Method for determining lane course for vehicle for e.g. controlling lane assistance device, involves determining global surrounding data from fusion of lane course data with card data, and determining lane course of vehicle from global data

摘要

The method involves determining and storing actual local surrounding data (UD1) of a vehicle over a range-resolving sensor. Past lane course data (FD) is determined from the stored local data, and global surrounding data (UD2) is determined from a fusion of the past lane course data with card data (KD) and detected driving dynamic data (FDD) of the vehicle, where the card data is read from a digital road map. Lane course (FV) of the vehicle is determined from the global surrounding data, where direction of the vehicle on a road surface is determined from the global surrounding data.