Distinguishing lane markings for a vehicle to follow
First Claim
1. A method for automated control of a vehicle based on roadway surface lane markings, the method comprising a processor:
- accessing sensor data from a plurality of sensors at the vehicle, the plurality of sensors monitoring a roadway where the vehicle is traveling;
determining bounding boxes from the accessed sensor data, the bounding boxes representing regions of interest in the roadway for distinguishing roadway surface lane markings and neighboring vehicles;
processing the accessed sensor data within the bounding boxes to identify multiple sets of roadway surface lane markings;
utilizing the sensor data to identify a set of roadway surface lane markings, from among the multiple sets of roadway surface lane markings, the vehicle is to follow; and
controlling the vehicle within a lane of the roadway by following the set of roadway surface lane markings.
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Accused Products
Abstract
The present invention extends to methods, systems, and computer program products for distinguishing lane markings for a vehicle to follow. Automated driving or driving assist vehicles utilize sensors to help the vehicle navigate on roadways or in parking areas. The sensors can utilize, for example, the painted surface markings to help guide the vehicle on its path. Aspects of the invention use a first type of sensor and at least a second different type of sensor to identify road surface markings. When ambiguity is detected between road surface markings, decision making algorithms identify the correct set of markings for a vehicle to abide by. The sensors also identify the location and trajectory of neighboring vehicles to increase confidence with respect to the identified road-surface markings.
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Citations
20 Claims
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1. A method for automated control of a vehicle based on roadway surface lane markings, the method comprising a processor:
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accessing sensor data from a plurality of sensors at the vehicle, the plurality of sensors monitoring a roadway where the vehicle is traveling; determining bounding boxes from the accessed sensor data, the bounding boxes representing regions of interest in the roadway for distinguishing roadway surface lane markings and neighboring vehicles; processing the accessed sensor data within the bounding boxes to identify multiple sets of roadway surface lane markings; utilizing the sensor data to identify a set of roadway surface lane markings, from among the multiple sets of roadway surface lane markings, the vehicle is to follow; and controlling the vehicle within a lane of the roadway by following the set of roadway surface lane markings. - View Dependent Claims (2, 3, 4, 5)
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6. A method for use at a computer system, the computer system including one or more processors and system memory, the method for automatically controlling a vehicle by distinguishing road-surface markings on a roadway, the method comprising the one or more processors:
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accessing sensor data from a plurality of sensors, the plurality of sensors monitoring the roadway where the vehicle is traveling, the plurality of sensors including a first type of sensor and at least a second different type of sensor, the sensor data indicating road-surface markings, the road-surface markings including intensity of color and reflectivity, the sensor data also indicating the location and trajectory of neighboring vehicles; determining bounding boxes from the accessed sensor data, the bounding boxes representing regions of interest for distinguishing road-surface markings and neighboring vehicles; processing the accessed sensor data within the bounding boxes to determine that multiple road-surface markings are present; in response to determining that multiple road-surface markings are present; utilizing the sensor data to identify road-surface markings, from among the multiple road-surface markings, the vehicle is to follow; using the location and trajectory of neighboring vehicles to increase confidence with respect to the identified road-surface markings; and controlling the vehicle'"'"'s location and trajectory on the roadway by following the identified road-surface markings. - View Dependent Claims (7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A vehicle comprising:
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one or more processors; system memory, the system memory storing instructions that are executable by the one or more processors; a plurality of sensors, the plurality of sensors including a first type of sensor and at least a second different type of sensor, the plurality of sensors monitoring a roadway where the vehicle is traveling; the one or more processors executing the instructions stored in the system memory to automatically control the vehicle, including the following; access sensor data from the plurality of sensors, the sensor data indicating road-surface markings the road-surface markings including intensity of color and reflectivity, the sensor data also indicating the location and trajectory of neighboring vehicles; determine bounding boxes from the accessed sensor data, the bounding boxes representing regions of interest for distinguishing road-surface markings and neighboring vehicles; process the accessed sensor data within the bounding boxes to determine that multiple road-surface markings are present; in response to determining that multiple road-surface markings are present; utilize the sensor data to identify road-surface markings, from among the multiple road-surface markings, the vehicle is to follow; use the location and trajectory of neighboring vehicles to increase confidence with respect to the identified road-surface markings; and control the vehicle'"'"'s location and trajectory on the roadway by following the identified road-surface markings. - View Dependent Claims (17, 18, 19, 20)
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Specification