公开(公告)号：US20170329345A1

公开(公告)日：2017-11-16

申请号：US15154076

申请日：2016-05-13

Applicant: Delphi Technologies, Inc.

Inventor： Premchand Krishna Prasad ,  Michael I. Chia ,  Ehsan Samiei

IPC: G05D1/02 ,  B60W10/20 ,  G08G1/16 ,  G06K9/00 ,  B60W30/12 ,  B60W30/10

CPC classification number: G05D1/0246 ,  B60R2300/804 ,  B60W10/20 ,  B60W30/10 ,  B60W30/12 ,  B60W2420/403 ,  B60W2420/42 ,  B60W2710/20 ,  B60Y2200/10 ,  B60Y2300/12 ,  B62D15/025 ,  G05D1/0231 ,  G05D2201/0213 ,  G06K9/00798 ,  G08G1/167

Abstract: A lane-keeping system suitable for use on an automated vehicle includes a camera, an inertial-measurement-unit, and a controller. The camera is configured to detect a lane-marking of a roadway traveled by a vehicle. The inertial-measurement-unit is configured to determine relative-motion of the vehicle. The controller in communication with the camera and the inertial-measurement-unit. When the lane-marking is detected the controller is configured to steer the vehicle towards a centerline of the roadway based on a last-position, and determine an offset-vector indicative of motion of the vehicle relative to the centerline of the roadway. When the lane-marking is not detected the controller is configured to: determine an offset-position relative to the last-position based on information from the inertial-measurement-unit, determine a correction-vector used to steer the vehicle from the offset-position towards the centerline of the roadway based on the last-position and the offset-vector, and steer the vehicle according to the correction-vector.