A system for a lane keeping feature of a vehicle is provided. The lane keeping feature has a predefined safety requirement criterion for keeping the vehicle within bounds while the lane keeping feature is active. The system comprises a road estimation module and a trajectory planning module. The road estimation module is configured to receive sensor data comprising information about a surrounding environment of the vehicle, and to determine a drivable area based on the sensor data. The drivable area comprises a left boundary and a right boundary extending along a direction of travel of the vehicle, wherein each boundary comprises a plurality of points distributed along each boundary, each point being associated with a confidence level. The trajectory planning module is configured to receive the determined drivable area, and to determine a nominal trajectory for the vehicle based on the received drivable area. The nominal trajectory is determined based on the predefined safety requirement criterion and a predefined availability criterion. The trajectory planning module is further configured to determine a back-up stop trajectory for the vehicle based on the received drivable area, where the back-up stop trajectory is determined based on a predefined confidence criterion. The predefined confidence criterion is dependent on a predefined value of frequency of back-up stops that is based on the predefined availability criterion for the nominal trajectory.
LANE KEEPING FOR AUTONOMOUS VEHICLES
SPURHALTUNG FÜR AUTONOME FAHRZEUGE
MAINTIEN DE VOIE POUR VÉHICULES AUTONOMES
2021-03-03
Patent
Elektronische Ressource
Englisch
IPC: | B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
Automated lane keeping co-pilot for autonomous vehicles
Europäisches Patentamt | 2018
|Automated Lane Keeping Co-Pilot For Autonomous Vehicles
Europäisches Patentamt | 2018
|LANE CURB ASSISTED OFF-LANE CHECKING AND LANE KEEPING SYSTEM FOR AUTONOMOUS DRIVING VEHICLES
Europäisches Patentamt | 2018
|LANE CURB ASSISTED OFF-LANE CHECKING AND LANE KEEPING SYSTEM FOR AUTONOMOUS DRIVING VEHICLES
Europäisches Patentamt | 2020
|