Method for maintaining the desired lane by an autonomous vehicle in environments with compromised lane markings

Abstract

A method for controlling a vehicle (20), the method comprising: Detecting a first lane boundary indicator (36) and a second lane boundary indicator (38) of an adjacent lane (28) with at least one sensor (22) of the vehicle (20), wherein the adjacent lane (28) is laterally offset from a current lane (26) of the vehicle (20); and Maneuvering the vehicle (20) with a computing device (24) of the vehicle (20) to maintain a position of the vehicle (20) within the current lane (26) based on the detected first lane boundary indicator (36) and the detected second lane boundary indicator (38) of the adjacent lane (28); characterized by Transposing the first lane boundary indicator (36) of the adjacent lane (28) to the current lane (26) to define a transposed left edge (52), and transposing the second lane boundary indicator (38) of the adjacent lane (28) to the current lane (26) to define a transposed right edge (54).

Description

INITIATIONThe present invention relates generally to a method for controlling a vehicle according to the preamble of claim 1, as is known in the art substantially from DE 10 2009 028 774 A1 or DE 10 2014 002 114 A1.Autonomous vehicles include sensors operable to sense the environment of the vehicle and a computing device operable to control all aspects of vehicle operation. Semi-autonomous vehicles operate in a similar manner, but may require some input, supervision, and / or control from the vehicle operator. One of the control functions that autonomous and semi-autonomous vehicles perform includes maintaining the position of the vehicle within a current lane while travelling along a roadway. The vehicle sensors and the computing device are operated to identify lane boundary indicators for the current lane along which the vehicle is travelling and maneuver the vehicle to maintain the vehicle within the current lane. The lane boundary indicators may include, for example, lane markings such as yellow or white painted lines, a lane edge, a barrier wall, etc. This process requires that the sensors and computing device be able to identify the lane boundary indicators and that the lane boundary indicators be precise and provide a satisfactory boundary scale for the edge of the current lane. If the lane boundary indicators are unsatisfactory or cannot be detected by the vehicle, then the vehicle is unable to determine the extents of the current lane and may need to pass control to the operator.SUMMARYAccording to the invention, a method for controlling a vehicle is presented, which is distinguished by the features of claim 1 or those of claim 8.In one aspect of the method for controlling the vehicle, the computing device uses the sensors of the vehicle to detect a left lane boundary indicator and a right lane boundary indicator of the current lane. The computing device determines whether both the left lane boundary indicator and the right lane boundary indicator of the current lane are satisfactory delimiting scales of the current lane, or whether at least one of the left lane boundary indicator and the right lane boundary indicator of the current lane is an unsatisfactory delimiting scale of the current lane. If the computing device determines that at least one of the left lane boundary indicator and the right lane boundary indicator of the current lane is an unsatisfactory boundary scale of the current lane, then the computing device uses the first lane boundary indicator and the second lane boundary indicator of the adjacent lane to control the position of the vehicle within the current lane. If the computing device determines that both the left lane boundary indicator and the right lane boundary indicator of the current lane are satisfactory boundary scales of the current lane, then the computing device uses the left lane boundary indicator and the right lane boundary indicator of the current lane to control the position of the vehicle within the current lane.The computing device may then calculate a transposed centerline of the current lane that is located approximately midway between the transposed left edge of the current lane and the transposed right edge of the current lane. The computing device may then control the vehicle to maneuver the vehicle to follow the transposed centerline of the current lane. In another embodiment, the computing device may maneuver the vehicle such that the vehicle does not cross either the transposed left edge of the current lane or the transposed right edge of the current lane.In another aspect of the method for controlling the vehicle, the computing device may calculate an actual centerline of the adjacent lane. The actual center line of the adjacent lane is arranged approximately in the middle between the first lane boundary indicator and the second lane boundary indicator. The computing device may then transmit the actual centerline of the adjacent lane to the current lane to define a transposed centerline of the current lane. The computing device may then control the vehicle to maneuver the vehicle to follow the transposed centerline of the current lane.In one aspect of the