Lane curb assisted off-lane checking and lane keeping system for autonomous driving vehicles

Abstract

In one embodiment, a lane departure detection system detects at a first point in time that a wheel of an ADV rolls onto a lane curb disposed on an edge of a lane in which the ADV is moving. The systemdetects at a second point in time that the wheel of the ADV rolls off the lane curb of the lane. The system calculates an angle between a moving direction of the ADV and a lane direction of the lanebased on the time difference between the first point in time and the second point in time in view of a current speed of the ADV. The system then generates a control command based on the angle to adjust the moving direction of the ADV in order to prevent the ADV from further drifting off the lane direction of the lane.

Description

technical field [0001] Embodiments of the invention generally relate to operating autonomous vehicles. More specifically, embodiments of the present invention relate to lane departure detection based on lane edge sensing. Background technique [0002] Vehicles operating in an autonomous mode (eg, driverless) can relieve the occupants, especially the driver, from some driving-related duties. When operating in autonomous mode, the vehicle can navigate to various locations using on-board sensors, allowing the vehicle to drive with minimal human interaction or in some cases without any passengers. [0003] In autonomous driving, motion planning and control are crucial operations. It is important for an autonomous vehicle (ADV) to travel and stay within the lane in which the ADV is traveling. However, the perception or planning of autonomous driving may be inaccurate and the ADV may not be detected to be following the lane correctly. Detecting this condition is difficult, esp...

AI Technical Summary

Problems solved by technology

However, perception or planning for autonomous driving may be inaccurate and may not detect that the ADV is not...

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