The application relates to field of autonomous vehicles that discloses method and system for training a lane tracking system and lane tracking for an autonomous vehicle. During training phase, lane tracking system receives ground truth and measured values corresponding to lane boundary detection points and determines ground truth and measured clothoid points. Thereafter, co-efficient values of clothoid parameters are determined for measured clothoid points to model lane boundaries and then Kalman filter parameters are determined for co-efficient values to track lane boundaries, using Long Short-Term Memory (LSTM) networks. Further, co-efficient values of clothoid parameters are updated using Kalman filter parameters, using which, measured clothoid point is reconstructed, and used to track lane boundaries. Further, training error is minimised based on the difference between reconstructed measured clothoid points and the corresponding ground truth set in each cycle until the training error is below a predefined threshold. The trained lane tracking system is then deployed for lane tracking in the dynamic environment.
Method and system for lane tracking for an autonomous vehicle
12.01.2022
Patent
Elektronische Ressource
Englisch
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