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US 12,612,052 B2Granted
Methods and systems for driver in the loop curve velocity control
AssigneeGM Global Technology Operations LLC
InventorsMatthew Jared Palmer, Paul A. Adam, Tetyana V Mamchuk
Life of this patent
Estimating the term…
Abstract
Methods and systems for providing driving assistance in a vehicle. In one embodiment, a method includes: determining, by a processor, a trajectory of the vehicle along a roadway; determining, by the processor, a confidence score based on a predicted lateral acceleration and an actual lateral acceleration at a point along the trajectory; determining, by the processor, longitudinal velocity data based on the confidence score; and generating, by the processor, control signals to vehicle actuators to control the vehicle based on the longitudinal velocity data.
Claims16
A method for providing driving assistance in a vehicle, the vehicle comprising an autonomous vehicle, and the method comprising:
- obtaining, via one or more cameras of the vehicle, camera data as to lane markings on a roadway in which the vehicle is travelling;
- determining, by a processor of the vehicle, a trajectory of the vehicle along the roadway based on a location of the lane markings and a type of the lane markings;
- determining, by the processor, one or more radial points along the trajectory, along with one or more look ahead points along the trajectory ahead of the vehicle based on the one or more radial points:
- determining, by the processor, a confidence score based on a predicted lateral acceleration and an actual lateral acceleration at the one or more look ahead points along the trajectory;
- determining, by the processor, longitudinal velocity data based on the confidence score;
- and
- generating, by the processor, control signals to vehicle actuators to control the vehicle based on the longitudinal velocity data and further based on the confidence score, including by:
- automatically providing, via the processor, a first level of acceleration for the vehicle based on the longitudinal velocity being shaped according to a velocity profile that is optimum, when it is determined that the confidence score is within a high range:
- automatically providing, via the processor, a second level of acceleration for the vehicle based on the longitudinal velocity being shaped according to the velocity profile being partially limited, when it is determined that the confidence score is within a medium range that is less than the high range;
- and
- automatically providing, via the processor, a third level of acceleration for the vehicle based on the longitudinal velocity being shaped according to the velocity profile that is fully limited, when it is determined that the confidence score is within a low range that is less than the medium range.
8 more elements
A system in a vehicle for providing driving assistance, the vehicle comprising an autonomous vehicle, and the system comprising:
- one or more cameras of the vehicle that are configured to obtain camera data as to lane markings on a roadway in which the vehicle is travelling;
- and
- a processor of the vehicle that is coupled to the one or more cameras and that is configured to:
- determine a trajectory of the vehicle along the roadway based on a location of the lane markings and a type of the lane markings;
- determine one or more radial points along the trajectory, along with one or more look ahead points along the trajectory ahead of the vehicle based on the one or more radial points;
- determine a confidence score based on a predicted lateral acceleration and an actual lateral acceleration at the one or more look ahead points along the trajectory;
- determine longitudinal velocity data based on the confidence score;
- and
- generate control signals to vehicle actuators to control the vehicle based on the longitudinal velocity data and further based on the confidence score, including by:
- automatically providing, via the processor, a first level of acceleration for the vehicle based on the longitudinal velocity being shaped according to a velocity profile that is optimum, when it is determined that the confidence score is within a high range;
- automatically providing, via the processor, a second level of acceleration for the vehicle based on the longitudinal velocity being shaped according to the velocity profile being partially limited, when it is determined that the confidence score is within a medium range that is less than the high range;
- and
- automatically providing, via the processor, a third level of acceleration for the vehicle based on the longitudinal velocity being shaped according to the velocity profile that is fully limited, when it is determined that the confidence score is within a low range that is less than the medium range.
10 more elements
A vehicle comprising:
- a sensor system configured to sense an environment of the vehicle, the sensor system including one or more cameras that are configured to obtain camera data as to lane markings on a roadway in which the vehicle is travelling;
- an actuator system;
- and
- a controller for implementing a driver assistance system, the controller comprising a processor that is coupled to the one or more cameras and that is configured to:
- determine a trajectory of the vehicle along the roadway based on a location of the lane markings and a type of the lane markings;
- determine one or more radial points along the trajectory, along with one or more look ahead points along the trajectory ahead of the vehicle based on the one or more radial points;
- determine a confidence score based on a predicted lateral acceleration and an actual lateral acceleration at the one or more look ahead points along the trajectory;
- determine longitudinal velocity data based on the confidence score;
- and
- generate control signals to vehicle actuators to control the vehicle based on the longitudinal velocity data and further based on the confidence score, including by:
- automatically providing, via the processor, a first level of acceleration for the vehicle based on the longitudinal velocity being shaped according to a velocity profile that is optimum, when it is determined that the confidence score is within a high range;
- automatically providing, via the processor, a second level of acceleration for the vehicle based on the longitudinal velocity being shaped according to the velocity profile being partially limited, when it is determined that the confidence score is within a medium range that is less than the high range;
- and
- automatically providing, via the processor, a third level of acceleration for the vehicle based on the longitudinal velocity being shaped according to the velocity profile that is fully limited, when it is determined that the confidence score is within a low range that is less than the medium range.
11 more elements
Dependencies are inferred from the claim text.