System and method for lane boundary estimation and host vehicle position and orientation
First Claim
1. A method for lane boundary estimation and host vehicle position and orientation, said method comprising:
- a global positioning system transmitting position of one or more vehicles to a path history module;
said path history module generating history of coordinates of said one or more vehicles;
a lane boundary estimation module generating statistical distribution curves representing said history of coordinates of said one or more vehicles in each of two coordinates in two-dimensional plane;
a clustering module generating clusters based on said statistical distribution curves representing said history of coordinates of said one or more vehicles;
a lane determination module setting width and position of each lane in highway based on said clusters; and
a processor combining results of said width and said position of each lane in said highway, to get an overall width and position of all lanes in said highway.
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Accused Products
Abstract
Lane Boundary Estimation and Host Vehicle Position and Orientation, within the host lane estimation, using V2V (vehicle to vehicle) system, are discussed here. Lane boundary detection and tracking is essential for many active safety/ADAS application. The lane boundary position enables the tracking of the host vehicle position and orientation inside the lane. It also enables classifying in-lane, adjacent lanes, and other lanes vehicles. These two functionalities (lane boundary estimation and vehicle lane classifications) enable active safety applications (such as LDW, FCW, ACC, or BSD). It also enables the lateral control of the vehicle for lane keeping assist system, or for full lateral control for automated vehicle (automated for one or multiple lane changes).
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Citations
29 Claims
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1. A method for lane boundary estimation and host vehicle position and orientation, said method comprising:
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a global positioning system transmitting position of one or more vehicles to a path history module; said path history module generating history of coordinates of said one or more vehicles; a lane boundary estimation module generating statistical distribution curves representing said history of coordinates of said one or more vehicles in each of two coordinates in two-dimensional plane; a clustering module generating clusters based on said statistical distribution curves representing said history of coordinates of said one or more vehicles; a lane determination module setting width and position of each lane in highway based on said clusters; and a processor combining results of said width and said position of each lane in said highway, to get an overall width and position of all lanes in said highway. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29)
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Specification