REDUNDANT LANE SENSING SYSTEMS FOR FAULT-TOLERANT VEHICULAR LATERAL CONTROLLER

• US 20120221168A1
• Filed: 02/28/2011
• Published: 08/30/2012
• Est. Priority Date: 02/28/2011
• Status: Active Grant

• Current Assignee: GM Global Technology Operations LLC (General Motors Company)
• Original Assignee: GM Global Technology Operations LLC (General Motors Company)
• Inventors: Zeng, Shuqing, Salinger, Jeremy A., Chundrlik, William J. Jr.
• Granted Patent: US 9,542,846 B2
• Time in Patent Office: Days
• US Class Current: 701/1
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2552/30 Road curve radius
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2556/35 Data fusion
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: B60W 60/0018 by employing degraded modes, e.g. reducing speed, in response to suboptimal conditions
• CPC Class Codes: B60W 60/0053 from vehicle to occupant
• CPC Class Codes: G08G 1/09626 where the origin of the information is within the own vehicle, e.g. a local storage device, digital map
• CPC Class Codes: G08G 1/16 Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A vehicle lateral control system includes a lane marker module configured to determine a heading and displacement of a vehicle in response to images received from a secondary sensing device, a lane information fusion module configured to generate vehicle and lane information in response to data received from heterogeneous vehicle sensors and a lane controller configured to generate a collision free vehicle path in response to the vehicle and lane information from the lane information fusion module and an object map.

Claims

1. A vehicle lateral control system, comprising:

a lane marker module configured to determine a heading and displacement of a vehicle in response to images received from a secondary sensing device;

a lane information fusion module configured to generate vehicle and lane information in response to data received from heterogeneous vehicle sensors; and

a lane controller configured to generate a collision free vehicle path in response to the vehicle and lane information from the lane information fusion module and an object map.

2. The system according to claim 1 wherein the secondary sensing device is a rear-view camera.

3. The system according to claim 1 wherein vehicle and lane information includes lane curvature, the vehicle'"'"'s heading and displacements from left and right lane boundaries with respect to the vehicle'"'"'s current location.

4. The system according to claim 1 wherein data received from heterogeneous vehicle sensors includes a digital map database from a global positioning system module.

5. The system according to claim 4 wherein the digital map database includes a list of waypoints that represent a forward lane geometry.

6. The system according to claim 1 wherein data received from heterogeneous vehicle sensors includes the images received from the secondary sensing device.

7. The system according to claim 6 wherein the images received from the secondary sensing device are rectified and projected to a vehicle frame coordinate system to estimate the vehicle'"'"'s heading and displacement with respect to a center line of the lane.

8. The system according to claim 1 wherein the lane marker module includes an algorithm configured to detect lane markers in the images received by the secondary sensing device.

9. The system according to claim 8 wherein the algorithm is configured to perform a pixel clustering and shape classification operation to isolate the pixel clusters that are potential lane stripes.

10. The system according to claim 1 wherein the lane markers include curbs and lane stripes.

11. The system according to claim 1 wherein data received from heterogeneous vehicle sensors includes data received from a plurality of vehicle dynamics sensors.

12. The system according to claim 1 wherein data received from heterogeneous vehicle sensors includes data received from a leading vehicle trajectory estimator that is configured to build a historical position trajectory of target vehicles and estimate the lane curvature and heading in response to the dynamic and static object map.

13. The system according to claim 1 wherein the object map includes dynamic and static objects detected by a plurality of object sensors mounted to the vehicle.

14. The system according to claim 1 further comprising an actuator responsive to signals from the lane controller, wherein the actuator is selected from the group consisting of an electrical power steering actuator, an active front steering actuator, a rear-wheel steering assist actuator and/or a differential braking actuator.

15. A method for controlling a vehicle upon the failure of a primary sensing device, the method comprising:

determining a heading and displacement for the vehicle based on images received from a secondary sensing device;

generating vehicle and lane information in response to data received from the images from the secondary sensing device, a digital map, a plurality of vehicle dynamics sensors and a plurality of object sensors; and

generating a collision free vehicle path in response to the vehicle and lane information from the lane information fusion module and an object map derived from the plurality of object sensors.

16. The method according to claim 15 wherein determining the heading and displacement for the vehicle based on images received from the secondary sensing device includes rectifying and projecting the images to a vehicle frame coordinate system to estimate the vehicle'"'"'s heading and displacement with respect to a center line of the lane.

17. The method according to claim 15 wherein generating vehicle and lane information includes detecting lane markers in the images received by the secondary sensing device.

18. The method according to claim 17 wherein detecting lane markers includes performing a pixel clustering and shape classification operation to isolate the pixel clusters that are potential lane stripes.

19. A system that includes computer-readable medium tangibly embodying computer-executable instructions for:

determining a heading and displacement for the vehicle based on images received from a secondary sensing device;

generating vehicle and lane information in response to data received from the images from the secondary sensing device, a digital map, a plurality of vehicle dynamics sensors and a plurality of object sensors; and

generating a collision free vehicle path in response to the vehicle and lane information from the lane information fusion module and an object map derived from the plurality of object sensors.

20. The system according to claim 19 wherein generating vehicle and lane information includes fusing data received from the secondary sensing device, the digital map, the plurality of vehicle dynamics sensors and the plurality of object sensors to a common format.