US 11,891,060 B2
System and method in lane departure warning with full nonlinear kinematics and curvature
Kilsoo Kim, Hermosa Beach, CA (US); Jongmoo Choi, Gardena, CA (US); Lei Cao, Torrance, CA (US); Mayukh Sattiraju, Redondo Beach, CA (US); Dheemanth Uppalapati, Marina Del Rey, CA (US); and Aviral Singh, Torrance, CA (US)
Assigned to Canoo Technologies Inc., Torrance, CA (US)
Filed by Canoo Technologies Inc., Torrance, CA (US)
Filed on Jul. 13, 2021, as Appl. No. 17/305,705.
Prior Publication US 2023/0013737 A1, Jan. 19, 2023
Int. Cl. B60W 30/12 (2020.01); B60W 50/14 (2020.01); B60W 10/18 (2012.01); B60W 10/20 (2006.01); B60K 1/00 (2006.01); G08G 1/16 (2006.01); G06V 10/44 (2022.01); G06V 20/56 (2022.01)
CPC B60W 30/12 (2013.01) [B60K 1/00 (2013.01); B60W 10/18 (2013.01); B60W 10/20 (2013.01); B60W 50/14 (2013.01); G06V 10/44 (2022.01); G06V 20/588 (2022.01); G08G 1/167 (2013.01); B60W 2420/42 (2013.01); B60W 2520/14 (2013.01); B60W 2552/30 (2020.02); B60W 2552/53 (2020.02); B60W 2710/18 (2013.01); B60W 2710/20 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An apparatus, comprising:
at least one camera configured to capture an image of a traffic lane in front of a vehicle; and
a vehicle behavior prediction controller configured to:
determine lane boundaries for a segment of a traffic lane occupied by the vehicle from the captured image of the traffic lane in front of the vehicle and prior captured images of the traffic lane in front of the vehicle,
determine a rate of road curvature for the segment of the traffic lane occupied by the vehicle from the captured image of the traffic lane in front of the vehicle and prior captured images of the traffic lane in front of the vehicle,
determine lateral distances of the vehicle from the lane boundaries and a rate of departure of the vehicle from the occupied traffic lane that is accurate for the determined road curvature,
determine a time to line crossing for the vehicle from the lateral distances and the rate of departure, and
activate a lane departure warning indicator based on the determined time to line crossing.