Systems and methods for smooth lane positioning
AssigneeTORC Robotics, Inc.
InventorsAkshay Pai Raikar, Joseph R. Fox-Rabinovitz
Life of this patent
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Abstract
An autonomy computing system for an autonomous vehicle traveling through a lane width irregularity includes at least one memory storing executable instructions defining a lane positioning module and at least one processor. The processor, upon executing the lane positioning module, is configured to: detect the lane width irregularity; select a lane marking to be used as a guide through the lane width irregularity; and maintain a predefined distance from the lane marking through the lane width irregularity.
Claims17
An autonomy computing system for an autonomous vehicle traveling through a lane width irregularity, the autonomy computing system comprising:
- at least one memory storing executable instructions defining a lane positioning module;
- and
- at least one processor, wherein the at least one processor, upon executing the lane positioning module, is configured to:
- detect the lane width irregularity;
- select a lane marking to be used as a guide through the lane width irregularity by selecting the lane marking between a left lane marking and a right lane marking having a lower curvature;
- and
- maintain a predefined distance from the lane marking through the lane width irregularity.
A method of lane positioning of an autonomous vehicle travelling through a lane width irregularity, the method comprising:
- detecting the lane width irregularity by:
- computing curvatures for each of a left lane marking and a right lane marking;
- and
- determining a difference between the curvatures exceeds a predetermined threshold;
- selecting a lane marking to be used as a guide through the lane width irregularity;
- and
- maintaining a predefined distance from the lane marking through the lane width irregularity.
An autonomous vehicle configured to travel on a roadway, the autonomous vehicle comprising:
- a plurality of sensors configured to detect a first lane marking and a second lane marking on the roadway;
- at least one memory configured to store executable instructions defining a lane positioning module;
- at least one processor coupled to the at least one memory and configured, upon executing the executable instructions, to:
- detect a lane width irregularity based on the first lane marking and the second lane marking;
- select a lane marking among the first lane marking and the second lane marking to be used as a guide through the lane width irregularity by selecting the lane marking between the first lane marking and the second lane marking having a lower curvature;
- and
- maintain a predefined distance from the lane marking throughout the lane width irregularity.
Dependencies are inferred from the claim text.