Misalignment correction and state of health estimation for lane management fusion function

A method for state of health estimation and misalignment correction in a vehicle lane management system, said method comprising:

• providing lane information for a vehicle from a first lane sensing system and a second lane sensing system onboard the vehicle, where the first lane sensing system is a forward-view lane sensing system and the second lane sensing system determines lane information using images from a surround-view camera system, and where the lane information is stored as a plurality of time steps in a circular data buffer;
• calibrating the lane information from the first lane sensing system based on lane data derived from a forward object detection system;
• computing, using a microprocessor, a Pearson's correlation coefficient between the lane information from the first lane sensing system and the lane information from the second lane sensing system;
• computing a state of health of the lane management system based on the correlation coefficient;
• comparing the state of health of the lane management system to a predetermined threshold value, and issuing a warning message if the state of health is less than the threshold value;
• computing a linear regression relationship, including a scale factor and an offset value, between the lane information from the first lane sensing system and the lane information from the second lane sensing system, including recursively computing the scale factor and the offset value using a moving window of the lane information from the circular data buffer;
• correcting the lane information from the second lane sensing system using the scale factor and the offset value;
• and
• fusing the lane information from the first lane sensing system with the lane information from the second lane sensing system after correcting.

A vehicle lane management system including state of health estimation and misalignment correction, said lane management system comprising:

• a first lane sensing system and a second lane sensing system onboard a vehicle, said lane sensing systems providing lane information for the vehicle on a road;
• a memory module for storing the lane information received from the lane sensing systems, said memory module including a circular data buffer in which the lane information is stored as a plurality of time steps;
• and
• a lane management processor in communication with the memory module, said lane management processor configured to:
• calibrate the lane information from the first lane sensing system based on an independent source of lane data, where the independent source is not the second lane sensing system;
• compute a correlation coefficient between the lane information from the first lane sensing system and the lane information from the second lane sensing system;
• compute a state of health of the lane management system based on the correlation coefficient;
• compare the state of health of the lane management system to a predetermined threshold value, and issue a warning message if the state of health is less than the threshold value;
• compute a linear regression relationship, including a scale factor and an offset value, between the lane information from the first lane sensing system and the lane information from the second lane sensing system;
• correct the lane information from the second lane sensing system using the scale factor and the offset value;
• and
• fuse the lane information from the first lane sensing system with the lane information from the second lane sensing system after correcting.