US 10,019,014 B2Granted

Lane-keeping system for automated vehicles

AssigneeDelphi Technologies, Inc.

InventorsPremchand Krishna Prasad, Michael I. Chia, Ehsan Samiei

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Abstract

A lane-keeping system suitable for use on an automated vehicle includes a camera, an inertial-measurement-unit, and a controller. The camera is configured to detect a lane-marking of a roadway traveled by a vehicle. The inertial-measurement-unit is configured to determine relative-motion of the vehicle. The controller in communication with the camera and the inertial-measurement-unit. When the lane-marking is detected the controller is configured to steer the vehicle towards a centerline of the roadway based on a last-position, and determine an offset-vector indicative of motion of the vehicle relative to the centerline of the roadway. When the lane-marking is not detected the controller is configured to: determine an offset-position relative to the last-position based on information from the inertial-measurement-unit, determine a correction-vector used to steer the vehicle from the offset-position towards the centerline of the roadway based on the last-position and the offset-vector, and steer the vehicle according to the correction-vector.

Claims7

Dependent claims

A lane-keeping system suitable for use on a vehicle, said system comprising:

a camera configured to detect a lane-marking of a roadway travel-lane traveled by the vehicle;
an inertial-measurement-unit configured to determine relative-motion of the vehicle;
and
a controller in communication with the camera and the inertial-measurement-unit, wherein when the lane-marking is detected by the camera, said controller is configured to determine a centerline within the roadway travel-lane defined by the lane-marking,
determine a last-position of the vehicle relative to the centerline of the roadway travel-lane based on the lane-marking detected by the camera,
determine a current-vector used to steer the vehicle towards the centerline of the roadway travel-lane based on the last-position, and
determine an offset-vector indicative of motion of the vehicle relative to the centerline of the roadway travel-lane, and wherein
when the lane-marking is not detected by the camera said controller is configured to
determine an offset-position of the vehicle relative to the last-position of the vehicle based on information from the inertial-measurement-unit,
determine a correction-vector used to steer the vehicle from the offset-position towards the centerline of the roadway travel-lane based on the last-position and the offset-vector, and steer the vehicle according to the correction-vector.

7 more elements

A method for controlling a vehicle, said method comprising:

receiving a video-signal from a camera;
receiving a vehicle position-signal from an inertial-measurement-unit;
detecting, by a controller, a lane-marking of a roadway travel-lane based on the video-signal;
determining, by the controller, a centerline within the roadway travel-lane defined by the lane-marking;
determining a last-position of the vehicle relative to the centerline of the roadway travel-lane based on the lane-marking;
determining a current-vector based on the centerline of the roadway travel-lane;
determining an offset-vector indicative of motion of the vehicle relative to the centerline based on the position-signal;
steering the vehicle according to the current-vector in an automated-mode when the lane marking is detected by the controller;
determining, with the controller, whether the lane-marking is detected:
when the lane-marking is not detected by the controller for a time less than a time-threshold;
determining an offset-position relative to the last-position based on the position-signal;
determining a correction-vector used to steer the vehicle from the offset-position towards the centerline of the roadway travel-lane based on the last-position and the offset-vector;
steering the vehicle according to the correction-vector in an automated-mode;
when the lane-marking is not detected by the controller for a time equal to or greater than a time-threshold,
steering the vehicle in a manual-mode.

12 more elements

Dependencies are inferred from the claim text.

Facts

Application: 15/154,076Filed 13 May 2016
Published: US 2017/0329345 A116 Nov 2017
Granted: 10 Jul 2018
Term ends: Not estimatedThe source records don’t support an estimate.

Classification35 codes

G05D 1/0246
Using optical position detecting means: using a video camera in combination with image processing means
B60W 10/20
Conjoint control of vehicle sub-units of different type or different function: including control of steering systems
B60W 30/10
Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of…:…
B60W 30/12
Path keeping: lane keeping