| 摘要 |
<p>Method of supervision for a function for aiding the following of the traffic lane of a motor vehicle, comprising on the one hand means (34) for detecting lateral lines (30, 32) traced on the ground on the two sides of this traffic lane, so as to deliver the nominal lateral positions of each line (Yri, Yle), and nominal values of the angle of heading (T) and of the mean curvature (C) of this traffic lane, and on the other hand sensors (40, 42) of the dynamics of the vehicle which deliver the longitudinal speed (Vx) and the rate of yaw (?') of this vehicle, characterized in that it calculates on the basis of these various nominal data items the values estimated individually for each of these lateral lines, of curvature (Cest. ri, Cest. le), of angle of heading (Test. ri, Test. le), and of lateral position of this line (Yest ri., Yest. le).</p> |
