| 摘要 |
An improved probabilistic lane assignment method for detected objects (24) in the scene forward of a host vehicle (10). Road/lane model parameters, preferably including an angular orientation of the host vehicle (10) in its lane, are estimated from host vehicle sensor systems (26-36), taking into account measurement uncertainty in each of the constituent parameters. A probabilistic assignment of the object's lane is then assessed based on the road/lane model parameters and object measurements, again taking into account measurement uncertainty in both the road/lane model and object measurements (100-108). According to a first embodiment, the probabilistic assignment is discrete in nature, indicating a confidence or degree-of-belief that the detected object (24) resides in each of a number of lanes (94). According to a second embodiment, the probabilistic assignment is continuous in nature, providing a lateral separation distance between the host vehicle (10) and the object (24), and a confidence or degree-of-belief in the lateral separation distance (110). |
