A lane departure detection system detects that an autonomous driving vehicle (ADV) is departing from the lane in which the ADV is driving based on sensor data captured when the ADV contact a deceleration curb such as a speed bump laid across the lane. When the ADV contacts the deceleration curb, the lane departure detection system detects and calculates an angle of a moving direction of the ADV vs a longitudinal direction of the deceleration curb. Based on the angle, the system calculates how much the moving direction of the ADV is off compared to a lane direction of the lane. The lane direction is typically substantially perpendicular to the longitudinal direction of the deceleration curb. A control command such as a speed control command and/or a steering control command is generated based on the angle to correct the moving direction of the ADV.


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    Title :

    Deceleration curb-based direction checking and lane keeping system for autonomous driving vehicles


    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 :

    2020-02-04


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    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



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    ZHU FAN / KONG QI / LUO QI et al. | European Patent Office | 2018

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