Lane self-localization system using multiple cameras for autonomous driving vehicles

A non-transitory machine-readable medium having instructions stored therein, which when executed by a processor, cause the processor to perform operations, the operations comprising:

• measuring a first distance (L1) between a frontend of an autonomous driving vehicle (ADV) and a left edge of a lane in which the ADV is driving based on a first image captured by a first camera mounted on a first location of the frontend of the ADV,
• measuring a second distance (L2) between the frontend of the ADV and a right edge of the lane based on a second image captured by a second camera mounted on a second location of the frontend of the ADV,
• measuring a third distance (L3) between a backend of the ADV and the left edge of the lane based on a third image captured by a third camera mounted on a third location of the backend of the ADV,
• measuring a fourth distance (L4) between the backend of the ADV and the right edge of the lane based on a fourth image captured by a fourth camera mounted on a fourth location of the backend of the ADV, and
• determining a local relative position of the ADV within the lane based on the first distance, the second distance, the third distance, and the fourth distance.

A data processing system, comprising:

• a processor;
• and
• a memory coupled to the processor to store instructions, which when executed by the processor, cause the processor to perform operations, the operations including
• measuring a first distance (L1) between a frontend of an autonomous driving vehicle (ADV) and a left edge of a lane in which the ADV is driving based on a first image captured by a first camera mounted on a first location of the frontend of the ADV,
• measuring a second distance (L2) between the frontend of the ADV and a right edge of the lane based on a second image captured by a second camera mounted on a second location of the frontend of the ADV,
• measuring a third distance (L3) between a backend of the ADV and the left edge of the lane based on a third image captured by a third camera mounted on a third location of the backend of the ADV,
• measuring a fourth distance (L4) between the backend of the ADV and the right edge of the lane based on a fourth image captured by a fourth camera mounted on a fourth location of the backend of the ADV, and
• determining a local relative position of the ADV within the lane based on the first distance, the second distance, the third distance, and the fourth distance.