Lane keeping system using rear camera
First Claim
1. Method for controlling a vehicle to maintain a desired position on a roadway, comprising:
- monitoring roadway information behind the vehicle using a rearward detection device;
monitoring vehicle sensor information;
projecting frontward positional information employing a frontward positional information module and based on rearward positional information obtained from the monitored roadway information behind the vehicle, wherein projecting the frontward positional information based on rearward positional information obtained from the monitored roadway information behind the vehicle comprises;
obtaining a vehicle rearward lateral offset from the monitored roadway information and a vehicle rearward heading angle with respect to the monitored roadway information,applying geometric relationships to the obtained vehicle rearward lateral offset and the vehicle rearward heading angle to compensate for geometric delay, andprojecting a vehicle frontward lateral offset from frontward roadway information and a vehicle frontward heading angle with respect to frontward roadway information based on the geometric relationships applied to the obtained vehicle rearward lateral offset and the vehicle rearward heading angle;
estimating forward roadway curvature based on the monitored vehicle sensor information;
modeling roadway information ahead of the vehicle based on the projected frontward positional information and the estimated forward roadway curvature to determine desired vehicle positional information with respect to the modeled roadway information;
predicting future vehicle positional information with respect to the modeled roadway information based on the monitored vehicle sensor information and the estimated forward roadway curvature;
comparing the desired vehicle positional information to the predicted future vehicle positional information; and
generating a steering command based on a deviation in the predicted future vehicle positional information from the desired vehicle positional information to converge the predicted future vehicle positional information toward the desired vehicle positional information.
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Accused Products
Abstract
Method for controlling a vehicle to maintain a desired position on a roadway includes monitoring roadway information behind the vehicle using a rearward detection device and monitoring vehicle sensor information. Frontward positional information is projected based on rearward positional information obtained from the monitored roadway information behind the vehicle. Forward roadway curvature is estimated based on the vehicle sensor information. Roadway information ahead of the vehicle is modeled based on the projected frontward positional information and the estimated forward roadway curvature to determine desired vehicle positional information. Future vehicle positional information is predicted with respect to the modeled roadway information based on the monitored vehicle sensor information and the estimated forward roadway curvature. The desired vehicle position information is compared to the predicted future vehicle positional information and a steering command is generated based on a deviation in the predicted future position information from the desired vehicle positional information.
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Citations
19 Claims
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1. Method for controlling a vehicle to maintain a desired position on a roadway, comprising:
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monitoring roadway information behind the vehicle using a rearward detection device; monitoring vehicle sensor information; projecting frontward positional information employing a frontward positional information module and based on rearward positional information obtained from the monitored roadway information behind the vehicle, wherein projecting the frontward positional information based on rearward positional information obtained from the monitored roadway information behind the vehicle comprises; obtaining a vehicle rearward lateral offset from the monitored roadway information and a vehicle rearward heading angle with respect to the monitored roadway information, applying geometric relationships to the obtained vehicle rearward lateral offset and the vehicle rearward heading angle to compensate for geometric delay, and projecting a vehicle frontward lateral offset from frontward roadway information and a vehicle frontward heading angle with respect to frontward roadway information based on the geometric relationships applied to the obtained vehicle rearward lateral offset and the vehicle rearward heading angle; estimating forward roadway curvature based on the monitored vehicle sensor information; modeling roadway information ahead of the vehicle based on the projected frontward positional information and the estimated forward roadway curvature to determine desired vehicle positional information with respect to the modeled roadway information; predicting future vehicle positional information with respect to the modeled roadway information based on the monitored vehicle sensor information and the estimated forward roadway curvature; comparing the desired vehicle positional information to the predicted future vehicle positional information; and generating a steering command based on a deviation in the predicted future vehicle positional information from the desired vehicle positional information to converge the predicted future vehicle positional information toward the desired vehicle positional information. - 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 controlling a vehicle to maintain a desired position on a roadway, comprising:
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monitoring roadway information behind the vehicle using a rearward camera; monitoring vehicle sensor information; projecting frontward positional information employing frontward positional information module based on rearward positional information obtained from the monitored roadway information behind the vehicle, comprising obtaining a vehicle rearward lateral offset from the monitored roadway information and a vehicle rearward heading angle with respect to the monitored roadway information, applying geometric relationships to the obtained vehicle rearward lateral offset and the vehicle rearward heading angle to compensate for geometric delay, and projecting a vehicle frontward lateral offset from frontward roadway information and a vehicle frontward heading angle with respect to frontward roadway information based on the geometric and kinematics relationships applied to the obtained vehicle rearward lateral offset and the vehicle rearward heading angle; estimating forward roadway curvature based on the monitored vehicle sensor information, comprising tracking previously traversed GPS information, determining previously traversed roadway curvature based on the previously traversed GPS information, and estimating the forward roadway curvature based on the previously traversed roadway curvature and the monitored vehicle sensor information; modeling roadway information ahead of the vehicle based on the projected frontward positional information and the estimated forward roadway curvature to determine desired vehicle positional information with respect to the modeled roadway information; predicting future vehicle positional information with respect to the modeled roadway information based on the monitored vehicle sensor information and the estimated forward roadway curvature; comparing the desired vehicle positional information to the predicted future vehicle positional information; and generating a steering command based on a deviation in the predicted future vehicle positional information from the desired vehicle positional information to converge the predicted future vehicle positional information toward the desired vehicle positional information. - View Dependent Claims (18)
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19. Apparatus for autonomously controlling a vehicle to maintain a desired position on a roadway, comprising:
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a plurality of vehicle sensors; a rearward detection device; a steering module; and
alane keeping control module configured to; monitor roadway information behind the vehicle using the rearward detection device, monitor vehicle sensor information from the plurality of vehicle sensors, project frontward positional information based on rearward positional information obtained from the monitored roadway information behind the vehicle, estimate forward roadway curvature based on the monitored vehicle sensor information, model roadway information ahead of the vehicle based on the projected frontward positional information and the estimated forward roadway curvature to determine desired vehicle positional information with respect to the modeled roadway information, predict future vehicle positional information with respect to the modeled roadway information based on the monitored vehicle sensor information and the estimated forward roadway curvature, compare the desired vehicle positional information to the predicted future vehicle positional information, and generate a steering command based on a deviation in the predicted future vehicle positional information from the desired vehicle positional information to converge the predicted future vehicle positional information toward the desired vehicle positional information.
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Specification