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US 2020/0047752 A1Published application
Vehicle lateral motion control
AssigneeFord Global Technologies, LLC
InventorsVLADIMIR IVANOVIC, HONGTEI ERIC TSENG, NITENDRA NATH, PAVITHRA MADHAVAN
Life of this patent
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Abstract
A lane curvature, a vehicle position offset relative to a lane center line, and a vehicle heading are determined based on image data received from a vehicle camera sensor. An adjusted lane curvature and an adjusted vehicle heading are computed based on a vehicle speed, a vehicle yaw rate and the position offset.
Claims20
A method, comprising:
- determining, based on image data received from a vehicle camera sensor, a lane curvature, a vehicle position offset relative to a lane center line, and a vehicle heading;
- and
- computing an adjusted lane curvature and an adjusted vehicle heading based on a vehicle speed, a vehicle yaw rate and the position offset.
A system, comprising a processor and a memory, the memory storing instructions executable by the processor to:
- determine, based on image data received from a vehicle camera sensor, a lane curvature, a vehicle position offset relative to a lane center line, and a vehicle heading;
- and
- compute an adjusted lane curvature and an adjusted vehicle heading based on a vehicle speed, a vehicle yaw rate and the position offset.
A system, comprising:
- means for determining, based on image data received from a vehicle camera sensor, a lane curvature, a vehicle position offset relative to a lane center line, and a vehicle heading;
- and
- means for computing an adjusted lane curvature and an adjusted vehicle heading based on a vehicle speed, a vehicle yaw rate and the position offset.
Dependencies are inferred from the claim text.