Method for detecting roundabout for advanced driving assistance system in vehicle, involves identifying and locating roundabout, and recording parameters characterizing roundabout in digital navigation map

摘要

The method involves identifying a roundabout (20), and locating the identified roundabout (30). Parameters characterizing the roundabout are recorded (40) in a digital navigation map, where the roundabout is identified by estimating the trajectory of a vehicle over a predetermined distance traversed by the vehicle. The trajectory is estimated from different successive states of the vehicle, where each state is estimated using data selected from yaw speed, speed, difference in speed of the rear wheels of the vehicle, and a gearbox ratio.