Zenuity Ab

Viktor Runemalm

Junsheng Fu

Jonatan Silvlin

Markus Hammarsten

Rafael Valencia Carreño

Marcus Olsson

Albin Manhof

The present invention relates to methods and arrangements for assigning a vehicle to a lane in a road for a vehicle. The proposed solution obtains an estimated pose for the vehicle, projects the pose to nearby lanes, obtains uncertainty values for the pose and lanes, creates a distribution by combining the pose and lane uncertainties, creates a momentary likelihood for the vehicle being in each lane, adjusts the momentary likelihoods with prior values obtained in a previous iteration, and determines the most likely lane.

Method for assigning ego vehicle to a lane

The present disclosure relates to an overtaking estimating system for estimation of a minimum overtaking speed of a vehicle. The overtaking estimating system determines in view of a host vehicle a remaining distance of an overtaking lane contiguous to a driving lane of the host vehicle. The system further determines a delta distance between the host vehicle and a preceding vehicle positioned in the host vehicle driving lane. Moreover, the system determines a delta time for the host vehicle to reach the preceding vehicle. The system further determines, based on the delta distance, the delta time and a determined host vehicle speed, a speed of the preceding vehicle. Furthermore, the system determines, based on the remaining distance, the delta distance, the preceding vehicle speed, and an overtaking-affecting parameter, a minimum overtaking speed of the host vehicle for overtaking the preceding vehicle in the remaining distance of the overtaking lane.

Estimation of a minimum overtaking speed of a vehicle

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Gothenburg, Sweden

Viktor Runemalm