashed road marking lines on the road and reference objects associated with the road, as well as a vehicle according to an embodiment.illustrates a road section seen from a driver's perspective from inside a vehicle according to an embodiment, where the road section has at least partially dashed road marking lines on the road and reference objects associated with the road.illustrates an enlargement of a screen in the vehicle according to an embodiment, in which the driver can see the position of the vehicle in relation to road marking lines on the road.
    Figure 4BFigure shows a flow chart illustrating an embodiment of the inventionningen.
    Figure 6 is an illustration of a calculating unit, according to an embodiment ofthe invention.
    DETAILED DESCRIPTION OF THE INVENTIONThe invention is defined as a method and a calculation unit for determining the corrugation position on a scales for the vehicle, which can be realized in the flag of the embodiments described below. However, this invention may be embodied in many different forms and should not be construed as limited by the embodiments described herein.6which are instead intended to illustrate and illustrate various aspects of the invention.
    Additional aspects and features of the invention may become apparent from the following detailed description when considered in conjunction with the accompanyingthe figures. However, the figures are to be considered only as examples of different embodiments of the invention and are not to be construed as limiting the invention, which is limited only by the appended claims. Furthermore, the figures are not necessarily to scale, and are, unless otherwise specifically indicated, intended to conceptually illustrate aspects of the invention.Figure 1 shows a vehicle 100 in a direction of travel 105. This direction of travel 105 refers to an existing or planned direction of travel 105, the said vehicle 100 may be in motion in the direction of travel 105, or be stationary, prepared for a planned movement in the direction of travel 105.
    In the vehicle 100 there is a calculating unit 1 as well as a sensor 120. The calculating unit 110 is arranged to determine the coral position of the vehicle on a scale 130, based on information detected by the sensor 120 and transmitted to the calculating unit 110.
    The sensor 120 may be mounted in or on the vehicle 100, for example in or on the vehicle cab. The sensor 120 may comprise, or be constituted by, for example, a 3Dmore, a Time-of-Flight camera (ToF camera), a stereo camera, a light field camera, a camera, a radar feeder, a laser feeder such as a Light Detection And Ranging (LIDAR), sometimes also called LADAR or laser radar or similar device configured for distance assessment.
    A LIDAR is an optical instrument that measures the properties of reflected lightto determine the distance and / or other characteristics of a remote forernal. The technology is based on radar (Radio Detection and Ranging), but instead of radio waves, light is used. Typically, the distance to a formal is measured by feeding the time delay between a transmitted laser pulse and the recorded reflex from the form.7A ToF camera is a type of camera that takes a sequence of images and measures a distance to an object based on the known light speed, by feeding the time input for a light signal between the camera and the pre-sample, for example by feeding the phase shift between the transmitted light signal and a received reflectivetion of this light signal, -Iran fOremalet.
    In some embodiments, more than one sensor 120 may be mounted on the vehicle 100. An advantage of having more than two sensors 120 is that more reliable distance assessment can be made, and that a larger area may be monitored by an additional sensor. In such embodiments with more than one sensor 120, this sensor 120 can be disassembledThe same type of sensor or of different types of sensors according to different embodiments.
    In the vehicle 100 there is also a calculation unit 110, which is arranged to receive food data from the sensor 120, and perform calculations based on this food data. For example, a distance from the vehicle 100 to line markings on the road, and / or other reference objects associated with the road 130 may beis fed by the sensor 120 and sent to the calculation unit 110, which can compare this food value with correlation-related data at the current section of the carriage and thereby determine where the carriage's line markings are and also determine if the vehicle 100 exceeds such line marking.
    With the help of a map database and a fixed geographical position, for example GPSposition, so it can be identified how many corphals the current wagon 130 has. If the sensor 120 succeeds in detecting one or more of the line markings or another reference object in connection with the carriage 130, a model of the current carriageway can be used to estimate where other carriage marking lines should be.
