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US 10,703,363 B2Granted
In-vehicle traffic assist
AssigneeFord Global Technologies, LLC
InventorsNitendra Nath, Aaron L. Mills, Patrick Lawrence Jackson Van Hoecke
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Abstract
A system, comprising a processor and a memory, the memory including instructions to be executed by the processor to pilot a vehicle based on determining first and second lane markers, where lane markers are mathematical descriptions of roadway lane markers applied to a roadway to mark traffic lanes, determine a missing first or second lane marker, and pilot the vehicle for a determined period of time based on a remaining first or second lane marker.
Claims20
A method, comprising:
- controlling a vehicle according to a steerable path polynomial that extends for a distance D1 from a current point P0 of the vehicle on a roadway to a point P1 on the roadway, and that is determined based on determining first and second lane markers;
- determining that one of the first or second lane markers has become a missing lane marker;
- determining, based on the steerable path polynomial, vehicle acceleration data, and a steerable path polynomial confidence exceeding a threshold when the steerable path polynomial is extended for a distance D2, an extension to the steerable path polynomial for the distance D2 from the point P1 to a point P2 on the roadway, wherein the distance D2 extends past at least a part of the missing lane marker;
- and
- controlling the vehicle based on the steerable path polynomial extension, wherein the steerable path polynomial confidence is based on a remaining first or second lane marker and a probability of accuracy of a lane model that includes the steerable path polynomial extension.
2 more elements
A system, comprising a processor;
- and
- a memory, the memory including instructions to be executed by the processor to:
- control a vehicle according to a steerable path polynomial that extends for a distance D1 from a current point P0 of the vehicle on a roadway to a point P1 on the roadway, and that is determined based on determining first and second lane markers;
- determine that one of the first or second lane markers has become a missing lane marker;
- determine, based on the steerable path polynomial, vehicle acceleration data, and a steerable path polynomial confidence exceeding a threshold when the path polynomial is extended for a distance D2, an extension to the steerable path polynomial for the distance D2 from the point P1 to a point P2 on the roadway, wherein the distance D2 extends past at least a part of the missing lane marker;
- and
- control the vehicle based on the path polynomial extension, wherein the steerable path polynomial confidence is based on a remaining first or second lane marker and a probability of accuracy of a lane model that includes the steerable path polynomial extension.
4 more elements
Dependencies are inferred from the claim text.