Vehicle e.g. aerial vehicle, guiding method for e.g. highway, involves determining space between effective and virtual positions, and determining control signal from space, where signal directs vehicle for maintaining it in traffic lane

摘要

The method involves determining an effective position of a crossing point of a virtual horizontal reference line that is maintained at a constant distance from a vehicle and a virtual edge line with a same orientation of an elongated band. A virtual position is determined initially or continuously, where the position comprises the crossing point, if a traffic lane is rectilinear in an active zone. A space between the effective and the virtual positions is determined. A control signal is determined from the space, where the signal directs the vehicle for maintaining it in the traffic lane. An independent claim is also included for a device for guiding a vehicle in displacement in a traffic lane.