    The sensor 120 may also be arranged to detect distance to reference objects such as protruding objects, for example a center rack, a cradle sign, a cradle, a property, a tree or the like, so that the detected object can be used as a reference to place the modeled cradle marking lines at a certain distance. .
    According to certain embodiments, this provides a higher availability of the warning function for violation of road marking lines in situations where one8needs the function, the viii saga in poor visibility and deficient vagfRa conditions. In addition, in some embodiments, the number of false warnings is reduced if false lines can be filtered out as they can be discarded by the model, for example when the distance between two detected lines is unreasonable based on data from map data.In the case of snowy modeling track 130 with asphalt exposed in the wheel pairs, food points will probably be missing where the asphalt is exposed. If nothing else, the exposure on the sensor 120 can be calibrated so that it occurs, so you can use the IR-based sensor 120 as an asphalt detector on a snobbed road, or wheel-saving detector, to gain an indirect understanding of lanes, or a sensor 120 thattells if there really are lines or something else according to different embodiments.
    Figure 2A shows a geographical position 1 of the carriage 130 with a plurality of intact carriage marking lines 150, a center rack 160 and a ditch 170 next to the carriage 130, viewed from a bird's eye view. These markers on the road 130, the so-called road marking lines 150, the center rack 160 and the ditch 170 may be referred to asreference objects 150, 160, 170 associated with the carriage 130.
    Figure 2B shows the same geographical position 140 as ash-damaged in Figure 2A, but viewed in cross-section Than the short side of the road section.
    Figure 3A shows a road section of the road 130, where certain road marking lines 150 are jagged, for example of snow, sand or other, or are indistinguishable in response due to wear and inadequate maintenance.
    It is also seen that one embodiment of the vehicle 100 with the sensor 120, which detects certain reference objects 150, 160, 170 associated with the carriage 130 (see dashed lines).
    For example, in this example, the sensor 120 may successfully detect and determine oneaystand from the vehicle 100 to a carriage rack 160, an aystand Than the vehicle 100 to a carriage marking line 150 which the sensor 120 succeeds in detecting, and a carriageway or snowdrift 170. 170 on the current geographical position according to map data taken from a map database. Thereby, ex-9for example, virtual road marking lines 150 are placed or damaged for the driver of the vehicle 100 according to certain embodiments, for example on a screen of the vehicle 100, projected on the windshield of the vehicle, on the driver's spectacles, or the like.
    In this example, the sensor 120 detects three reference objects 150, 160, 170 related to the carriage 130. This is to be considered only as a non-limiting example which is not in itself necessary to unambiguously determine the position of the vehicle in relation to the carriage marking lines 150 on the carriage 130. For example, more reference objects than three can be detected for more secure positioning, or fewer reference objects such as two or one, as the conditions do not allow detection of more than, for example, a reference object.
    Figure 3B shows the same wagon section as damaged in Figure 3A, but viewed in section from the short side of the wagon section.
    Figure 4A illustrates a wagon section seen than a driver perspective from within the vehicle 100 according to an embodiment, where the wagon section has at least partially thanked the wagon markings.lines 150 on the carriage 130 and reference objects 150, 160, 170 associated with the carriage 130. In this embodiment, a monitor 1 may be included in the calculation unit 110, or connected thereto. On this display 115, the driver in such an embodiment can see an image of his vehicle 100 in relation to road marking lines 150 on the road 130 at the relevant road section.
    A non-limiting example of the latter is shown in Figure 4B, which illustrates an enlargement of the screen 115 in the vehicle 100 according to an embodiment in which the driver can see the position of the vehicle relative to road marking lines 150 on the road 130.
    Figure illustrates an example of embodiment of the invention. The flow chart in Figure 5 illustrates a method 500 in a calculation unit 110 in a vehicle 100, for determining the corrugation position on a carriage 130 for the vehicle 100.
