SYSTEM AND METHOD OF LANE PATH ESTIMATION USING SENSOR FUSION
First Claim
1. Method for estimating a projected path of travel for a vehicle on a road, the method comprising:
- monitoring a plurality of sensor inputs;
determining a road geometry in front of the vehicle based upon the monitored sensor inputs;
determining a vehicle position in relation to the road geometry based upon the monitored sensor inputs;
determining a plurality of particle points in front of the vehicle representing a potential path of travel from the road geometry and the vehicle position; and
utilizing iteratively determined ones of the plurality of particle points to navigate the vehicle including omitting ones of the plurality of particle points passed by the vehicle.
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Abstract
A method for estimating a projected path of travel for a vehicle on a road includes monitoring a plurality of sensor inputs, determining a road geometry in front of the vehicle based upon the monitored sensor inputs, determining a vehicle position in relation to the road geometry based upon the monitored sensor inputs, determining a plurality of particle points in front of the vehicle representing a potential path of travel from the road geometry and the vehicle position, and utilizing iteratively determined ones of the plurality of particle points to navigate the vehicle including omitting ones of the plurality of particle points passed by the vehicle.
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Citations
20 Claims
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1. Method for estimating a projected path of travel for a vehicle on a road, the method comprising:
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monitoring a plurality of sensor inputs; determining a road geometry in front of the vehicle based upon the monitored sensor inputs; determining a vehicle position in relation to the road geometry based upon the monitored sensor inputs; determining a plurality of particle points in front of the vehicle representing a potential path of travel from the road geometry and the vehicle position; and utilizing iteratively determined ones of the plurality of particle points to navigate the vehicle including omitting ones of the plurality of particle points passed by the vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. Method for estimating a projected path of travel for a vehicle on a road, the method comprising:
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monitoring a plurality of sensor inputs describing a road geometry in front of the vehicle; determining a set of particle points for each of the sensor inputs, comprising; determining the road geometry in front of the vehicle based upon the respective sensor input; determining a vehicle position in relation to the road geometry based upon the respective sensor input; and utilizing the road geometry and the vehicle position to determine the set of particle points for the respective sensor input representing a potential path of travel; fusing the sets of particle points for each of the sensor inputs into a set of fused particle points; and utilizing iterative determinations of the set of fused particle points to operate the vehicle, wherein utilizing iterative determinations comprises omitting individual particle points of the sets of fused particle points passed by the vehicle. - View Dependent Claims (18, 19, 20)
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Specification