A method of predicting lane boundaries 13 when lane boundary detecting is unavailable, by determining current vehicle location using satellite positioning system (GPS), identifying a specific scenario 16 surrounding the vehicle at the current location from a navigation map, obtaining a road curvature geometry shape 15 from the navigation map, based on the current location and the orientation of the vehicle, predicting the location of the lane boundaries 13 based on the road curvature data, vehicle location and orientation, and historic sensing data of the same location. The sensors may fail to detect lane boundaries due to the lack of landmarks, road markings, kerb, guideposts, guard rails etc. in an intersection, historic city area, or a rural region. Gyroscopic sensors and/or odometry accumulation may determine vehicle location (lateral position) and orientation (yaw angle). The curvature data 15 from the map may be matched to the historic road curvature measurements. The predicted lane boundary may be used for driver assists or autonomous driving. If lane boundary cannot be determined, an alert may be generated.
Method for determining lane boundaries, driving system and vehicle
2025-04-09
Patent
Electronic Resource
English
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