method for controlling the vehicle, the at least one sensor of the vehicle includes at least one light sensing and ranging (LIDAR) sensor or a camera.In another aspect of the method for controlling the vehicle, the computing device may compare the first lane boundary indicator and the second lane boundary indicator with map data representing the adjacent lane and the current lane to identify a relative position between the adjacent lane and the current lane and determine the accuracy of the first lane boundary indicator and / or the second lane boundary indicator. The map data may be stored in a memory of the computing device or retrieved via a wireless connection to a remote location.In another aspect of the method of controlling the vehicle, the computing device may compare the transposed centerline of the current lane to a current travel path of the vehicle to determine whether the transposed centerline of the current lane and the current travel path of the vehicle are generally aligned. If the transposed centerline of the current lane and the current travel path of the vehicle are not generally aligned, the computing device may transmit control of the vehicle to a vehicle operator and may not maneuver the vehicle to follow the transposed centerline of the current lane.Further, a vehicle will be described. The vehicle includes at least one sensor operable to sense lane boundary indicators of a current lane and an adjacent lane of the vehicle. The adjacent lane is laterally offset from the current lane of the vehicle. A computing device is disposed in communication with the at least one sensor for receiving data relating to the detected lane boundary indicators for the current lane and the adjacent lane. The computing device includes a processor and a memory having an algorithm stored therein for determining lane boundary. The processor is operable to execute the lane boundary determination algorithm to detect a first lane boundary indicator and a second adjacent lane boundary indicator and maneuver the vehicle to maintain a position of the vehicle within the current lane based on the detected first lane boundary indicator and the detected second adjacent lane boundary indicator.In one aspect of the vehicle, the processor is operable to execute the lane boundary determination algorithm to detect a left lane boundary indicator and a right lane boundary indicator of the current lane of the vehicle. The lane boundary determination algorithm may then determine that both the left lane boundary indicator and the right lane boundary indicator of the current lane are satisfactory delimitation scales of the current lane, or may determine that at least one of the left lane boundary indicator and the right lane boundary indicator of the current lane is an unsatisfactory delimitation scale of the current lane. If at least one of the left lane boundary indicator and the right lane boundary indicator of the current lane is determined to be an unsatisfactory boundary scale of the current lane, then the lane boundary determination algorithm maneuvers the vehicle to maintain the position of the vehicle within the current lane based on the detected first lane boundary indicator and the detected second lane boundary indicator of the adjacent lane.If both the left lane boundary indicator and the right lane boundary indicator of the current lane are determined to be satisfactory boundary scales of the current lane, then the algorithm for determining the lane boundary maneuvers the vehicle to maintain the position of the vehicle within the current lane based on the left lane boundary indicator and the right lane boundary indicator of the current lane.In another aspect of the vehicle, the processor is operable to execute the lane boundary determination algorithm to transpose the first adjacent lane lane lane boundary indicator to the current lane to define a transposed left edge of the current lane and transpose the second adjacent lane lane lane lane boundary indicator to the current lane to define a transposed right edge of the current lane. The lane boundary determination algorithm may then maneuver the vehicle to prevent the vehicle from crossing either the transposed right edge or the transposed left edge of the current lane. Alternatively, the lane boundary determination algorithm may calculate a transposed centerline of the current lane that is located between the transposed left edge of the current lane and the transposed right edge of the current lane, and maneuver the vehicle to follow the transposed centerline of the current lane.Accordingly, the method described herein enables semi-autonomous or fully autonomous operation of the vehicle using the adjacent lane boundary indicator when the lane boundary indicators are not present for the current lane, cannot be detected by the sensors of the vehicle, and / or are unsatisfactory boundary scales of the current lane. When the vehicle is able to detect the lane boundary indicators of the adjacent lane, the computing device of the vehicle may transmit these lane boundary indicators or a centerline of the adjacent lane to the current lane and use these transposed boundary lines as a basis for controlling the vehicle until the right and left lane boundary indicators of the current lane again become satisfactory boundary scales of the current lane.The above features and advantages, as well as other features and advantages of the present teachings, will be readily apparent from the following detailed description of the best modes for carrying out the teachings when taken in conjunction with the accompanying drawings.BRIEF DESCRIPTION OF THE DRAWINGSFIG. 