US 12,330,641 B2
Method used for deriving a control variable for lateral guidance of a motor vehicle
Alexander Lengsfeld, Bad Muender (DE); and Philip Lenz, Holle (DE)
Assigned to ROBERT BOSCH GMBH, Stuttgart (DE)
Filed by Robert Bosch GmbH, Stuttgart (DE)
Filed on Jan. 9, 2023, as Appl. No. 18/151,826.
Claims priority of application No. 10 2022 200 409.4 (DE), filed on Jan. 14, 2022.
Prior Publication US 2023/0227035 A1, Jul. 20, 2023
Int. Cl. B60W 30/12 (2020.01); B60W 40/072 (2012.01); B60W 50/00 (2006.01); G06V 20/56 (2022.01)
CPC B60W 30/12 (2013.01) [B60W 40/072 (2013.01); B60W 50/00 (2013.01); G06V 20/588 (2022.01); B60W 2050/0031 (2013.01); B60W 2420/403 (2013.01); B60W 2552/30 (2020.02); B60W 2552/53 (2020.02)] 10 Claims
OG exemplary drawing
 
1. A method for a motor vehicle performed using images of a roadway captured by at least one camera of the motor vehicle, the method comprising the following steps:
projecting a traffic lane of the roadway to be followed onto the images;
determining a travel trajectory of the motor vehicle in reference to the images based on a self-motion estimate;
projecting the determined travel trajectory onto the images;
deriving a control variable from a comparison between the traffic lane projected onto the images and the determined travel trajectory projected onto the images; and
controlling a lateral guidance of the motor vehicle based on the derived control variable.