US 12,276,516 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 Aug. 14, 2023, as Appl. No. 18/449,340.
Application 18/449,340 is a continuation of application No. 18/158,974, filed on Jan. 24, 2023, granted, now 11,874,130.
Application 18/158,974 is a continuation of application No. 17/074,468, filed on Oct. 19, 2020, granted, now 11,573,095, issued on Feb. 7, 2023.
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 2023/0408284 A1, Dec. 21, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. G01C 21/36 (2006.01); G01S 17/86 (2020.01); G01S 17/89 (2020.01); G06V 20/56 (2022.01)
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)] 20 Claims
OG exemplary drawing
 
1. A method of lane detection, comprising:
generating a first image from a second image received from a sensor located on a vehicle, wherein the first image indicates pixels located on a lane marking;
generating, based on the first image, a third image comprising fitted lane markings; and
obtaining a fourth image by fitting a fitted lane marking into an arc of a circle, wherein the fitted lane markings include the fitted lane marking.