Lane Classification for Safe Merging Into Turn and Bike Lanes
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Solution Overview
Problem
Existing autonomous vehicle systems are limited in their ability to navigate complex scenarios and unique lane geometries, particularly in situations requiring merging into turning or bike lanes before executing a turn, due to restrictive lane classifications and lack of flexibility in understanding varying lane types and widths.
Innovation Solution
The system enables vehicles to classify multiple lanes and navigate complex scenarios by determining preconditions such as the presence of junctions, valid action trajectories, and lane occupancy, using sensor data and map information to safely merge into turning or bike lanes before executing a turn, and dynamically adjust driving corridors to ensure safety.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the autonomous vehicle uses traditional lane classification systems, then the system structure is simple, but the ability to navigate complex scenarios and unique lane geometries is limited
Solution Approach 1:
The patent segments lane classification into multiple categories (established, occupied, unoccupied) based on vehicle presence and occupancy thresholds. This segmentation allows the system to handle complex scenarios by dividing the continuous space into discrete, manageable classification states that can be independently evaluated and acted upon.
Solution Approach 2:
The patent implements dynamic lane classification where lane status changes based on real-time vehicle presence detection and occupancy calculations. The system continuously updates lane classifications as vehicles enter, occupy, or leave lanes, enabling adaptive navigation through complex geometries and scenarios rather than using static pre-defined lane types.
2Adaptability or versatility
If the autonomous vehicle merges into turning or bike lanes, then the turning capability is improved, but the risk of collision with other objects increases
Solution Approach 1:
The patent performs preliminary classification of the target lane (turning lane or bike lane) before executing the merge action. By determining whether the lane is unoccupied, occupied, or established in advance, the system can assess collision risk and only proceed with merging when safe, thus improving turning capability while maintaining safety.
Solution Approach 2:
The system continuously monitors lane occupancy and vehicle presence during the merging process, providing real-time feedback that allows dynamic adjustment of the merging action. If obstacles are detected during the merge, the system can abort or modify the action to avoid collisions.
Data Source
AI summary
Techniques described herein are directed to classifying lanes in an environment of a vehicle for, for example, performing lane handling. In an example, system(s) of a vehicle can determine a signal indicative of a presence of the vehicle in a lane of a drivable surface in an environment within which the vehicle is located. The system(s) can determine, based at least in part on the signal, a classification of the lane as at least one of occupied (an object is at least partially in the lane), unoccupied (no object in the lane), and/or established (e.g., where an object has established a priority in the lane). The system(s) can control the vehicle based at least in part on the classification of the lane to improve safety in scenarios, for example, including merging.