1 is a schematic plan view of a vehicle on a roadway. FIG. 2 is a flowchart illustrating a method of controlling the vehicle.DETAILED DESCRIPTIONIn the FIGS., where the components are shown numbered in multiple views, 20 in FIG. 1 is generally the vehicle.The vehicle 20 may include some type of movable platform, such as a car, truck, motorcycle, van, etc. The vehicle 20 includes at least one sensor 22 and computing device 24 that cooperate to at least partially control and maneuver the vehicle 20 in certain situations. Therefore, the vehicle 20 may be referred to as a semi-autonomous or fully autonomous vehicle 20.Referring to FIG. 1, the sensors 22 of the vehicle 20 are operable to detect lane boundary indicators of both a current lane 26 and an adjacent lane 28 of the vehicle 20. As used herein, the term "current lane 26" of the vehicle 20 is the lane in which the vehicle 20 is traveling. As used herein, the term "adjacent lane 28" of the vehicle 20 includes a lane that is generally parallel to and laterally offset from the current lane 26 of the vehicle 20. The adjacent lane 28 may include a lane immediately adjacent to the current lane 26 of the vehicle 20, i.e., the next lane. Alternatively, the adjacent lane 28 may include a lane separated from the current lane 26 of the vehicle 20 by one or more other lanes. As such, it should be appreciated that the vehicle 20 may be capable of identifying multiple adjacent lanes 28 depending on the configuration of the roadway. Fig. 1 shows three adjacent lanes 28.The sensors 22 of the vehicle 20 may include at least one light sensing and ranging (LIDAR) sensor or a camera. It should be noted that other types of sensors 22 may be used to detect, sense, and / or identify the lane boundary indicators of the current lane 26 and the adjacent lane 28. The lane boundary indicators may include, but are not limited to, pavement edge, yellow color lines, white color lines, barriers, guardrails, etc. The vehicle 20 may include a number and / or type of sensors 22 disposed around the vehicle 20 to detect the lane boundary indicators. The type of sensors 22, their position on the vehicle 20, and their operation to detect and / or detect the lane boundary indicators will be understood by those skilled in the art, are not relevant to the teachings of this invention, and therefore will not be described in further detail herein.The computing device 24 is arranged in communication with the sensors 22 of the vehicle 20 to receive their respective sensed data regarding sensing or scanning of the lane boundary indicators. The computing device 24 may alternatively be referred to as a control module, controller, controller, vehicle controller 20, computer, etc. The computing device 24 may include a computer and / or processor 30, and may include software, hardware, memory, algorithms, connections, sensors 22, etc., for managing and controlling operation of the vehicle 20. As such, a method described below and generally illustrated in FIG. 2 may be embodied as a program or algorithm operable on the computing device 24. It should be noted that computing device 24 may include a device capable of analyzing data from sensors 22, comparing data, making decisions required to control the operation of vehicle 20, and performing tasks required to control the operation of vehicle 20.Computing device 24 may be embodied as one or more digital or host computers, each having one or more processors 30, read-only memory (ROM), random access memory (RAM), electrically programmable read-only memory (EPROM), optical drives, magnetic drives, etc., a high speed clock, analog / digital (A / D) circuits, digital / analog (D / A) circuits and input / output (I / O) circuits, input / output devices, and communication interfaces, as well as signal conditioning and buffer circuits.The computer readable memory may include any tangible, non-transitory media that participates in providing data or computer readable instructions. Memory may be non-volatile or volatile. Non-volatile media may include, for example, optical or magnetic disks and other persistent memory. Volatile media may include, for example, dynamic random access memory (DRAM) memories that form main memory. Other examples of embodiments of memories include a floppy disk, a flexible disk or hard disk, magnetic tape or other magnetic media, a CD-ROM, DVD or other optical media, as well as other possible storage elements such as flash memory.The controller includes a tangible, non-transitory memory 32 having computer-executable instructions recorded thereon including an algorithm for determining lane boundary 34. The controller processor 30 is configured to execute the lane boundary determination algorithm 34. The lane boundary determination implements a method for