Modifying vehicle behavior based on confidence in lane estimation
AssigneeGoogle Inc.
InventorsDavid Ian Ferguson, Dmitri Dolgov
Life of this patent
Estimating the term…
Abstract
Methods and systems for modifying vehicle behavior based on confidence in lane estimation are described. In an example, a computing device may be configured to receive lane information relating to locations of lane boundaries and may be configured to estimate a lane boundary on a road on which the vehicle is traveling, based on the lane information. The computing device also may be configured to determine a level of confidence for the estimated lane boundary, modify a driving behavior for the vehicle based on the level of confidence, and also may be configured to control the vehicle based on the modified driving behavior.
Claims20
A method, comprising:
- receiving, by a computing device, map information indicative of lane boundaries on a road on which a vehicle is travelling;
- determining, by the computing device, that the map information indicative of the lane boundaries on the road is unreliable;
- in response to determining that the map information is unreliable, receiving additional lane information from at least one on-board sensor coupled to the vehicle;
- estimating, by the computing device, the lane boundaries based on the additional lane information;
- determining a level of confidence for the estimated lane boundaries based on the additional lane information;
- and
- determining, by the computing device, a path for the vehicle based on the level of confidence and the estimated lane boundaries.
A system, comprising:
- at least one sensor coupled to a vehicle;
- at least one processor in communication with the at least one sensor;
- and
- data storage comprising instructions that, when executed by the at least one processor, cause the system to perform functions comprising:
- receiving map information indicative of lane boundaries on a road on which the vehicle is travelling;
- determining that the map information indicative of the lane boundaries on the road is unreliable;
- in response to determining that the map information is unreliable, receiving additional lane information from the at least one sensor;
- estimating the lane boundaries based on the additional lane information;
- determining a level of confidence for the estimated lane boundaries based on the additional lane information;
- and
- determining a path for the vehicle based on the level of confidence and the estimated lane boundaries.
A non-transitory computer readable medium having stored thereon instructions that, when executed by a computing device, cause the computing device to perform functions comprising:
- receiving map information indicative of lane boundaries on a road on which a vehicle is travelling;
- determining that the map information indicative of the lane boundaries on the road is unreliable;
- in response to determining that the map information is unreliable, receiving additional lane information from an on-board sensor coupled to the vehicle;
- estimating the lane boundaries based on the additional lane information;
- determining a level of confidence for the estimated lane boundaries based on the additional lane information;
- and
- determining a path for the vehicle based on the level of confidence and the estimated lane boundaries.
Dependencies are inferred from the claim text.