An autonomous vehicle (AV) is automatically navigated within a a driving lane. Lane line data is received from one or more sensors, such as one or more cameras. A first parametric curve can be matched to a location of a first lane line detected from the lane line data. A second parametric curve can be matched to a location of a second lane line detected from the lane line data. A center parametric curve can be then generated in the center of the first parametric curve and the second parametric curve. The center parametric curve is then sampled to generate a discrete vector of trajectory points along the center parametric curve. The AV is then navigated along the road based on the trajectory points.
LANE KEEP CONTROL OF AUTONOMOUS VEHICLE
2020-12-03
Patent
Elektronische Ressource
Englisch
IPC: | 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 / G06K Erkennen von Daten , RECOGNITION OF DATA |