System, methods, and other embodiments described herein relate to lane keeping in a vehicle. In one embodiment, a method includes determining lane boundaries according to at least the sensor data and a map. The method includes defining a reference system over a lane defined by the lane boundaries. The method includes evaluating vehicle boundary points within the reference system as a cost in optimizing a trajectory of the vehicle and using an R-function that defines geometric relationships between the vehicle boundary points and the reference system. The method includes providing an indicator about the trajectory to control the vehicle.
Systems and methods for using R-functions and semi-analytic geometry for lane keeping in trajectory planning
2023-02-21
Patent
Electronic Resource
English
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 / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G06V |
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