公开(公告)号：US11776392B2

公开(公告)日：2023-10-03

申请号：US16600719

申请日：2019-10-14

Applicant: Zenuity AB

Inventor： Viktor Runemalm ,  Markus Hammarsten ,  Jonatan Silvlin ,  Albin Manhof

IPC: G08G1/01 ,  G05D1/02 ,  G05D1/00 ,  G08G1/16

CPC classification number: G08G1/0137 ,  G05D1/0088 ,  G05D1/0231 ,  G05D1/0278 ,  G05D2201/0213 ,  G08G1/167

Abstract: The present invention relates to methods and arrangements for assigning a vehicle to a lane in a road for a vehicle. The proposed solution obtains an estimated pose for the vehicle, projects the pose to nearby lanes, obtains uncertainty values for the pose and lanes, creates a distribution by combining the pose and lane uncertainties, creates a momentary likelihood for the vehicle being in each lane, adjusts the momentary likelihoods with prior values obtained in a previous iteration, and determines the most likely lane.