US 12,347,210 B2
Lane edge fusion system for an autonomous vehicle
Brent Navin Roger Bacchus, Sterling Heights, MI (US)
Assigned to GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed by GM Global Technology Operations LLC, Detroit, MI (US)
Filed on Jan. 25, 2023, as Appl. No. 18/159,370.
Prior Publication US 2024/0249534 A1, Jul. 25, 2024
Int. Cl. G06V 20/56 (2022.01); B60W 30/12 (2020.01); B60W 30/18 (2012.01); G01C 21/00 (2006.01); G01C 21/36 (2006.01); G06T 7/13 (2017.01); G06T 7/181 (2017.01); G06V 10/80 (2022.01)
CPC G06V 20/588 (2022.01) [B60W 30/12 (2013.01); B60W 30/18163 (2013.01); G01C 21/3602 (2013.01); G01C 21/3635 (2013.01); G01C 21/3658 (2013.01); G01C 21/38 (2020.08); G01C 21/3811 (2020.08); G01C 21/3815 (2020.08); G01C 21/3819 (2020.08); G01C 21/3867 (2020.08); G06T 7/13 (2017.01); G06T 7/181 (2017.01); G06V 10/80 (2022.01); G06V 10/803 (2022.01); B60W 2552/10 (2020.02); B60W 2552/53 (2020.02); B60W 2554/4045 (2020.02); B60W 2556/35 (2020.02); G06T 2207/10028 (2013.01); G06T 2207/20161 (2013.01); G06T 2207/20221 (2013.01); G06T 2207/30256 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A lane edge fusion system for an autonomous vehicle, the lane edge fusion system comprising:
one or more controllers executing instructions to:
receive perception data and map data of a roadway the autonomous vehicle is traveling along;
derive a plurality of map lane edge points from the map data and a plurality of perception lane edge points from the perception data;
select an evaluation point based on the plurality of map lane edge points and the plurality of perception lane edge points, wherein a true position of a lane edge is represented as an implicit curve;
fit an implicit function for the evaluation point based on an implicit moving least squares approach, wherein the implicit curve is represented by a zero-level set of the implicit function and the implicit function is represented by an equation for a planar circle;
solve for a plurality of coefficients of the implicit function, wherein the plurality of coefficients are a function of the evaluation point;
estimate a covariance of the plurality of coefficients;
determine a point on the implicit curve that is nearest to a given point based on an iterative process;
determine a lateral error variance at the point based on the covariance for the plurality of coefficients; and
build a fused lane edge by setting the point on the implicit curve as one of a plurality fused lane edge points that are fused together to create the fused lane edge.