    According to some embodiments, the method is performed only when the road marking line 150 on the road 130 is obscured, as the weather conditions which cause the sensor 120 to have a limited range and / or the road layer give rise to incorrect detection 502 ofthe road marking line 150. If the sensor 120 can be found to detect all the road marking lines 150 on the road 130 without having to compare them with the data collected in a database, this step can be skipped, thus saving processor capacity and time. The great advantage of the Procedure 500 emerges firstin the case of unusual conditions, the viii saga when the carriage 130 is obscured, when the carriage conditions which cause the sensor 120 to have a limited range and / or when the carriage layer gives rise to incorrect detection 502 of the carriage marking line 150, when the method 500 is baited to eliminate or at least reduce these defects .
    In order to be able to determine the corrugation position on the road 130 in a correct manner, theInclude a number of steps 501-507. It should be noted, however, that some of the described steps 501-507 may be performed in a slightly different chronological order from what the numbering order suggests and that some of them may be performed in parallel with each other, according to different embodiments. Furthermore, some of the described steps 501-507 are performed only in certain embodiments, such as 503, 506 and / orThe method 500 comprises the following steps:Step 501The vehicle's geographical position 140 is determined. Such determination of the vehicle's current geographical position 140 may be based on a satellite-based positioning system such as the Global Positioning System (GPS), triangulation by usingused signals transmitted from base stations in a mobile telephone with known positions, route planning data, trip feeder parking in combination with car number, a wireless sensor signal and / or manual input of the vehicle's driver, for example.
    Step 502A reference object 150, 160, 170, associated with the carriage 130 is detected by the sensor 120.
    The reference object 150, 160, 170 associated with the carriage 130 may in some embodiments be constituted by a carriage marking line 150 on the carriage 130.11The reference object 150, 160, 170 may, however, in some embodiments be constituted by a forernal 160, 170 mounted adjacent to the carriage 130, such as, for example, a center rack 160, a ditch 170, a lane sign, a building, an exit carriage, a cradle, a lighting pole or similar.
    The sensor 120 may be, for example, a camera, a 3D camera, a Time of Flight camera, a stereo camera, a light field camera, a radar feeder, a laser feeder, a lidar, a distance feeder based on ultrasonic waves according to various embodiments. Furthermore, the sensor 120 may be arranged for communication with the calibration unit 110 over a wireless or wired interface according to various embodiments.10 forms.
    Step 503This process step is performed in some, but not necessarily all, embodiments of the procedure 500.
    A distance is measured to the reference object 150, 160, 170 at the determined 501 geographical position 140, with the sensor 120.
    Step 504A comparison between stored corphal related data at the determined 501 geographic position 140 in a map database and the detected 502 reference object 150, 160, 170 at this geographic position 140 is made.
    Step 50The pitch position of the vehicle 100 is determined by fitting the detected 502 reference object 150, 160, 170 associated with the carriage 130, with stored pitch pitch related data at the determined 501 geographical position 140 of the vehicle 100.
    The determination of the corrugation position of the vehicle 100 in that the fitting of the detected 502 reference object 150, 160, 170 may in certain embodiments include the determination of erroneous detection 502 of a vagal marking line 150 pa12the wagon 130, and that such erroneous detection 502 is acidified at the determination 505 of the coral position. Such determination of erroneous detection 502 of road marking line 150 may include ascertaining that the distance between detected 502 road marking line 150 and existing line markings according to the map data for thegeographical position 140 does not match or that the number of detected 502 and existing road marking lines 150 does not match, according to certain embodiments.
    Step 506This process step is performed in some, but not necessarily all, embodiments of the process 500.
    A warning signal is generated when the vehicle 100 is determined 505 to exceed a road marking line 150 on the road 130.
    Step 507This process step is performed in some, but not necessarily all, embodiments of the process 500.
    A position correction can be generated laterally when the vehicle 100 is determined 505 to exceed a road marking line 150 on the road 130 according to certain embodiments.
    Figure 6 shows an embodiment of a system 600, arranged to determine the collapse position on a carriage 130 for a vehicle 100. The system 600 comprises at least onesensor 120, a map database 6 and a computing unit 110, which are arranged to communicate with each other over a wired or wireless interface. The system 600 may also include a positioning unit 650, arranged to determine the geographical position of the vehicle 100. For example, the positioning unit 650 may be constituted by a GPS receiver or other satellite-based unit arranged for positioning.tionsbestarnning.
