According to some embodiments, a system pre-processes, via a first thread, a captured image perceiving an environment surrounding the ADV obtained from an image capturing device of the ADV. The system processes, via a second thread, the pre-processed image with a corresponding depth image captured by a ranging device of the ADV using a machine learning model to detect vehicle lanes. The system post-processes, via a third thread, the detected vehicle lanes to track the vehicle lanes relative to the ADV. The system generates a trajectory based on a lane line of the tracked vehicle lanes to control the ADV autonomously according to the trajectory.


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    Title :

    Lane/object detection and tracking perception system for autonomous vehicles


    Contributors:
    CHOE TAE EUN (author) / ZHU JUN (author) / CHEN I-KUEI (author) / CHEN GUANG (author) / ZHANG WEIDE (author)

    Publication date :

    2021-06-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / 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 / G06K Erkennen von Daten , RECOGNITION OF DATA / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL



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