| 摘要 |
In a method for estimating a course of a traffic lane for an ego-vehicle which travels on a road with multiple lanes, the following steps are repeatedly executed: identification of one or more other vehicles moving in the same direction on the road as the ego-vehicle; determination of vehicle positions for each of the other vehicles identified; formation of a trajectory for each of the other vehicles identified based on the respectively determined vehicle positions; assignment of the trajectories to possible traffic lanes based on a course of the trajectories formed in the environment of the ego-vehicle; selection of one of the possible traffic lanes to which at least one trajectory is assigned; and estimation of the course of the traffic lane based on the at least one trajectory assigned to the selected traffic lane. |
