A computer-implemented method, apparatus, and system for receiving and calibrating lateral deviation values and for controlling an autonomous vehicle to correct the lateral deviation is described. In every perception and planning cycle, a single lateral deviation value representative of an estimated autonomous vehicle lateral deviation from a reference line (e.g., corresponding to a center of the lane) is generated based on camera detection. The deviation value for a present cycle is received. A calibrated deviation value can be updated for the present cycle based on the received deviation value and a Gaussian distribution model. Control signals for the present cycle are generated to drive the autonomous vehicle to at least partially correct the autonomous vehicle lateral deviation based on the updated calibrated deviation value.


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    Title :

    Camera-based low-cost lateral position calibration method for level-3 autonomous vehicles


    Contributors:
    XU XIN (author) / ZHU FAN (author) / MA LIN (author)

    Publication date :

    2021-11-23


    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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL



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