| 摘要 |
The method involves determining road (1) geometry data and determining route data of the vehicle (0). The position of the vehicle on the road is determined by comparing the road geometry data with the route data. The road geometry data are detected using optical sensors on the vehicle. The route data are determined from a path/speed signal and/or steering angle or wheel speed sensors, and/or gyro sensors and/or using GPS. The route data and the road geometry data for a given journey may be stored in memory. A vehicle lane detector on the vehicle may be used to determine the road geometry data from side markings on the lane (3) and detect lane changes.
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