Lane keeping system for autonomous vehicle during camera drop-outs

• US 9,840,253 B1
• Filed: 06/14/2016
• Issued: 12/12/2017
• Est. Priority Date: 06/14/2016
• Status: Active Grant

• Current Assignee: Aptiv Technologies AG
• Original Assignee: Delphi Technologies, Inc. (BorgWarner Incorporated)
• Inventors: Prasad, Premchand Krishna, Greene, Jeremy S., Martindale, Paul R.
• Primary Examiner(s): Kiswanto, Nicholas
• Assistant Examiner(s): Taveras, Kenny A
• Application Number:
  US15/181,915
• Publication Number:
  US 20170355366A1
• Time in Patent Office: 546 Days
• Field of Search: None
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2710/18 Braking system
• CPC Class Codes: B60W 2710/20 Steering systems
• CPC Class Codes: B60W 2710/22 Suspension systems
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B62D 15/025 Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation B62D1/28 takes precedence
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means

Abstract

An environmental sensing system relating to vehicle lane position includes first and second sensors respectively configured to provide first and second signals indicative of a vehicle lane position. A steering system achieves a desired lane position in response to a command from a controller to keep the vehicle in its lane, for example, during autonomous control of the vehicle. The controller uses the first signal if the first sensor provides a desired lane marker confidence. The controller switches to the second sensor and uses the second signal if the first sensor cannot provide the desired lane marker confidence and the second sensor can provide the desired lane marker confidence.

Claims

1. A method of sensing an environment of a vehicle, the method comprising the steps of:

controlling a vehicle lane position based upon a first signal from a first sensor;

determining whether the first sensor cannot provide a desired lane marker confidence;

switching from the first sensor to a second sensor based on the determination that the first sensor cannot provide a desired lane marker confidence; and

after determining that the first sensor cannot provide a desired lane marker confidence;

controlling the vehicle lane position based upon the second signal from the second sensor, provided that the second sensor can provide the desired lane marker confidence and a predetermined time has not been exceeded.

2. The method according to claim 1, wherein the first sensor is at least one of a camera sensor, radar sensor, infrared sensor and LIDAR sensor.

3. The method according to claim 2, wherein the first sensor is an integrated camera sensor and radar sensor.

4. The method according to claim 1, wherein the first sensor is forward facing.

5. The method according to claim 4, wherein the second sensor is one of a side view camera and a rear view camera.

6. The method according to claim 1, wherein the first sensor cannot provide the desired lane marker confidence due to glare on the first sensor.

7. The method according to claim 1, wherein the switching step includes applying a control algorithm using data from the second signal to determine the desired lane marker confidence.

8. The method according to claim 7, wherein the switching step includes applying a filter to the data to identify lane marker edges, and converting the lane marker edges to a coordinate system.

9. The method according to claim 7, wherein the switching step includes determining whether the lane marker edges in the coordinate system are similar to previously provided data from the first sensor.

10. The method according to claim 1, comprising the step of returning steering control of the vehicle to the driver provided that the step of controlling the vehicle lane position based upon the second signal is not performed within the predetermined time.

11. The method according to claim 1, wherein the vehicle lane position is not controlled based upon the first signal while controlling the vehicle lane position based upon the second signal.

12. An environmental sensing system relating to vehicle lane position, comprising:

a first sensor configured to provide a first signal indicative of a vehicle lane position;

a second sensor configured to provide a second signal indicative of the vehicle lane position;

a steering system configured to achieve a desired lane position in response to a command; and

a controller in communication with the steering system and the first and second sensors and configured to provide the command based upon one of the first and second signals, the controller configured to use the first signal if the first sensor provides a desired lane marker confidence, the controller configured to switch to the second sensor and use the second signal if the first sensor cannot provide the desired lane marker confidence and the second sensor can provide the desired lane marker confidence and a predetermined time has not been exceeded.

13. The system according to claim 12, wherein the first sensor is at least one of a camera sensor, radar sensor, infrared sensor and LIDAR sensor.

14. The system according to claim 13, wherein the first sensor is an integrated camera sensor and radar sensor.

15. The system according to claim 12, wherein the first sensor is forward facing.

16. The system according to claim 15, wherein the second sensor is one of a side view camera and a rear view camera.

17. The system according to claim 12, wherein the first sensor cannot provide the desired lane marker confidence due to temporary failure of the first sensor.

18. The system according to claim 12, wherein the switching step includes applying a control algorithm using data from the second signal to determine the desired lane marker confidence, the switching step includes applying a filter to the data to identify lane marker edges, and converting the lane marker edges to a vehicle coordinate system, and the switching step includes determining whether the lane marker edges in the vehicle coordinate system are similar to previously provided data from the first sensor.

19. The system according to claim 12, comprising the step of returning steering control of the vehicle if the step of controlling the vehicle lane position based upon the second signal is not performed within the predetermined time.

20. The system according to claim 12, wherein the vehicle lane position is not controlled based upon the first signal while controlling the vehicle lane position based upon the second signal.