    The wireless interface may, for example, be based on the flagship of the following technologies: Global System for Mobile Communications (GSM), Enhanced Data Rates for GSM Evolution (EDGE), Universal Mobile Telecommunications System13(UMTS), Code Division Access (CDMA), (CDMA 2000), Time Division Synchronous CDMA (TD-SCDMA), Long Term Evolution (LTE); Wireless Fidelity (Wi-Fi), 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 FieldCommunication, (NEC), or similar communication technology according to different embodiments.
    According to certain other embodiments, the computing unit 110, the database 640 and the sensor 120 are arranged for communication and information transmission over a wired interface. Such a wired interface may include a communication10 bus systems consisting of one or more communication buses for interconnecting a number of electronic control units (ECUs), or controllers / controllers, and various components and sensors located on the vehicle 100. The communication bus of the vehicle may, for example, consist of one or more of a cable; a data bus, such as a CAN bus (Controller Area Network bus), andMOST (Media Oriented Systems Transport) bus, or other bus configuration flag; or by a wireless connection, for example according to the flag of the above-mentioned wireless communication technologies.
    The sensor 120 in the vehicle 100 may be, for example, a camera, a 3D camera, a Time of Flight camera, a stereo camera, a light field camera, a radar feeder, a laser feeder, a lidar and / or a distance feeder based on ultrasonic waves in various embodiments.
    The calculating unit 110 is arranged to perform at least parts of the method 500 for determining the coral position of the vehicle on a scale 130.
    In order to be able to correctly determine the vehicle's coral position, thethe shaving unit 110 a number of components, which are described in more detail in the following text. Some of the described sub-components occur in some, but not necessarily all, embodiments. There may also be additional electronics in the calculating unit 110, which is not entirely necessary to understand the operation of the calculating unit 110 and the method 500, according to the invention.14The sensing unit 110 comprises a signal receiver 610, arranged to receive a signal - The sensor 120 is included in the vehicle 100, the signal representing a detected reference object 150, 160, 170 associated with the carriage 130. The signal receiver 610 typically comprises a receiving circuit, arranged to receive against a trad-10s or wired signal Than sensor 120, for example through some of the previously listed communication interfaces.
    Further, the calculating unit 110 also includes a processor circuit 620, arranged to determine geographical position 140 for the vehicle 100, and also arranged to compare stored surface-related data at the determined geographical position 1.Corval-related data can be stored and retrieved from a map database 640, which may be included in the calculation unit 110, or be constituted by an external unit with which the calculation unit 110 can communicate, for example over a wireless interface. Furthermore, the processor circuit 620 is arranged to determine the coral position.vehicle 100, by fitting the detected reference object 150, 160, 170 with stored correlation related data at the geographic position 140 of the vehicle 100.
    The processor circuit 620 may further also be arranged to cover a distance from the reference object 150, 160, 170 at the determined geographical position 140, based on a signal received by a sensor 120 in the vehicle 100.
    In some embodiments, the processor circuit 620 may also be further arranged to determine an erroneous detection of a path marking line 150 on the path 130, and to set aside such erroneous detection in determining the coral position.
    The processor circuit 620 may be, for example, one or more Central ProcessingUnit (CPU), microprocessor or other logic designed to interpret and execute instructions and / or to read and write data. The processor circuit 620 may handle data for inflow, outflow or data processing of data including also buffering data, control functions and the like.
    The calculation unit 110 may in certain embodiments further comprise a signal transmitter 630, arranged to send a control signal to trigger a warning signal and / or a lateral position correction when the vehicle 100 is determined to exceed a line marking 150 on the carriage 130. In some embodiments the signal transmitter 6be arranged to send a control signal to prevent acceleration of the vehicle 100 and / or to start braking the vehicle 100.
