Anchor lane selection method using navigation input in road change scenarios
First Claim
1. A method for selecting an anchor lane in a vehicle lane tracking system, said method comprising:
- predicting lane information for a vehicle using digital map data, including determining whether an exit or entrance lane is present;
using a controller to predict lane information for the vehicle using leading vehicle trajectory data;
obtaining from a vision system at least one of left lane marker data and/or right lane marker data;
performing a lane curvature fusion calculation using the digital map data, the leading vehicle trajectory data and the lane marker data from the vision system, where the lane curvature fusion calculation is performed on a microprocessor in the vehicle lane tracking system;
comparing the lane marker data from the vision system to the digital map data and the leading vehicle trajectory data; and
selecting an anchor lane for tracking based on whether the exit or entrance lane is present and the comparison of the lane marker data from the vision system to the digital map data and the leading vehicle trajectory data.
3 Assignments
0 Petitions
Accused Products
Abstract
A method for selecting an anchor lane for tracking in a vehicle lane tracking system. Digital map data and leading vehicle trajectory data are used to predict lane information ahead of a vehicle. Left and right lane boundary markers are also detected, where available, using a vision system. The lane marker data from the vision system is combined with the lane information from the digital map data and the leading vehicle trajectory data in a lane curvature fusion calculation. The left and right lane marker data from the vision system are also evaluated for conditions such as parallelism and sudden jumps in offsets, while considering the presence of entrance or exit lanes as indicated by the map data. An anchor lane for tracking is selected based on the evaluation of the vision system data, using either the fused curvature calculation or the digital map and leading vehicle trajectory data.
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Citations
20 Claims
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1. A method for selecting an anchor lane in a vehicle lane tracking system, said method comprising:
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predicting lane information for a vehicle using digital map data, including determining whether an exit or entrance lane is present; using a controller to predict lane information for the vehicle using leading vehicle trajectory data; obtaining from a vision system at least one of left lane marker data and/or right lane marker data; performing a lane curvature fusion calculation using the digital map data, the leading vehicle trajectory data and the lane marker data from the vision system, where the lane curvature fusion calculation is performed on a microprocessor in the vehicle lane tracking system; comparing the lane marker data from the vision system to the digital map data and the leading vehicle trajectory data; and selecting an anchor lane for tracking based on whether the exit or entrance lane is present and the comparison of the lane marker data from the vision system to the digital map data and the leading vehicle trajectory data. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method for selecting an anchor lane in a vehicle lane tracking system, said method comprising:
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predicting lane information for a vehicle using digital map data including navigational route data for the vehicle; using a controller to predict lane information for the vehicle using leading vehicle trajectory data; obtaining from a vision system at least one of left lane marker data and/or right lane marker data; performing a lane curvature fusion calculation using the digital map data, the leading vehicle trajectory data and the lane marker data from the vision system, where the lane curvature fusion calculation is performed on a microprocessor in the vehicle lane tracking system; comparing the lane marker data from the vision system to the digital map data and the leading vehicle trajectory data, including discarding the lane marker data from the vision system on a side of the vehicle where an exit or entrance lane is present; and selecting an anchor lane for tracking based on the comparison of the lane marker data from the vision system to the digital map data and the leading vehicle trajectory data, including determining whether left and right lane boundaries are parallel, performing a curvature consistency calculation if the left and right lane boundaries are not parallel but no exit or entrance lane is present, and using a lower curvature consistency value to identify the anchor lane for tracking. - View Dependent Claims (13, 14)
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15. A lane tracking system for a vehicle comprising:
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input channels for receiving data from a navigation &
digital map system, a vision system, an object detection sensor and a vehicle dynamics system;a memory module for storing the received data and any calculated data; and a processor configured to perform a lane curvature fusion calculation using lane data from the navigation &
digital map system, leading vehicle trajectory data from the object detection sensor and lane marker data from the vision system, said processor being further configured to select an anchor lane for tracking based on whether an exit or entrance lane is present and a comparison of the lane marker data from the vision system to the lane data from the navigation &
digital map system and the leading vehicle trajectory data from the object detection sensor. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification