US 12,283,114 B2
Vehicle lane boundary detection
Christian Wegner, Grosse Ile, MI (US); Mahmoud Yousef Ghannam, Canton, MI (US); Bradford Scott Bondy, St. Clair Shores, MI (US); and Muhannad Hamdan, Canton, MI (US)
Assigned to Ford Global Technologies, LLC, Dearborn, MI (US)
Filed by Ford Global Technologies, LLC, Dearborn, MI (US)
Filed on Dec. 28, 2022, as Appl. No. 18/147,031.
Prior Publication US 2024/0221391 A1, Jul. 4, 2024
Int. Cl. G06V 20/56 (2022.01); G01C 21/34 (2006.01); G06V 20/58 (2022.01)
CPC G06V 20/588 (2022.01) [G01C 21/34 (2013.01); G06V 20/584 (2022.01)] 20 Claims
OG exemplary drawing
 
1. A system comprising:
A processor and a memory, the memory storing instructions executable by the processor, including instructions to:
Receive forward image data of a roadway from a forward-facing camera of a vehicle, the roadway including a driving lane for the vehicle;
Determine visible lane boundaries of the driving lane based on lane marking features in the forward image data, the forward image data including sufficient lane marking features to determine the visible lane boundaries, wherein a predicted lane boundary is located between the visible lane boundaries on the roadway;
Determine the predicted lane boundary of the driving lane by an in-between predicting model based, at least in part, on forward features in the forward image data, the forward image data including insufficient lane marking features to determine the predicted lane boundary;
Determine a driving path of the vehicle through the visible lane boundaries and the predicted lane boundary; and
Actuate the vehicle based on the driving path.