System and method for instance-level lane detection for autonomous vehicle control

A method comprising:

• receiving training image data from a training image data collection system;
• obtaining ground truth data corresponding to the training image data;
• performing a training phase to train a plurality of tasks associated with features of the training image data, the training phase including extracting roadway lane marking features from the training image data, causing the plurality of tasks to generate task-specific predictions based on the training image data, determining a bias between the task-specific prediction for each task and corresponding task-specific ground truth data, and adjusting parameters of each of the plurality of tasks to cause the bias to meet a pre-defined confidence level;
• receiving image data from an image data collection system associated with an autonomous vehicle;
• and
• performing an operational phase including extracting roadway lane marking features from the image data, causing the plurality of trained tasks to generate instance-level lane detection results, and providing the instance-level lane detection results to an autonomous vehicle subsystem of the autonomous vehicle.

A non-transitory machine-useable storage medium embodying instructions which, when executed by a machine, cause the machine to:

• receive training image data from a training image data collection system;
• obtain ground truth data corresponding to the training image data;
• perform a training phase to train a plurality of tasks associated with features of the training image data, the training phase including extracting roadway lane marking features from the training image data, causing the plurality of tasks to generate task-specific predictions based on the training image data, determining a bias between the task-specific prediction for each task and corresponding task-specific ground truth data, and adjusting parameters of each of the plurality of tasks to cause the bias to meet a pre-defined confidence level;
• receive image data from an image data collection system associated with an autonomous vehicle;
• and
• perform an operational phase including extracting roadway lane marking features from the image data, causing the plurality of trained tasks to generate instance-level lane detection results, and providing the instance-level lane detection results to an autonomous vehicle subsystem of the autonomous vehicle.