A lane-changing system suitable for use on an automated host-vehicle includes a camera, an inertial-measurement-unit, and a controller. The camera detects a lane-marking of a roadway traveled by a host-host-vehicle. The inertial-measurement-unit determines relative-motion of the host-host-vehicle. The controller is in communication with the camera and the inertial-measurement-unit. While the lane-marking is detected the controller steers the host-host-vehicle towards a centerline of an adjacent-lane of the roadway based on a last-position and a current-vector, and determines an offset-vector indicative of motion of the host-host-vehicle relative to the current-vector. While the lane-marking is not detected the controller determines an offset-position relative to the last-position based on information from the inertial-measurement-unit, determines a correction-vector used to steer the host-host-vehicle from the offset-position towards the centerline of the adjacent-lane of the roadway based on the last-position and the offset-vector, and steers the host-host-vehicle according to the correction-vector towards the centerline of the adjacent-lane.
LANE-CHANGING SYSTEM FOR AUTOMATED VEHICLES
2018-09-13
Patent
Elektronische Ressource
Englisch