METHOD OF MISALIGNMENT CORRECTION AND DIAGNOSTIC FUNCTION FOR LANE SENSING SENSOR
First Claim
1. A method of diagnosing a state of health of a vision-based lane sensing system for a vehicle, the method comprising the steps of:
- calculating a first misalignment factor as a function of a vehicle lateral offset and a vehicle heading;
calculating a second misalignment factor as a function of a vehicle speed, an estimated curvature of an expected path of travel of the vehicle, a lane curvature of a traveled road, and the vehicle heading;
generating a histogram for the first misalignment factor and a histogram for the second misalignment factor;
determining a probability of a state of health based on the histogram of first misalignment factor and the histogram of the second misalignment factor;
determining whether the probability of the state of health is within a predetermined threshold; and
estimating an angle misalignment of the vision system;
correcting the angle misalignment of the vision system in response to the determination that the probability of the state of health is within the predetermined threshold;
otherwise actuating a warning of a faulty lane sensing system.
1 Assignment
0 Petitions
Accused Products
Abstract
A method of diagnosing a state of health of a vision-based lane sensing system. A first misalignment factor is calculated as a function of a vehicle lateral offset and a vehicle heading. A second misalignment factor is calculated as a function of a vehicle speed, an estimated curvature of an expected path of travel, a lane curvature, and the vehicle heading. Histograms are generated for the first and second misalignment factors. A probability of a state of health is determined. A determination is made whether the probability of the state of health is within a predetermined threshold. An angle misalignment of the vision system is estimated. The angle misalignment of the vision system is corrected in response to the determination that the probability of the state of health is within the predetermined threshold; otherwise a warning of a faulty lane sensing system is actuated.
-
Citations
14 Claims
-
1. A method of diagnosing a state of health of a vision-based lane sensing system for a vehicle, the method comprising the steps of:
-
calculating a first misalignment factor as a function of a vehicle lateral offset and a vehicle heading; calculating a second misalignment factor as a function of a vehicle speed, an estimated curvature of an expected path of travel of the vehicle, a lane curvature of a traveled road, and the vehicle heading; generating a histogram for the first misalignment factor and a histogram for the second misalignment factor; determining a probability of a state of health based on the histogram of first misalignment factor and the histogram of the second misalignment factor; determining whether the probability of the state of health is within a predetermined threshold; and estimating an angle misalignment of the vision system; correcting the angle misalignment of the vision system in response to the determination that the probability of the state of health is within the predetermined threshold;
otherwise actuating a warning of a faulty lane sensing system. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
-
Specification