US 11,874,130 B2
Verification module system and method for motion-based lane detection with multiple sensors
Siyuan Liu, San Diego, CA (US); Mingdong Wang, San Diego, CA (US); and Xiaodi Hou, San Diego, CA (US)
Assigned to TUSIMPLE, INC., San Diego, CA (US)
Filed by TuSimple, Inc., San Diego, CA (US)
Filed on Jan. 24, 2023, as Appl. No. 18/158,974.
Application 18/158,974 is a continuation of application No. 17/074,468, filed on Oct. 19, 2020, granted, now 11,573,095.
Application 17/074,468 is a continuation of application No. 15/683,441, filed on Aug. 22, 2017, granted, now 10,816,354, issued on Oct. 27, 2020.
Prior Publication US 2023/0160712 A1, May 25, 2023
Int. Cl. G01C 21/36 (2006.01); G06V 20/56 (2022.01); G01S 17/89 (2020.01); G01S 17/86 (2020.01)
CPC G01C 21/3658 (2013.01) [G06V 20/588 (2022.01); G01S 17/86 (2020.01); G01S 17/89 (2013.01); G06V 2201/10 (2022.01)] 19 Claims
OG exemplary drawing
 
1. A method for lane detection, comprising:
generating, based on a lane detection algorithm, a hit-map image in response to a current view, wherein the hit-map image includes a classification of pixels that hit a lane marking;
receiving a fitted lane marking associated with the current view;
extending, in a post processing module, the fitted lane marking;
generating a lane template, using a set of parameters that express the fitted lane marking in an arc, that includes features of the lane marking associated with the current view and features of an extended lane marking; and
feeding the lane template associated with the current view for detection of a next view.