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

Claim 15:
16. A vehicle, comprising:
at least one sensor system for detecting surroundings of the vehicle;
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,

generate a computer model of the area surrounding the vehicle, the computer model having the defined lane, and
determine a vehicle-related distance with respect to the lane segment boundary of the lane; and

a driver assistance system that receives the computer model, including the defined lane, from the surround model unit, wherein the driver assistance systems controls the vehicle in an automated driving mode, based on the computer model, to regulate at least one operating parameter of the vehicle based on the defined lane.