Method and system for lane detection and validation

Patent metadata

Field	Value
Publication number	US-2017166205-A1
Application number	US-201514967792-A
Country	US
Kind code	A1
Filing date	Dec 14, 2015
Priority date	Dec 14, 2015
Publication date	Jun 15, 2017
Grant date	—

Abstract

A method and system for lane recognition including determining availability of vehicle position data obtained from more than one source including a GPS device source and an imaging device source. The method includes modifying a lane error threshold based on the availability of the vehicle position data. The lane error threshold is a lateral distance from a centerline of a lane. The method includes validating lane recognition data based on the lane error threshold.

First claim

1 . A computer-implemented method for lane recognition, comprising:
determining availability of vehicle position data obtained from more than one source including a GPS device source and an imaging device source; modifying a lane error threshold based on the availability of the vehicle position data, wherein the lane error threshold is a lateral distance from a centerline of a lane; and validating lane recognition data based on the lane error threshold.

2 . The computer-implemented method of claim 1 , wherein upon determining vehicle position data obtained from the GPS device source is unavailable, modifying the lane error threshold includes decreasing the lane error threshold.

3 . The computer-implemented method of claim 1 , wherein upon determining vehicle position data obtained from the GPS device source is available and vehicle position data obtained from the imaging device source is available, modifying the lane error threshold includes increasing the lane error threshold.

4 . The computer-implemented method of claim 1 , wherein validating lane recognition data based on the lane error threshold includes comparing a distance of a vehicle from a centerline to the lane error threshold.

5 . The computer-implemented method of claim 4 , wherein upon determining the distance of the vehicle from the centerline is greater than the lane error threshold based on the comparison, the lane recognition data is discarded.

6 . The computer-implemented method of claim 1 , comprising determining a location of the more than one source including a location of the GPS device source and a location of the imaging device source.

7 . The computer-implemented method of claim 6 , wherein modifying the lane error threshold includes modifying the lane error threshold based on the location of the GPS device source and a location of the imaging device source.

8 . A system for lane recognition, comprising:
a vehicle position data source including a GPS device source and an imaging device source; and a processor operatively connected for computer communication the vehicle data position source, the processor including, a vehicle position data source module to determine availability of vehicle position data obtained from the GPS device source and the imaging device source; a lane error module to modify a lane error threshold based on the availability of the vehicle position data, wherein the lane error threshold is a lateral distance from a centerline of a lane; a lane recognition module to validate lane recognition data based on the lane error threshold.

9 . The system for lane recognition of claim 8 , wherein the vehicle position data source module determines availability of vehicle position data obtained from the GPS device source and the imaging device source based on a device status obtained by the vehicle position data source module from the GPS device source and a device status obtained by the vehicle position data source module from the imaging device source.

10 . The system for lane recognition of claim 8 , wherein upon the vehicle position data source module determining vehicle position data obtained from the GPS source is unavailable, the lane error module modifies the lane error threshold by decreasing the lane error threshold.

11 . The system for lane recognition of claim 8 , wherein upon the vehicle position data source module determining vehicle position data obtained from the GPS source is available and vehicle position data obtained from the imaging device source is available, the lane error module modifies the lane error threshold by increasing the lane error threshold.

12 . The system for lane recognition of claim 8 , wherein the lane recognition module validates lane recognition data based on the lane error threshold by comparing a distance of a vehicle from a centerline to the lane error threshold.

13 . The system for lane recognition of claim 8 , wherein the vehicle position data source module determines a location of the GPS device source or a location the imaging device source.

14 . The system for lane recognition of claim 13 , wherein the lane error module modifies the lane error threshold based on the location of the GPS device source or the location of the imaging device source.

15 . A non-transitory computer-readable medium storing computer-executable instructions that when executed by a computer, which includes at least a processor, cause the computer to perform a method, the method comprising:
determining availability of vehicle position data obtained from a GPS device source and an imaging device source based on a device status obtained from the GPS device source and a device status obtained from the imaging device source; calculating a modified lane error threshold based on the availability of the vehicle position data; and validating lane recognition data based on the modified lane error threshold.

16 . The non-transitory computer-readable medium of claim 15 , wherein upon determining vehicle position data obtained from the GPS device source is unavailable, calculating the modified lane error threshold includes decreasing an initial lane error threshold.

17 . The non-transitory computer-readable medium of claim 15 , wherein upon determining vehicle position data obtained from the GPS device source is available and vehicle position data obtained from the imaging device source is available, calculating the modified lane error threshold includes increasing an initial lane error threshold.

18 . The non-transitory computer-readable medium of claim 15 , comprising determining a location of the GPS device source or the imaging device source on a vehicle.

19 . The non-transitory computer-readable medium of claim 18 , wherein calculating the modified lane error threshold includes calculating the modified lane error threshold based on the location of the GPS device source or the imaging device source on the vehicle.

20 . The non-transitory computer-readable medium of claim 15 , wherein validating lane recognition data includes comparing the lane recognition data with the modified lane error threshold.

Assignees

• Honda Motor Co Ltd

Inventors

• Ichinokawa Jumpei

Classifications

• B60W2556/50

  of positioning data, e.g. GPS [Global Positioning System] data · CPC title

• G01S19/14 Primary

  specially adapted for specific applications · CPC title

• H04L67/12

  specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks · CPC title

• G05B2219/2637

  Vehicle, car, auto, wheelchair · CPC title

• G05B19/042

  using digital processors (G05B19/05 takes precedence) · CPC title