controlling the vehicle 20 when the lane boundary indicators of the current lane 26 are either unidentifiable or include unsatisfactory quality for controlling the vehicle 20.The method of controlling the vehicle 20 includes detecting a first lane boundary indicator 36 and a second lane boundary indicator 38 of the adjacent lane 28. While FIG. 1 shows the first lane boundary indicator 36 and the second lane boundary indicator 38 for one of the possible adjacent lanes, it should be appreciated that each of the respective adjacent lanes 28 has a corresponding first lane boundary indicator 36 and a second lane boundary indicator 38, and that the computing device 24 may detect the first lane boundary indicator 36 and the second lane boundary indicator 38 for more than the example adjacent lane 28 shown in FIG. 1 and described herein. The first lane boundary indicator 36 and the second lane boundary indicator 38 are detected using the sensors 22 of the vehicle 20, as described above. The first lane boundary indicator 36 may be considered a left edge indicator of the adjacent lane 28 and the second lane boundary indicator 38 may be considered a right edge indicator of the adjacent lane 28. As mentioned above, the lane boundary indicators 36, 38 of the adjacent lane 28 may include, but are not limited to, a pavement edge, yellow color lines, white color lines, barriers, guardrails, etc.The computing device 24 and the sensors 22 of the vehicle 20 further detect and / or identify a left lane boundary indicator 40 and a right lane boundary indicator 42 of the current lane 26. The lane boundary indicators of the current lane 26 may include, but are not limited to, pavement edge, yellow color lines, white color lines, barriers, guardrails, etc. It should be noted that in immediately adjacent lanes of a roadway, one of the left lane boundary indicator 40 and the right lane boundary indicator 42 of the current lane 26 may be identical to one of the first lane boundary indicator 36 and the second lane boundary indicator 38 of the adjacent lane 28. However, for lanes separated by some distance or separated by other lanes, the left lane boundary indicator 40 and the right lane boundary indicator 42 of the current lane 26 are separated from and distinct from the first lane boundary indicator 36 and the second lane boundary indicator 38 of the adjacent lane 28.The computing device 24 evaluates the left lane boundary indicator 40 and the right lane boundary indicator 42 of the current lane 26 to determine whether both the left lane boundary indicator 40 and the right lane boundary indicator 42 of the current lane 26 are satisfactory demarcation scales of the current lane 26, or whether at least one of the left lane boundary indicator 40 and the right lane boundary indicator 42 of the current lane 26 is an unsatisfactory demarcation scale of the current lane 26. The step of determining whether both the left lane boundary indicator 40 and the right lane boundary indicator 42 of the current lane 26 are satisfactory dimensional scales is generally represented by box 122 in FIG. 2. As used herein, the term "satisfactory dimensional scale" is defined as a lane boundary indicator that can be detected, recognized, or identified by the computing device 24, or as a lane boundary indicator that is continuous and suitable for use as a basis for controlling the vehicle 20. As used herein, the term "unsatisfactory dimensional scale" is defined as a lane boundary indicator that can be detected, recognized, or identified by the computing device 24, or as a lane boundary indicator that is too irregular or otherwise unreliable to be used as a basis for controlling the vehicle 20. Referring to FIG. 1, unsatisfactory portions of the left lane boundary indicator 40 and the right lane boundary indicator 42 are generally represented by dashed line segments 44A and 44B. The lane boundary indicators may prove unsatisfactory dimensional scales because they are worn out, blocked by other vehicles, covered with snow, dirt, or other debris, or have multiple rapid lateral changes in direction that do not consistently define a linear edge.If the computing device 24 determines that both the left lane boundary indicator 40 and the right lane boundary indicator 42 of the current lane 26 are satisfactory current lane boundary scales, generally indicated at 124 in FIG. 2 and generally represented by the shaded line segments 46 and 48 of the current lane 26 in FIG. 1, then the computing device 24 uses the left lane boundary indicator 40 and the right lane boundary indicator 42 of the current lane 26 to control and maneuver the vehicle 20 to control a position of the vehicle 20 within the current lane 26. The step of using the left lane boundary indicator 40 and the right lane boundary indicator 42 of the current lane 26 to control the vehicle 20 is generally indicated by box 126 in FIG. 2. The computing device 24 may suitably use the left lane boundary indicator 40 and the right lane boundary indicator 42 of the current lane 26 as a basis for maneuvering the vehicle 20. For example, the computing device 24 may calculate an actual center line 50 of the current lane 26 located between the left lane boundary