In one embodiment, a lane departure detection system detects at a first point in time that a wheel of an ADV rolls onto a lane curb disposed on an edge of a lane in which the ADV is moving. The system detects at a second point in time that the wheel of the ADV rolls off the lane curb of the lane. The system calculates an angle between a moving direction of the ADV and a lane direction of the lane based on the time difference between the first point in time and the second point in time in view of a current speed of the ADV. The system then generates a control command based on the angle to adjust the moving direction of the ADV in order to prevent the ADV from further drifting off the lane direction of the lane.


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    Title :

    LANE CURB ASSISTED OFF-LANE CHECKING AND LANE KEEPING SYSTEM FOR AUTONOMOUS DRIVING VEHICLES


    Additional title:

    BORDSTEINUNTERSTÜTZTE AUSSERSPURKONTROLLE UND SPURHALTESYSTEM FÜR AUTONOME FAHRZEUGE
    SYSTÈME DE MAINTIEN DE VOIE ET DE VÉRIFICATION DE SORTIE DE VOIE ASSISTÉ PAR UNE BORDURE DE VOIE POUR VÉHICULES À CONDUITE AUTONOME


    Contributors:
    ZHU FAN (author) / KONG QI (author) / LUO QI (author) / YU XIANG (author) / HU SEN (author) / ZHU ZHENGUANG (author) / FU XIAOXIN (author) / HE JIARUI (author) / LI HONGYE (author) / PAN YUCHANG (author)

    Publication date :

    2020-09-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / 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



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