Methods and apparatus for disengaging an autonomous mode based on lateral error of an autonomous vehicle
AssigneePlusAI, Inc.
InventorsAmit Kumar, Siva Bhargav Ravella, Anurag Ganguli, Lichun Yang
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Abstract
In one or more embodiments, a method comprises receiving, at a processor, sensor data from a sensor at a vehicle that is moving while in an autonomous mode. A position and an orientation of the vehicle based on the sensor data is determined at the processor. A lateral deviation of the vehicle from a planned path based on the position and the orientation of the vehicle while the vehicle is moving in the autonomous mode is calculated at the processor. In response to the lateral deviation exceeding a predefined lateral deviation threshold, the autonomous mode is disengaged.
Claims20
A computer-implemented method comprising:
- determining, by a computing system, an applied torque to a steering wheel of a vehicle;
- calculating, by the computing system, a lateral deviation of a center position of the vehicle from a center of a lane of a planned path based on a position and an orientation of the vehicle, wherein the center position of the vehicle is determined by a localization process based on at least one of:
- radar, lidar, or an inertial navigation system, and wherein the center of the lane is determined by a perception process based on detected lane markings;
- and
- engaging, by the computing system, manual control over a driver assistant system based on a determination the applied torque fails to satisfy a torque threshold for engagement of manual control over the driver assistant system and a determination the lateral deviation of the vehicle satisfies a lateral deviation threshold for engagement of manual control over the driver assistant system.
A non-transitory, computer-readable storage medium including instructions that, when executed by at least one processor of a computing system, cause the computing system to perform operations comprising:
- determining an applied torque to a steering wheel of a vehicle;
- calculating a lateral deviation of a center position of the vehicle from a center of a lane of a planned path based on a position and an orientation of the vehicle, wherein the center position of the vehicle is determined by a localization process based on at least one of:
- radar, lidar, or an inertial navigation system, and wherein the center of the lane is determined by a perception process based on detected lane markings;
- and
- engaging manual control over a driver assistant system based on a determination the applied torque fails to satisfy a torque threshold for engagement of manual control over the driver assistant system and a determination the lateral deviation of the vehicle satisfies a lateral deviation threshold for engagement of manual control over the driver assistant system.
A system comprising:
- a processor;
- and
- a memory operatively coupled to the processor, the memory storing instructions that when executed cause the processor to perform operations comprising:
- determining an applied torque to a steering wheel of a vehicle;
- calculating a lateral deviation of a center position of the vehicle from a center of a lane of a planned path based on a position and an orientation of the vehicle, wherein the center position of the vehicle is determined by a localization process based on at least one of:
- radar, lidar, or an inertial navigation system, and wherein the center of the lane is determined by a perception process based on detected lane markings;
- and
- engaging manual control over a driver assistant system based on a determination the applied torque fails to satisfy a torque threshold for engagement of manual control over the driver assistant system and a determination the lateral deviation of the vehicle satisfies a lateral deviation threshold for engagement of manual control over the driver assistant system.
Dependencies are inferred from the claim text.