公开(公告)号：US20140032108A1

公开(公告)日：2014-01-30

申请号：US13561755

申请日：2012-07-30

申请人： Shuqing Zeng ,  BAKHTIAR BRIAN LITKOUHI ,  XINGPING CHEN ,  JAMES N. NICKOLAOU ,  DANIEL GANDHI ,  JOEL PAZHAYAMPALLIL

发明人： Shuqing Zeng ,  BAKHTIAR BRIAN LITKOUHI ,  XINGPING CHEN ,  JAMES N. NICKOLAOU ,  DANIEL GANDHI ,  JOEL PAZHAYAMPALLIL

IPC分类号： G06K9/62 ,  G01C21/34

CPC分类号： B60W30/12 ,  B60W2550/22 ,  B60W2550/306 ,  B60W2550/402 ,  G08G1/167

摘要： A method for selecting an anchor lane for tracking in a vehicle lane tracking system. Digital map data and leading vehicle trajectory data are used to predict lane information ahead of a vehicle. Left and right lane boundary markers are also detected, where available, using a vision system. The lane marker data from the vision system is combined with the lane information from the digital map data and the leading vehicle trajectory data in a lane curvature fusion calculation. The left and right lane marker data from the vision system are also evaluated for conditions such as parallelism and sudden jumps in offsets, while considering the presence of entrance or exit lanes as indicated by the map data. An anchor lane for tracking is selected based on the evaluation of the vision system data, using either the fused curvature calculation or the digital map and leading vehicle trajectory data.

摘要翻译： 一种用于在车道跟踪系统中选择用于跟踪的锚车道的方法。 数字地图数据和前导车辆轨迹数据用于预测车辆前方的车道信息。 还可以使用视觉系统检测左右车道边界标记。 来自视觉系统的车道标记数据与车道曲线融合计算中的数字地图数据和前车辆轨迹数据的车道信息相结合。 考虑到地图数据所示的入口或出口通道的存在，还可以评估来自视觉系统的左右车道标记数据，例如平行度和偏移突然跳跃等条件。 基于对视觉系统数据的评估，使用融合曲率计算或数字地图和前导车辆轨迹数据来选择用于跟踪的锚定车道。