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System and method for detection of vehicle lane departure

  • US 10,352,704 B2
  • Filed: 06/26/2018
  • Issued: 07/16/2019
  • Est. Priority Date: 01/17/2016
  • Status: Expired due to Fees
First Claim
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1. A computer-implemented method for operating a vehicle configured for autonomous operation, comprising steps of:

  • (1) in a lane departure detection computing device of a roadside device;

    (a) calculating a first path geometry relating to a first vehicle traveling in a first lane;

    (b) calculating a second path geometry relating to a second vehicle traveling in a second lane different from the first lane;

    (c) evaluating coextensive portions of the first path geometry and the second path geometry for parallelism;

    (d) if the coextensive portions of the first path geometry and the second path geometry evaluated for parallelism are parallel, repeating steps (a)-(d);

    (e) if the coextensive portions of the first path geometry and the second path geometry evaluated for parallelism are not parallel, determining that one of the first vehicle and the second vehicle is executing a lane departure; and

    (2) operating the vehicle configured for autonomous operation responsive to the determination that one of the first vehicle and the second vehicle is executing a lane departure.

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