indicator 40 and the right lane boundary indicator 42 of the current lane 26, and maneuver the vehicle 20 to follow the actual center line 50 of the current lane 26. In other embodiments, computing device 24 may control vehicle 20 to prevent vehicle 20 from traversing either left lane boundary indicator 40 or right lane boundary indicator 42.If the computing device 24 determines that at least one of the left lane boundary indicator 40 and the right lane boundary indicator 42 of the current lane 26 is an unsatisfactory boundary scale of the current lane 26, indicated generally at 128 in FIG. 2 and represented generally by the line segments 44A and 44B in FIG. 1, then the computing device 24 analyzes the first lane boundary indicator 36 and the second lane boundary indicator 38 to determine whether they are representative and generally parallel to the current lane. The step of determining whether the first lane boundary indicator 36 and the second lane boundary indicator 38 are representative of the current lane 26 is generally indicated by box 130 in FIG. 2.If the computing device 24 determines that the first lane boundary indicator 36 and the second lane boundary indicator are not representative of the current lane, generally indicated at 136, then the computing device passes control of the vehicle 20 to the human operator. The step of providing control of the vehicle 20 to the human operator is generally indicated by box 138 in FIG. 2.If the computing device 24 determines that the first lane boundary indicator 36 and the second lane boundary indicator 38 are representative of the current lane 26, generally indicated at 132, then the computing device uses the first lane boundary indicator 36 and the second lane boundary indicator 38 of the adjacent lane 28 to control and maneuver the vehicle 20 to maintain a position of the vehicle 20 within the current lane 26. The step of using the first lane boundary indicator 36 and the second adjacent lane boundary indicator 38 to control the vehicle 20 is generally indicated by the field 134 in FIG. 2. Accordingly, the computing device 24 uses collected data relating to the adjacent lane 28 to maintain the position of the vehicle 20 within the current lane 26. It should be noted that computing device 24 may use the captured data with respect to one of the available adjacent lanes 28 shown in FIG. 1.To use the first lane boundary indicator 36 and the second lane boundary indicator 38 of the adjacent lane 28 as a basis for controlling the vehicle 20 within the current lane 26, the computing device 24 may compare the first lane boundary indicator 36 and the second lane boundary indicator 38 to acquire data representing the adjacent lane 28 and the current lane 26 to identify a relative position between the adjacent lane 28 and the current lane 26. The map data representing the adjacent lane 28 and the current lane 26 may be stored in the memory 32 of the computing device 24 or referenced from a remote location via a wireless connection. The computing device 24 may compare the map data of the adjacent lane 28 and the current lane 26 with the detected first lane boundary indicator 36 and the second lane boundary indicator 38 of the adjacent lane 28, as well as the left lane boundary indicator 40 and the right lane boundary indicator 42 of the current lane 26 to ensure that the first lane boundary indicator 36 and the second lane boundary indicator 38 of the adjacent lane 28 substantially represent and mimic the current lane 26. In other words, the computing device 24 determines whether the first lane boundary indicator 36 and the second lane boundary indicator 38 are following substantially similar lanes and / or maintain a substantially similar distance therebetween. If the computing device 24 determines that the adjacent lane 28 is not representative of the current lane 26, which may occur when the adjacent lane 28 is away from the current lane 26, then the computing device 24 passes control of the vehicle 20 to a human operator of the vehicle 20.The computing device 24 may control the vehicle 20 using the first lane boundary indicator 36 and the second lane boundary indicator 38 of the adjacent lane 28 in a suitable manner. For example, the computing device 24 may transpose or laterally translate the first lane boundary indicator 36 of the adjacent lane 28 to the current lane 26 to define a transposed left edge 52 of the current lane 26 and transpose or laterally translate the second lane boundary indicator 38 of the adjacent lane 28 to the current lane 26 to define a transposed right edge 54 of the current lane 26. The transposed left edge 52 approaches the left lane boundary indicator 40 of the current lane 26, while the transposed right edge 54 of the right lane boundary indicator 42 approaches the current lane 26. The computing device 24 may detect, measure, or otherwise determine the distance between the corresponding features of the adjacent lane 28 and the current lane 26, and use this distance to transpose or translate the first lane boundary indicator 36 and the second lane boundary indicator 38 into the current lane 26 to define the transposed left edge 52 and the transposed right edge 54 of the current