US 11,891,058 B2
Method and control unit for detecting a lane boundary
Jan-Ullrich Schamburek, Munich (DE)
Assigned to Bayerische Motoren Werke Aktiengesellschaft, Munich (DE)
Appl. No. 16/967,445
Filed by Bayerische Motoren Werke Aktiengesellschaft, Munich (DE)
PCT Filed Mar. 1, 2019, PCT No. PCT/EP2019/055109
§ 371(c)(1), (2) Date Aug. 5, 2020,
PCT Pub. No. WO2019/170532, PCT Pub. Date Sep. 12, 2019.
Claims priority of application No. 10 2018 203 560.1 (DE), filed on Mar. 8, 2018.
Prior Publication US 2021/0213945 A1, Jul. 15, 2021
Int. Cl. B60W 30/12 (2020.01); G06N 20/00 (2019.01); B60W 30/18 (2012.01); B60W 50/14 (2020.01); G06N 5/04 (2023.01); B60W 40/06 (2012.01); G01C 21/36 (2006.01)
CPC B60W 30/12 (2013.01) [B60W 30/18163 (2013.01); B60W 50/14 (2013.01); G06N 5/04 (2013.01); G06N 20/00 (2019.01); B60W 40/06 (2013.01); B60W 2050/146 (2013.01); B60W 2420/42 (2013.01); B60W 2420/52 (2013.01); B60W 2420/62 (2013.01); B60W 2510/22 (2013.01); B60W 2520/105 (2013.01); B60W 2520/125 (2013.01); B60W 2520/28 (2013.01); B60W 2552/05 (2020.02); B60W 2552/20 (2020.02); B60W 2552/40 (2020.02); B60W 2552/53 (2020.02); G01C 21/367 (2013.01)] 10 Claims
OG exemplary drawing
 
1. An apparatus for a vehicle, comprising:
a control unit operatively configured to:
record motion sensor data in relation to a movement of at least one component of the vehicle, wherein the movement is or was brought about by a roadway being traveled by the vehicle;
recognize a traffic lane boundary of the roadway on the basis of the motion sensor data; and
bring about a functional response of the vehicle in response thereto, wherein
the traffic lane boundary has a height profile perpendicular to a surface of the roadway being traveled by the vehicle that differs from a basic profile of the roadway;
the motion sensor data display a temporal profile of a measured variable of the movement of the at least one component of the vehicle;
the control unit is further operatively configured to determine the height profile of the traffic lane boundary based on the temporal profile of the measured variable of the movement of the at least one component of the vehicle;
the traffic lane boundary is recognized based on the height profile of the traffic lane boundary;
the control unit is further operatively configured to determine a type of the traffic lane boundary from a plurality of different types of traffic lane boundaries by comparing the temporal profile of the measured variable of the movement of the at least one component of the vehicle with at least one reference profile; and
the plurality of different types of traffic lane boundaries comprises at least two of: a traffic lane marking, a shoulder next to the roadway being traveled by the vehicle, a border line, a guideline and cat's eyes arranged on the roadway.