System and method for detection of surrounding vehicle lane departure
First Claim
1. A lane departure detection computing device for a vehicle configured for autonomous operation, the computing device comprising:
- one or more processors for controlling operation of the computing device, anda memory for storing data and program instructions usable by the one or more processors, wherein the one or more processors are configured to execute instructions stored in the memory to;
calculate a first path geometry relating to a first vehicle traveling in a first lane;
calculate a second path geometry relating to a second vehicle traveling in a second lane different from the first lane;
evaluate coextensive portions of the first path geometry and the second path geometry for parallelism;
if the coextensive portions of the first path geometry and the second path geometry evaluated for parallelism are not parallel, determine that one of the first vehicle and the second vehicle is executing a lane departure; and
operate the vehicle configured for autonomous operation responsive to the determination that one of the first vehicle and the second vehicle is executing a lane departure.
2 Assignments
0 Petitions
Accused Products
Abstract
A lane departure detection computing device for a lane departure detection system is described. The computing device includes one or more processors for controlling operation of the computing device, and a memory for storing data and program instructions usable by the one or more processors. The one or more processors are configured to execute instructions stored in the memory to calculate a first path geometry relating to a first vehicle traveling in a first lane, calculate a second path geometry relating to a second vehicle traveling in a second lane different from the first lane, evaluate coextensive portions of the first path and the second path for parallelism, and, if the coextensive portions of the first path and the second path evaluated for parallelism are not parallel, determine that one of the first vehicle and the second vehicle is executing a lane departure.
12 Citations
19 Claims
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1. A lane departure detection computing device for a vehicle configured for autonomous operation, the computing device comprising:
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one or more processors for controlling operation of the computing device, and a memory for storing data and program instructions usable by the one or more processors, wherein the one or more processors are configured to execute instructions stored in the memory to; calculate a first path geometry relating to a first vehicle traveling in a first lane; calculate a second path geometry relating to a second vehicle traveling in a second lane different from the first lane; evaluate coextensive portions of the first path geometry and the second path geometry for parallelism; if the coextensive portions of the first path geometry and the second path geometry evaluated for parallelism are not parallel, determine that one of the first vehicle and the second vehicle is executing a lane departure; and operate the vehicle configured for autonomous operation responsive to the determination that one of the first vehicle and the second vehicle is executing a lane departure. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A computer-implemented method in a vehicle configured for autonomous operation, for detecting a lane departure of another vehicle comprising steps of:
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(a) calculating a first path geometry relating to a first vehicle traveling in a first lane; (b) calculating a second path geometry relating to a second vehicle traveling in a second lane different from the first lane; (c) evaluating coextensive portions of the first path geometry and the second path geometry for parallelism; (d) if the coextensive portions of the first path geometry and the second path geometry evaluated for parallelism are parallel, repeating steps (a)-(d); (e) if the coextensive portions of the first path geometry and the second path geometry evaluated for parallelism are not parallel, determining that one of the first vehicle and the second vehicle is executing a lane departure; and operating the vehicle configured for autonomous operation responsive to the determination that one of the first vehicle and the second vehicle is executing a lane departure. - View Dependent Claims (12, 13, 14, 15)
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16. A lane departure detection system for a vehicle configured for a degree of autonomous operation, the system comprising:
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a computing device including one or more processors for controlling operation of the computing device, and a memory for storing data and program instructions usable by the one or more processors, wherein the one or more processors are configured to execute instructions stored in the memory to; calculate a first path geometry relating to a first vehicle traveling in a first lane; calculate a second path geometry relating to a second vehicle traveling in a second lane different from the first lane; calculate a first minimum spacing of the second path geometry from the first path geometry at a first location along the first path geometry; calculate a second minimum spacing of the second path geometry from the first path geometry at a second location along the first path geometry spaced apart from the first location; determine a difference between the first minimum spacing and the second minimum spacing; if the difference between the first minimum spacing and the second minimum spacing is equal to or greater than a predetermined value, determine that portions of the first path geometry and the second path geometry residing between the first minimum spacing and the second minimum spacing are not parallel; if the portions of the first path geometry and the second path geometry residing between the first minimum spacing and the second minimum spacing are not parallel, determine that one of the first vehicle and the second vehicle is executing a lane departure; and if it is determined that one of the first vehicle and the second vehicle is executing a lane departure, operate the vehicle configured for autonomous operation in response to the determination that the one of the first vehicle and the second vehicle is executing a lane departure. - View Dependent Claims (17, 18)
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19. A lane departure detection system for a vehicle, the system comprising:
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a computing device including one or more processors for controlling operation of the computing device, and a memory for storing data and program instructions usable by the one or more processors, wherein the one or more processors are configured to execute instructions stored in the memory to; calculate a first path geometry relating to a first vehicle traveling in a first lane; calculate a second path geometry relating to a second vehicle traveling in a second lane different from the first lane; calculate a first minimum spacing of the second path geometry from the first path geometry at a first location along the first path geometry; calculate a second minimum spacing of the second path geometry from the first path geometry at a second location along the first path geometry spaced apart from the first location; determine a difference between the first minimum spacing and the second minimum spacing; if the difference between the first minimum spacing and the second minimum spacing is equal to or greater than a predetermined value, determine that portions of the first path geometry and the second path geometry residing between the first minimum spacing and the second minimum spacing are not parallel; if the portions of the first path geometry and the second path geometry residing between the first minimum spacing and the second minimum spacing are not parallel, determine that one of the first vehicle and the second vehicle is executing a lane departure; and if it is determined that one of the first vehicle and the second vehicle is executing a lane departure, control a human-machine interface of a vehicle to provide a warning or alert directed to alerting a vehicle occupant that the one of the first vehicle and the second vehicle is executing the lane departure.
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Specification