公开(公告)号：US11691626B2

公开(公告)日：2023-07-04

申请号：US17103377

申请日：2020-11-24

Applicant: Zenuity AB

Inventor： Junsheng Fu ,  Marcus Olsson ,  Viktor Runemalm ,  Rafael Valencia Carreño

IPC: B60W30/18 ,  G06N3/02 ,  B60W40/105 ,  B60W40/12

CPC classification number: B60W30/18163 ,  B60W40/105 ,  B60W40/12 ,  G06N3/02 ,  B60W2554/4042 ,  B60W2554/802

Abstract: The present disclosure relates to an overtaking estimating system for estimation of a minimum overtaking speed of a vehicle. The overtaking estimating system determines in view of a host vehicle a remaining distance of an overtaking lane contiguous to a driving lane of the host vehicle. The system further determines a delta distance between the host vehicle and a preceding vehicle positioned in the host vehicle driving lane. Moreover, the system determines a delta time for the host vehicle to reach the preceding vehicle. The system further determines, based on the delta distance, the delta time and a determined host vehicle speed, a speed of the preceding vehicle. Furthermore, the system determines, based on the remaining distance, the delta distance, the preceding vehicle speed, and an overtaking-affecting parameter, a minimum overtaking speed of the host vehicle for overtaking the preceding vehicle in the remaining distance of the overtaking lane.

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.