| 主权项 |
1. A method comprising:
receiving, by one or more processors, from at least one sensor of an autonomous vehicle, a plurality of remission signals based on a portion of a lane of travel in an environment, wherein a given remission signal of the plurality of remission signals comprises a respective remission value indicative of a level of reflectiveness for the portion of the lane of travel, wherein the autonomous vehicle is substantially in the lane of travel in the environment; determining, by the one or more processors, an average remission value based on respective remission signals of the plurality of remission signals, wherein the average remission value is indicative of an average level of reflectiveness for the portion of the lane of travel; comparing, by the one or more processors, the average remission value to a known remission threshold indicative of a minimum level of reflectiveness for a lane marker in the lane of travel; based on the comparison, the one or more processors adjusting the known remission threshold to be an adjusted known remission threshold, wherein the adjusted remission threshold is used for only a predetermined period of time as the autonomous vehicle navigates in the lane of travel; and responsive to the adjusting, the one or more processors (i) determining, based on the adjusted known remission threshold, that the portion of the lane of travel includes at least one lane marker demarcating the lane of travel, and (ii) controlling the autonomous vehicle to navigate the lane of travel within the determined at least one lane marker demarcating the lane of travel. |