    The calculating unit 110 may further comprise, according to certain embodiments, a memory unit 6 which in certain embodiments may be constituted by a storage medium for data. The memory unit 625 may be, for example, a memory card, flash memory10 ne, USB memory, hard disk or other similar data storage device, for example flags from the group: ROM (Read-Only Memory), PROM (Programmable Read-Only Memory), EPROM (Erasable PROM), Flash memory, EEPROM (Electrically Erasable PROM), etc., in various embodiments.
    The previously mentioned map database 640 may be included in or connectableto the calibration unit 110. For example, the map database 640 may include a USB memory with map data. Map data can, for example, be downloaded or updated over an Internet connection in certain embodiments, or with another similar connection. In some embodiments, however, the map database 640 may be located outside the vehicle 100 and accessible to the calibration unit 110 through a wireless interface, e.g.pelvic flag of the previously erect.
    This map database 640 can be built up, for example, by certain reference vehicles driving carriageways under perfect father and carriage conditions and registering and storing carriage data associated with geographical position.
    Furthermore, according to certain embodiments, the invention includes a computer program for determining the corrugation position on a carriage 130 for a vehicle 100.
    The computer program is arranged to perform the method 500 according to at least some of the previously described steps 501-507, when the program is executed in a processor circuit 620 in the computing unit 110.16Thus, the method 500 according to at least some of the steps 501-507 for determining the coral position of the vehicle on the carriage 130 may be implemented by one or more processor circuits 620 in the calculation unit 110 together with computer program code to perform any, some, some or all of the steps 501-507 ask-written above. Thereby, a computer program including instructions for performing steps 501-507 when the program is loaded in the processor circuit 620 may.
    This computer program described above in the vehicle 100 is in certain embodiments arranged to be installed in the memory unit 625 in the computing unit 110, for example over a wireless interface.The signal receivers 610 described and discussed above, and / or signal transmitters 630 may in some embodiments be separate transmitters and receivers. However, in some embodiments, signal receivers 610 and signal transmitters 630 in the calibration unit 110 may be constituted by a sand receiver, or transceiver, which is adapted to transmit and receive radio signals, and where parts of the structure, e.g.pelvis antenna, is common for sanders and notters. The said communication can be adapted for wireless information transmission, via radio waves, WLAN, Bluetooth or infrared transmitter / receiver module. However, signal receivers 610, and / or signal transmitters 630 in some embodiments may alternatively be specially adapted for wired information exchange, or alternatively for both wireless and wiredbound communication according to certain embodiments.
    Some embodiments of the invention also include a vehicle 100, which includes a system 600 installed in the vehicle 100 arranged to perform a method 500 according to at least one of the method steps 501-507, for determining the cornice position on a carriage 130 for the vehicle 100.17
    权利要求:
    Claims (17)
    [1]
    Method (500) in a calculation unit (110) in one vehicle (100), for determining the corrugation position on a scale (130) for the vehicle (100), characterized by: determination (501) of the geographical position (140) of the vehicle (100); detecting (502) a sensor (120) of a reference object (150, 160, 170) associated with the carriage (130); comparison (504) in a map database (640) nnallan stored corphal related data at the determined (501) geographical position (140) and the detected (502) reference object (150, 160, 170) at this geographical position (140); and determining (505) the corphal position of the vehicle (100), by fitting the detected (502) reference object (150, 160, 170) associated with the carriage (130), with stored corphal related data at the determined (501) geographical position (140) for the vehicle (100).
    [2]
    The method (500) of claim 1, further comprising: feeding (503) a distance to the reference object (150, 160, 170) at the determined (501) geographic position (140), with the sensor (120).
    [3]
    The method (500) of any of claims 1 or 2, wherein the reference object (150, 160, 170) associated with the carriage (130) is constituted by a line marking (150, 160, 170) on the carriage (130).
    [4]
    The method (500) according to any one of claims 1-3, wherein the reference object (150, 160, 170) is constituted by a mold (160, 170) coated adjacent to the carriage (130).