lane 26, respectively. For example, if a center of the adjacent lane 28 is twelve feet away from a center of the current lane 26, then the computing device 24 may transpose or shift the first lane boundary indicator 36 and the second lane boundary indicator 38 twelve feet to define the transposed left edge 52 and the transposed right edge 54 of the current lane 26. While the transposed left edge 52 and the transposed right edge 54 are shown slightly offset from the conjunctionally delimited portions of the left lane boundary indicator 40 and the right lane boundary indicator 42 of the current lane 26 for reasons of clarity, it should be noted that the transposed left edge 52 and the conjunctionally delimited segment 44A of the left lane boundary indicator 40 substantially overlap, and that the transposed right edge 54 and the conjunctionally delimited segment 44B of the right lane boundary indicator 42 substantially overlap.If the computing device 24 has not previously determined that the first lane boundary indicator 36 and the second lane boundary indicator 38 of the adjacent lane 28 are substantially parallel to the left lane boundary indicator 40 and the right lane boundary indicator 42 of the current lane 26, as described above, then the computing device 24 may compare the transposed right edge 54 of the current lane 26 and the transposed left edge 52 of the current lane 26 with a current roadway 56 of the vehicle 20 to determine whether the transposed right edge 54 and the transposed left edge 52 of the current lane 26 are generally aligned with the current roadway 56 of the vehicle 20. When the transposed left edge 52 and the transposed right edge 54 are generally aligned with the current roadway 56 of the vehicle 20, the computing device 24 may control the vehicle 20 using the transposed left edge 52 and the transposed right edge 54. In contrast, if the computing device 24 determines that the transposed left edge 52 and the transposed right edge 54 do not generally match the current roadway 56 of the vehicle 20, then the computing device 24 may hand over control of the vehicle 20 to the human operator.If the computing device 24 determines that the transposed left edge 52 and the transposed right edge 54 are aligned with the current lane 26, then the computing device 24 may control and maneuver the vehicle 20 to maintain the position of the vehicle 20 within the current lane 26 using the transposed left edge 52 obtained from the first lane boundary indicator 36 of the adjacent lane 28 and the transposed right edge 54 obtained from the second lane boundary indicator 38 of the adjacent lane 28.The computing device 24 may suitably use the transposed left edge 52 and the transposed right edge 54 of the current lane 26 as a basis for maneuvering the vehicle 20. For example, the computing device 24 may control and / or maneuver the vehicle 20 such that the vehicle 20 does not cross either the transposed left edge 52 or the transposed right edge 54. Alternatively, computing device 24 may calculate a transposed centerline 58. The transposed centerline 58 is a centerline that is midway between the transposed left edge 52 and the transposed right edge 54. The transposed centerline 58 approximately corresponds to the actual centerline 50 of the current lane 26. Optionally, the computing device 24 may compare the transposed centerline 58 to the current roadway 56 of the vehicle 20 to determine whether the transposed centerline 58 and the current travel path 56 of the vehicle 20 are generally aligned. When the transposed centerline 58 and the current roadway 56 of the vehicle 20 are generally aligned, the computing device 24 may control and / or maneuver the vehicle 20 to follow the transposed centerline 58. If the transposed centerline 58 and the current travel path 56 of the vehicle 20 are not generally aligned, the computing device 24 may hand over control of the vehicle 20 to the human operator.The computing device 24 may also otherwise use the first lane boundary indicator 36 and the second lane boundary indicator 38 as a basis for controlling and / or maneuvering the vehicle 20. For example, the computing device 24 may calculate an actual centerline 60 of the adjacent lane 28. The actual centerline 60 of the adjacent lane 28 is located midway between the first lane boundary indicator 36 and the second lane boundary indicator 38. The computing device 24 may then transpose or translate the actual centerline 60 of the adjacent lane 28 to the current lane 26 to define the transposed centerline 58 and control and / or maneuver the vehicle 20 to follow the transposed centerline 58 as described above.The method described above may be used to control the vehicle 20 when the left lane boundary indicator 40 and / or the right lane boundary indicator 42 are unsatisfactory dimensional scales of the current lane 26. After the computing device 24 again ensures that the left lane boundary indicator 40 and the right lane boundary indicator 42 are again satisfactory current lane 26 boundary scales, the computing device 24 may continue and control the vehicle 20 based on the left lane boundary indicator 40 and the right lane boundary indicator 42 of the current lane 26.

