US 11,756,313 B2
Road-perception system configured to estimate a belief and plausibility of lanes in a road model
Sana Sarfraz, Agoura Hills, CA (US)
Assigned to Aptiv Technologies Limited, St. Michael (BB)
Filed by Aptiv Technologies Limited, St. Michael (BB)
Filed on Sep. 29, 2020, as Appl. No. 17/37,392.
Prior Publication US 2022/0101023 A1, Mar. 31, 2022
Int. Cl. G06V 20/56 (2022.01); G05D 1/00 (2006.01); G06F 18/21 (2023.01)
CPC G06V 20/588 (2022.01) [G05D 1/0088 (2013.01); G06F 18/217 (2023.01); G05D 2201/0213 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
defining, by a road-perception system of a vehicle and using at least one of map data or sensor measurements, multiple lane sections that comprise portions of lanes of a roadway, the lane sections being represented by respective basis bands that include points of a polyline and a width at the points of the polyline, each lane of the roadway including one or more contiguous lane sections;
for each respective lane section of the multiple lane sections, determining, by the road-perception system, respective belief masses associated with the respective lane section being assigned to respective lanes of the roadway;
consolidating, by the road-perception system, the multiple lane sections into a set of proposed lanes representing the roadway in a road model;
determining, by the road-perception system and using the respective belief masses associated with the multiple lane sections, a belief parameter and a plausibility parameter associated with each lane of the set of proposed lanes, the belief parameter being determined as a first sum of mass values associated with respective lane sections consolidated into a respective lane of the set of proposed lanes, the plausibility parameter being determined as a second sum of the first sum and mass values associated with other lane sections that share a parent lane section with the respective lane;
determining whether the belief parameter, the plausibility parameter, and the difference between the plausibility parameter and the belief parameter associated with each lane of the set of proposed lanes are each greater or less than a respective threshold value; and
responsive to determining that the belief parameter and the plausibility parameter are each greater than the respective threshold value and the difference between the plausibility parameter and the belief parameter is less than the respective threshold value, operating, using the set of proposed lanes of the road model, the vehicle along the roadway with an autonomous-driving system or an assisted-driving system.