A method for determining a lane centerline includes detecting a remote vehicle ahead of a host vehicle includes determining a trajectory of the remote vehicle that is ahead of the host vehicle, extracting features of the trajectory of the remote vehicle that is ahead of the host vehicle to generate a trajectory feature vector, and classifying the trajectory of the remote vehicle that is ahead of the host vehicle using the trajectory feature vector to determine whether the trajectory of the remote vehicle includes a lane change. The method further includes determining a centerline of the current lane using the trajectory of the remote vehicle that does not include the lane change and commanding the host vehicle to move autonomously along the centerline of the current lane to maintain the host vehicle in the current lane.
Learning based Lane Centerline Estimation Using Surrounding Traffic Trajectories
2024-05-02
Patent
Elektronische Ressource
Englisch