ROAD BRANCH DETECTION AND PATH SELECTION FOR LANE CENTERING

摘要

Lane feature data is processed to compute a feed-forward lane curvature of a left lane boundary and a right lane boundary. A look-ahead lane width and a near lane width are computed based on left and right lane boundaries. A lane width increase is computed to detect a lane split or lane merge based on differences between increasing lane widths. A side of the vehicle on which the lane split or merge occurred is identified or determined. The lane boundary on the side on which the lane split or merged occurred is ignored, and a single-sided lane centering calculation is performed based on the non-ignored lane boundary.

主权项

1: An apparatus, comprising circuitry configured to:
process lane feature data to compute left and right lane clothoids; compute a look-ahead lane width and a near lane width based on the left and right lane clothoids; compute a lane width increase to detect a lane split or lane merge based on differences between the look-ahead and near lane widths; determine on which side of a vehicle the lane split or the lane merge occurred; and perform a single-sided lane centering calculation based on the left clothoid or the right clothoid corresponding to the side of the vehicle on which the lane split or the lane merge did not occur.