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公开(公告)号：US10703365B1
公开(公告)日：2020-07-07
申请号：US16232553
申请日：2018-12-26
发明人： Jin-Yan Hsu , Chien-Hung Yu , Kun-Lung Ku , Tong-Kai Jhang , Hung-Pang Lin
摘要： A lane tracking method is proposed for use by an autonomous vehicle running on a lane. A future location of the autonomous vehicle that corresponds to a future time point is estimated based on a current location and a measurement result of an inertial measurement unit of the autonomous vehicle. The future location of the autonomous vehicle, and a reference lane line data and a reference past location that correspond to a reference past time point are used to estimate a future lane line data that corresponds to the future time point.
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2.发明授权公开(公告)号：US11130493B2
公开(公告)日：2021-09-28
申请号：US16729895
申请日：2019-12-30
发明人： Tong-Kai Jhang , Chien-Hung Yu , Jin-Yan Hsu , Kun-Lung Ku
IPC分类号： B60W30/18 , B60W40/107 , G06K9/00 , G05D1/08 , G05D1/02 , B60W40/109
摘要： A trajectory planning method for lane changing of a vehicle includes steps of: calculating a current position of a reference point of the vehicle on a preliminary lane change trajectory that is received from an LCA system of the vehicle at a current time point; based on kinematics data received from an IMU of the vehicle, calculating longitudinal and lateral displacements of the reference point moving during a unit of time from the current time point to a next time point, and a yaw angle of the vehicle at the next time point; and obtaining a calibrated lane change trajectory based on the preliminary lane change trajectory, the current position, the longitudinal and lateral displacements, and the yaw angle.
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