Lane curb assisted off-lane checking and lane keeping system for autonomous driving vehicles

Lane curb assisted off-lane checking and lane keeping system for autonomous driving vehicles

In one embodiment, a lane departure detection system detects at a first point in time that a wheel of an ADV rolls onto a lane curb disposed on an edge of a lane in which the ADV is moving. The system detects at a second point in time that the wheel of the ADV rolls off the lane curb of the lane. Th...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser: He, Jiarui, Xia, Zhongpu, Wang, Jingao, Zhu, Fan, Kong, Qi, Fu, Xiaoxin, Zhu, Zhenguang, Zhao, Chunming, Luo, Qi, Yu, Xiang, Pan, Yuchang, Li, Hongye, Yang, Guang, Hu, Sen
Format: Patent
Sprache:eng
Schlagworte:
CONTROLLING
PHYSICS
REGULATING
SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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Beschreibung
Zusammenfassung:In one embodiment, a lane departure detection system detects at a first point in time that a wheel of an ADV rolls onto a lane curb disposed on an edge of a lane in which the ADV is moving. The system detects at a second point in time that the wheel of the ADV rolls off the lane curb of the lane. The system calculates an angle between a moving direction of the ADV and a lane direction of the lane based on the time difference between the first point in time and the second point in time in view of a current speed of the ADV. The system then generates a control command based on the angle to adjust the moving direction of the ADV in order to prevent the ADV from further drifting off the lane direction of the lane.