US 12,065,170 B2
Automated driving systems and control logic for lane localization of target objects in mapped environments
Joseph R. Abrash, Bloomfield Hills, MI (US); Paul A. Adam, Milford, MI (US); Robert C. Baraszu, Livonia, MI (US); Dmitriy Feldman, West Bloomfield, MI (US); and Yadollah Sabri, 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 Sep. 28, 2021, as Appl. No. 17/487,261.
Prior Publication US 2023/0103248 A1, Mar. 30, 2023
Int. Cl. B60W 60/00 (2020.01); B60W 10/04 (2006.01); B60W 10/18 (2012.01); B60W 10/20 (2006.01); B60W 50/00 (2006.01); G01C 21/32 (2006.01)
CPC B60W 60/0027 (2020.02) [B60W 10/04 (2013.01); B60W 10/18 (2013.01); B60W 10/20 (2013.01); B60W 50/0098 (2013.01); G01C 21/32 (2013.01); B60W 2050/0052 (2013.01); B60W 2554/4041 (2020.02); B60W 2554/4042 (2020.02); B60W 2554/4043 (2020.02); B60W 2554/801 (2020.02); B60W 2554/802 (2020.02); B60W 2556/50 (2020.02); B60W 2710/18 (2013.01); B60W 2710/20 (2013.01); B60W 2720/106 (2013.01); B60W 2720/125 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for controlling operation of a motor vehicle, the method comprising:
receiving, via an electronic controller from a sensor array mounted to the motor vehicle, sensor data indicative of target dynamics information for a target vehicle;
estimating, via the electronic controller using the sensor data from the sensor array, a predicted lane assignment for the target vehicle on a road segment of the motor vehicle;
receiving, via the electronic controller from a memory-stored map database, map data indicative of roadway information of the road segment;
fusing the sensor data with the map data to construct a polynomial overlay for a host lane of the road segment across which travels the motor vehicle;
constructing a piecewise linearized road map of the host lane of the road segment;
combining the piecewise linearized road map with the predicted lane assignment and the polynomial overlay to determine a calculated lane assignment for the target vehicle; and
controlling, via the electronic controller, a resident vehicle system of the motor vehicle to execute a control operation using the calculated lane assignment for the target vehicle, the control operation including braking, steering, and/or acceleration of the motor vehicle.