Patent ID: 11884277
Assignee: BAYERISCHE MOTOREN WERKE AKTIENGESELLSCHAFT
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 12:
13. A surround model unit, comprising:
a receiving device that receives objects, free-space boundaries, roadway limitations and/or sensor data of at least one sensor system; and
a processor that executes processing to:
identify objects, free-space boundaries and roadway limitations based on the sensor data, define:
a plurality of non-overlapping lane segments to each have a closed lane segment boundary that bounds a virtual area within a roadway lane surrounding the vehicle, based on each side of the closed lane segment boundary corresponding to one or more of: confines of the identified objects, free-space boundaries and roadway limitations, wherein the virtual area indicates a corresponding area of the roadway lane that can be freely traveled, and
a lane as a set of the non-overlapping lane segments that indicate a collective area surrounding the vehicle that can be freely traveled, wherein the collective area is a non-overlapping distribution of the virtual areas, determine a vehicle-related distance with respect to the lane segment boundary of the lane, and

generate a computer model of the area surrounding the vehicle, the computer model having the defined lane; and

a output unit for sending the computer model to a driver assistance system that controls the vehicle in an automated driving mode based on the computer model.