A lane-keeping system (10) suitable for use on an automated vehicle (12) includes a camera (32), an inertial-measurement-unit (40), and a controller (28). The camera (32) is configured to detect a lane-marking (38) of a roadway (36) traveled by a vehicle (12). The inertial-measurement-unit (40) is configured to determine relative-motion (42) of the vehicle (12). The controller (28) is in communication with the camera (32) and the inertial-measurement-unit (40). When the lane-marking (38) is detected the controller (28) is configured to steer the vehicle (12) towards a centerline (48) of the roadway (36) based on a last-position (54), and determine an offset-vector (58) indicative of motion of the vehicle (12) relative to the centerline (48) of the roadway (36). When the lane-marking (38) is not detected the controller (28) is configured to: determine an offset-position (60) relative to the last-position (54) based on information from the inertial-measurement-unit (40), determine a correction-vector (62) used to steer the vehicle (12) from the offset-position (60) towards the centerline (48) of the roadway (36) based on the last-position (54) and the offset-vector (58), and steer the vehicle (12) according to the correction-vector (62).
LANE-KEEPING SYSTEM FOR AUTOMATED VEHICLES
SPURHALTESYSTEM FÜR AUTOMATIKFAHRZEUGE
SYSTÈME DE MAINTIEN DE VOIE DESTINÉ À DES VÉHICULES AUTOMATISÉS
2019-01-02
Patent
Electronic Resource
English
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G06K Erkennen von Daten , RECOGNITION OF DATA / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |