Driving tube determining method for vehicle, involves determining driving tube edges based on vehicle parameter and lane information determined based on lane data measured by sensors, where edges are described in form of frequency polygon

摘要

The method involves limiting a driving tube (FS) to both side of a moving path of a vehicle (2) by driving tube edges (FSR1, FSR2). Lane information (FI) i.e. lane marker (FSM1-FSM3) representing a lane, and the driving tube edges are determined depending on determination of adapted driving tube edge (aFSR1, aFSR2). The driving tube edges are determined based on a vehicle parameter and the lane information (FI) determined based on lane data measured by sensors, where the driving tube edges are described in form of a frequency polygon (PZ1.1-PZ1.n, PZ2.1-PZ2.n). An independent claim is also included for a device for determining a driving tube that is extended along a moving path of a vehicle.