Method for determining a lane course of a lane

US9738279B2 · kind B2 · utility

Assignee

• Bayerische Motoren Werke Aktiengesellschaft · DE

Inventors

• Andreas Eichhorn · Munich, DE
• Peter H. Zahn · Littleton, US

Key dates

• Filing date: Oct 21, 2015
• Grant date: Aug 22, 2017
• Expiry date: Oct 21, 2035

Classification

• Technology area (CPC B): Performing Operations; Transporting
• CPC primary: B60W2556/50
• WIPO field: Transport
• WIPO sector: Mechanical engineering

Abstract

The invention relates to determining a lane course with the aid of a plurality of recorded routes of vehicles using a compensation curve. Each of the plurality of recorded routes includes individual position indications in an order of passing during a respective journey. The method includes selecting a route from the plurality of recorded routes, determining a number of checkpoints for the compensation curve based on the selected route, and determining an initial compensation curve based on the number of checkpoints and the selected route from the plurality of routes. The method further includes performing, in a repeating fashion until an abort criterion has been satisfied, determining a new compensation curve using a previously-determined compensation curve and individual position indications of the plurality of routes, wherein determining the new compensation curve is performed independently of an order of position indications in one of the respective routes and being independent of the fact that a position indication used is assigned to a route from the plurality of routes, and outputting the new compensation curve as the lane course.