Lane keep control of autonomous vehicle

Abstract

An autonomous vehicle (AV) is automatically navigated within a driving lane. Lane line data is received from one or more sensors, such as one or more cameras. A first parametric curve can be matched to a location of a first lane line detected from the lane line data. A second parametric curve can be matched to a location of a second lane line detected from the lane line data. A center parametric curve can be then generated in the center of the first parametric curve and the second parametric curve. The center parametric curve is then sampled to generate a discrete vector of trajectory points along the center parametric curve. The AV is then navigated along the road based on the trajectory points.

Description

Background technique [0001] Autonomous driving technology is growing rapidly with many features being implemented in autonomous vehicles. One of the fundamental functions of an AV is the ability to automatically navigate along a road. Keeping an AV in a lane can be challenging in terms of planning, safety and accuracy of navigating a path. Contents of the invention [0002] Broadly described, the present technology includes systems and methods for keeping an autonomous vehicle (AV) in a driving lane. Lane marking data is received from one or more sensors, such as one or more cameras. The first lane line and the second lane line represent boundaries of a driving lane navigated by the AV, and the lane line data includes an image of a lane on a road currently being driven. The first parametric curve may match the position of the first lane marking detected from the lane marking data. The second parametric curve may match the position of the second lane marking detected from...

AI Technical Summary

Problems solved by technology

Keeping the AV in the lane can be challenging in terms of planning, safety and accuracy of the navigation path

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