Lane number determining method for use in motor vehicle, involves detecting and classifying set of objects e.g. road side objects, in surrounding of vehicle, and implying monitoring on lane number from detection and classification result

摘要

The method involves detecting and classifying a set of objects e.g. road side objects, in surrounding of a vehicle, and implying monitoring on the lane number from detection and classification result. A stochastic method is provided with a set of model conditions (Z0-Z2), which comprise a lane without an adjacent track and a lane with adjacent tracks. Probability for the given model condition is calculated by monitoring the surroundings objects. A set of object classes is provided similar or opposite to movement direction with respect to appropriate movement of the vehicle.