Volkswagen Ag

Jens Spehr

Stefan Brosig

Daniel Lipinski

Daniel Mossau

Richard Auer

Tran Tuan Nguyen

Toni Heidenreich

Tuan Tran Nguyen

Dennis Rosebrock

A method and an apparatus for the evaluation of detection results of components for road detection, of the road estimated by a road estimation, and/or of the planned trajectory of the driver assistance systems of an ego-transportation vehicle, wherein the detection results, the estimated road, and the planned trajectory are designated a hypothesis. To evaluate the components, the road estimation, or the driver assistance system, use is made of a metric based on the manually covered trajectory of the ego-transportation vehicle, wherein the deviation between the manually traveled trajectory and the hypothesis is determined for predefined reference points at a predefined interval from a starting point in a transportation vehicle-based x-y coordinate system and by using the evaluation, it is determined whether the hypothesis of the components for road detection, the road estimation, and/or the driver assistance system fulfill predefined criteria.

Evaluation of components of driving functions and roadway detection in different processing stages

The present invention relates to a method for determining arrangement information for a vehicle (). The arrangement information comprises a position of the vehicle () and an orientation of the vehicle () with respect to a stationary coordinate system. In the method, a local driving lane arrangement in the surroundings of the vehicle () is detected with sensors () of the vehicle (). A first driving lane arrangement is determined with respect to the stationary coordinate system in dependence on the local driving lane arrangement and a previously determined arrangement information item for the vehicle. A second driving lane arrangement is determined with respect to the stationary coordinate system in dependence on predefined map material. Similarity information is determined in dependence on a geometric similarity between the first driving lane arrangement and the second driving lane arrangement, and previously determined arrangement information for the vehicle () and d previously determined driving lane arrangement hypothesis are updated in dependence on the similarity information.

Determining arrangement information for a vehicle

An in-vehicle system for estimating a lane boundary based on raised pavement markers that mark the boundary. The in-vehicle system includes a camera for obtaining image data regarding reflective raised pavement markers and non-reflective raised pavement markers, an image processor for processing frames of image data captured by the camera, a lidar detector for obtaining lidar data regarding reflective raised pavement markers, and a lidar processor for processing frames of lidar data captured by the lidar detector. The image processor generates a first probabilistic model for the lane boundary and the lidar processor generates a second probabilistic model for the lane boundary. The in-vehicle system fuses the first probabilistic model and the second probabilistic model to generate a fused probabilistic model and estimates the lane boundary based on the fused probabilistic model.

Fused raised pavement marker detection for autonomous driving using lidar and camera

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Salzgitter, Germany

Jens Spehr