Enhanced vehicle operation
First Claim
1. A system, comprising a computer including a processor and a memory, the memory storing instructions executable by the computer to:
- determine a sensor confidence value that is a measure of reliability of roadway data collected by a sensor in a lane assist subsystem in a vehicle;
upon determining that the sensor confidence value is below a confidence value threshold, then determine a section curvature for a section of a roadway, the section curvature including at least one section start point and at least one section end point, wherein the section curvature is determined based at least in part on a heading angle, the heading angle defining an angle between a projected line of travel of the vehicle and a line segment from a vehicle position to the section end point;
replace a lane boundary distance determined by the roadway data collected for the lane assist subsystem for the section of the roadway by predicting a distance to a lane boundary based at least in part on the determined section curvature; and
actuate one or more vehicle subsystems to operate in the section of the roadway based at least in part on the predicted distance to the lane boundary in the section of the roadway.
1 Assignment
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Accused Products
Abstract
A confidence value is determined for data collected for a lane assist subsystem in a vehicle. A section curvature is identified for a section of a roadway when the confidence value is below a confidence value, threshold. The section curvature includes at least one section start point and at least one section end point. The section curvature is based at least in part on a heading angle, the heading angle defining an angle between a projected line of travel of the vehicle and a line segment from a vehicle position to the section end point. A distance to a lane boundary is predicted based at least in part on the identified section curvature. One or more vehicle subsystems is actuated based at least in part on the predicted distance to the lane boundary.
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Citations
20 Claims
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1. A system, comprising a computer including a processor and a memory, the memory storing instructions executable by the computer to:
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determine a sensor confidence value that is a measure of reliability of roadway data collected by a sensor in a lane assist subsystem in a vehicle; upon determining that the sensor confidence value is below a confidence value threshold, then determine a section curvature for a section of a roadway, the section curvature including at least one section start point and at least one section end point, wherein the section curvature is determined based at least in part on a heading angle, the heading angle defining an angle between a projected line of travel of the vehicle and a line segment from a vehicle position to the section end point; replace a lane boundary distance determined by the roadway data collected for the lane assist subsystem for the section of the roadway by predicting a distance to a lane boundary based at least in part on the determined section curvature; and actuate one or more vehicle subsystems to operate in the section of the roadway based at least in part on the predicted distance to the lane boundary in the section of the roadway. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method, comprising:
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determining a sensor confidence value that is a measure of reliability of roadway data collected by a sensor in a lane assist subsystem in a vehicle; upon determining that the sensor confidence value is below a confidence value threshold, then determining a section curvature for a section of a roadway, the section curvature including at least one section start point and at least one section end point, wherein the section curvature is based at least in part on a heading angle, the heading angle defining an angle between a projected line of travel of the vehicle and a line segment from a vehicle position to the section end point; replacing a lane boundary distance determined by the roadway data collected for the lane assist subsystem for the section of the roadway by predicting a distance to a lane boundary based at least in part on the determined section curvature; and actuating one or more vehicle subsystems based at least in part on the predicted distance to the lane boundary. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification