Lane sensing through lane marker identification for lane centering/keeping
AssigneeGM Global Technology Operations LLC
InventorsWende Zhang, Bakhtiar Brian Litkouhi, Jin-Woo Lee
Life of this patent
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Abstract
A method for adjusting a vehicle's position in a roadway lane. A camera mounted on the vehicle generates a current image of the lane and the method identifies a current lane-center line in the current image. A reference image is generated and the method identifies a reference lane-center line in the reference image. The method then calculates an error between the current lane-center line and the reference lane-center line and provide steering commands to adjust the position of the vehicle so that the error is reduced.
Claims18
A method for correcting a position of a vehicle in a roadway lane, said method comprising:
- generating a reference image of the roadway lane using a camera mounted on the vehicle, where the reference image is a two-dimensional image;
- identifying a reference lane-center line on the two-dimensional reference image;
- generating a current image of the lane using the camera, where the current image is a two-dimensional image;
- identifying a current lane-center line on the two-dimensional current image;
- calculating an error between the current lane-center line and the reference lane-center line;
- and
- adjusting the position of the vehicle with a controller so that the error is reduced, wherein identifying the current lane center line and the reference lane-center line includes identifying the current lane-center line and the reference lane-center line by lane-center parameters including an angle of the lane-center line and a location where the lane-center line touches an edge line of the image.
A lane centering system for centering a vehicle in a roadway lane that the vehicle is traveling in, said system comprising:
- a camera that generates images of the roadway lane, where the images are two-dimensional images;
- a reference image processor that identifies a reference lane-center line on a two-dimensional reference image selected from the camera that is identified as an image when the vehicle was in a geometric center of the lane plus a predetermined bias using machine learning techniques:
- a current image processor that identifies a current lane-center line on a two-dimensional current image from the camera;
- a comparator that compares the reference lane-center line and the current lane-center line and provides an error therebetween;
- and
- a lane-centering controller that receives the error and calculates a steering command that centers the vehicle in the lane by reducing the error.
A method for correcting a position of a vehicle in a roadway lane, said method comprising:
- generating a reference image of the roadway lane using a camera mounted on the vehicle, where the reference image is a two-dimensional image;
- identifying a reference lane-center line on the two-dimensional reference image;
- generating a current image of the lane using the camera, where the current image is a two-dimensional image;
- identifying a current lane-center line on the two-dimensional current image;
- calculating an error between the current lane-center line and the reference lane-center line;
- and
- adjusting the position of the vehicle with a controller so that the error is reduced, wherein generating the reference image includes identifying the reference image by machine learning techniques when the vehicle is in a geometric center of the lane.
Dependencies are inferred from the claim text.