Patent EP-4292071-A1 (EP)
Inventor: ANDREETTO MARCO
IPC: G08G1/16
Filed: 2022-02-07
Abstract: An automotive electronic system (1) designed to allow automotive cooperative lane- level relative localization based on inter-vehicular communication of two motor vehicles (2, 3) each equipped with such an automotive electronic system (1), comprising: - an automotive sensory system (4) configured to output an output such as to allow right and left lane lines which delimit a lane traveled by the motor vehicle (2, 3) to be identified; - an automotive geo-location system (5) configured to output position data indicative of a geographical position of the motor vehicle (2, 3); - an automotive communication interface (7) configured to allow the motor vehicle (2, 3) to communicate with other motor vehicles through an inter-vehicular communication based on inter-vehicular messaging; and - automotive electronic storing and processing resources (8) in communication with the automotive sensory system (4) to receive the output therefrom, with the automotive geo-location system (5) to receive the position data therefrom, and with the automotive communication interface (7) and designed to allow the lane-level relative localization of two motor vehicles (2, 3). In order to allow the lane-level relative localization of the first motor vehicle (2) by the second motor vehicle (3), the automotive electronic storing and processing resources (8) of the first motor vehicle (2) are configured to: - identify, based on the output of the automotive sensory system (4), the right and left lane lines which delimit the lane traveled by the first motor vehicle (2); - compute, based on the identified right and left lane lines, the right and left distances of the first motor vehicle (2) from the identified right and left lane lines; and - transmit to the second motor vehicle (3), via the inter-vehicular communication interface (7), inter-vehicular messages containing position data indicative of the geographical position of the first motor vehicle (2) and distance data representative of the right and left distances of the first motor vehicle (2) from the identified right and left lane lines. In order to allow the lane-level relative localization of the second motor vehicle (3) by the first motor vehicle (2), the automotive electronic storing and processing resources (8) of the first motor vehicle (2) are configured to: - receive, via the motor automotive communication interface (7) inter-vehicular messages transmitted by the second motor vehicle (3) and containing position data indicative of the geographical position of the second motor vehicle (3) and outputted by the automotive geo-location system (5) of the second motor vehicle (3) and distance data representative of the left and right distances of the second motor vehicle (3) from the right and left lane lines which delimit the lane traveled by the second motor vehicle (3) and identified based on the output of the automotive sensory system (4) of the second motor vehicle (3); - extract position and distance data contained in the V2V messages received by the second motor vehicle (3); and - lane-level localize the second motor vehicle (3) relative to the first motor vehicle (2) based on the geographical position of the first motor vehicle (2), on the right and left lane lines which delimit the lane traveled by the first motor vehicle (2) and on the geographical position of the second motor vehicle (3) and the left and right distances of the second motor vehicle (3) from the right and left lane lines which delimit the lane traveled by the second motor vehicle (3) extracted from the inter- vehicular messages transmitted by the second motor vehicle (3). The electronic automotive system (1) therefore allows any two motor vehicles communicating with each other via inter-vehicular messages to map-free lane-level localize each other relatively and bidirectionally.