Claims

A method of controlling a vehicle (20), the method comprising: detecting a first lane boundary indicator (36) and a second lane boundary indicator (38) of an adjacent lane (28) with at least one sensor (22) of the vehicle (20), the adjacent lane (28) being laterally offset from a current lane (26) of the vehicle (20); and maneuvering the vehicle (20) with a computing device (24) of the vehicle (20) to maintain a position of the vehicle (20) within the current lane (26) based on the detected first lane boundary indicator (36) and the detected second lane boundary indicator (38) of the adjacent lane (28); characterized transposing the first lane boundary indicator (36) of the adjacent lane (28) to the current lane (26) to define a transposed left edge (52) and transposing the second lane boundary indicator (38) of the adjacent lane (28) to the current lane (26) to define a transposed right edge (54).The method of claim 1, further comprising detecting a left lane boundary indicator (40) and a right lane boundary indicator (42) of the current lane (26) with the at least one sensor (22) of the vehicle (20).The method of claim 2, further comprising determining that both the left lane boundary indicator (40) and the right lane boundary indicator (42) of the current lane (26) are satisfactory demarcation scales of the current lane (26), or that at least one of the left lane boundary indicator (40) and the right lane boundary indicator (42) of the current lane (26) is an unsatisfactory demarcation scale of the current lane (26).The method of claim 3, wherein maneuvering the vehicle (20) to maintain the position of the vehicle (20) within the current lane (26) based on the detected first lane boundary indicator (36) and the detected second lane boundary indicator (38) of the adjacent lane (28) is further defined as maneuvering the vehicle (20) to maintain the position of the vehicle (20) within the current lane (26) based on the detected first lane boundary indicator (36) and the detected second lane boundary indicator (38) of the adjacent lane (28) when at least one of the left lane boundary indicator (40) and the right lane boundary indicator (42) of the current lane (26) is determined as an unsatisfactory level of boundary of the current lane (26).The method of claim 2, further comprising maneuvering the vehicle (20) with the computing device (24) of the vehicle (20) to maintain a position of the vehicle (20) within the current lane (26) based on the left lane boundary indicator (40) and the right lane boundary indicator (42) of the current lane (26) when both the left lane boundary indicator (40) and the right lane boundary indicator (42) of the current lane (26) are determined to be satisfactory boundary scales of the current lane (26).The method of claim 1, further comprising computing a transposed centerline (58) of the current lane (26) located between the transposed left edge (52) and the transposed right edge (54).The method of claim 6, wherein maneuvering the vehicle (20) to maintain the position of the vehicle (20) within the current lane (26) based on the detected first lane boundary indicator (36) and the detected second lane boundary indicator (38) of the adjacent lane (28) is further defined as maneuvering the vehicle (20) to follow the transposed centerline (58).A method of controlling a vehicle (20), the method comprising: detecting a first lane boundary indicator (36) and a second lane boundary indicator (38) of an adjacent lane (28) with at least one sensor (22) of the vehicle (20), the adjacent lane (28) being laterally offset from a current lane (26) of the vehicle (20); and maneuvering the vehicle (20) with a computing device (24) of the vehicle (20) to maintain a position of the vehicle (20) within the current lane (26) based on the detected first lane boundary indicator (36) and the detected second lane boundary indicator (38) of the adjacent lane (28); characterized calculating an actual centerline (60) of the adjacent lane (28) between the first lane boundary indicator (36) and the second lane boundary indicator (38); and transposeing the actual centerline (60) of the adjacent lane (28) to the current lane (26) to define a transposed centerline (58).

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