    [5]
    The method (500) of any of claims 1-4, wherein determining (505) the corrugation position of the vehicle (100) further comprises determining incorrect detection (502) of a line marking (150) on the carriage (130), and that such erroneous detection (502) is assisted in determining (505) the corrugation position. 18
    [6]
    The method (500) according to any one of claims 1-5, wherein the determination (501) of geographical position (140) for the vehicle (100) is based on: a satellite-based positioning system, triangulation of signals sent Than base stations in a mobile telephone, route planning data, trip feeder parking in combination with vehicle number, a wireless sensor signal and / or manual entry of the vehicle's driver.
    [7]
    The method (500) of any of claims 1-6, wherein the sensor (120) comprises: a camera, a 3D camera, a Time of Flight camera, a stereo camera, a light field camera, a radar monitor, a laser feeder, a sufferer, an aystand feeder based on ultrasonic waves.
    [8]
    The method (500) of any of claims 1-7, further comprising: generating (506) a warning signal when the vehicle (100) is determined (505) to exceed a line mark (150) on the road (130).
    [9]
    The method (500) of any of claims 1-8, further comprising: generating (507) a lateral position correction when the vehicle (100) is fixed (505) exceeding an injection mark (150) on the carriage (130).
    [10]
    Calculation unit (110) in a vehicle (100), for determining the corrugation position on a scale (130) for the vehicle (100), characterized by: a signal receiver (610), arranged to receive a signal Than a sensor (120) included in the vehicle (100), wherein the signal represents a detected reference object (150, 160, 170) associated with the carriage (130); a processor circuit (620), arranged to determine the geographical position (140) of the vehicle (100), and also arranged to compare, in a map database (640), stored correlation-related data at the determined geographical position (140) and detected reference object (150, 160, 170) at this geographical position (140) and determine the coral position of the vehicle (100), by matching the detected reference object (150, 160, 170) with stored corphal related data at the geographical position (140) of the vehicle (100). ). 19
    [11]
    The calculation unit (110) according to claim 10, wherein the processor circuit (620) is further arranged to measure a distance to the reference object (150, 160, 170) at the determined geographical position (140), based on a signal received from the sensor (120). .
    [12]
    The calculating unit (110) according to claims 10-11, wherein the processor circuit (620) is further arranged to determine an erroneous detection of a line marking (150) on the carriage (130), and to set aside such erroneous detection in determining the corrugation position.
    [13]
    The calibration unit (110) according to claims 10-12, further comprising a signal transmitter (630), arranged to send a control signal to trigger a warning signal or a lateral position correction when the vehicle (100) is determined to exceed a line marking (150) pa vagen (130).
    [14]
    A computer program for determining the corrugation position of a scale (130) for a vehicle (100), by a method (500) according to any one of claims 1-9, wherein the computer program is executed in a processor circuit (620) in a calculation unit (110) according to any of claims 10-13.
    [15]
    A system (600) for determining the corrugation position of a carriage (130) for a vehicle (100), the system (600) comprising: a sensor (120); a map database (640); and a calculating unit (110) according to any one of claims 10-13.
    [16]
    The system (600) of claim 15, wherein the sensor (120) comprises: a camera, a 3D camera, a Time of Flight camera, a stereo camera, a light field camera, a radar feeder, a laser feeder, a lidar, a range feeder. based on ultrasonic waves.
    [17]
    A vehicle (100) comprising a system (600) according to any one of claims 15-16, arranged to perform a method (500) according to any one of claims 1-9 for determining the corrugation position on a scale (130) for the vehicle (100) . 1 / SI 1 11 ..- 0 IL [100 0- © -
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    SE1350898A|SE538984C2|2013-07-18|2013-07-18|Determination of lane position|SE1350898A| SE538984C2|2013-07-18|2013-07-18|Determination of lane position|
    PCT/SE2014/050814| WO2015009218A1|2013-07-18|2014-06-30|Determination of lane position|
    DE112014002959.9T| DE112014002959T5|2013-07-18|2014-06-30|Determination of the lane position|
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