US 12,441,356 B2
Lane stitching methods and systems for robust automated driving control
Ami Woo, Markham (CA); Tushita Arun Sikder, Windsor (CA); Amirreza Mirbeygi Moghaddam, Toronto (CA); Mohammadali Shahriari, Markham (CA); and Reza Zarringhalam, Whitby (CA)
Assigned to GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed by GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed on Nov. 22, 2022, as Appl. No. 18/058,094.
Prior Publication US 2024/0166232 A1, May 23, 2024
Int. Cl. G06V 20/56 (2022.01); B60W 40/02 (2006.01); B60W 40/06 (2012.01); B60W 60/00 (2020.01)
CPC B60W 60/001 (2020.02) [G06V 20/588 (2022.01); B60W 2420/403 (2013.01); B60W 2552/00 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A system for controlling a vehicle, comprising:
a sensor system configured to generate sensor data sensed from an environment of the vehicle, via one or more sensors of the vehicle; and
a control module configured to, by a processor that is coupled to the one or more sensors of the vehicle, based on the sensor data, identify a gap in a lane line on a roadway in front of the vehicle, determine at least two points within the gap, determine a curve between the at least two points, compute a correlation measure based on the curve based on a distance between points on the curve, generate lane stitching data based on the curve and an evaluation of the correlation measure, and controlling one or more components of the vehicle based on the stitching data, wherein the control module is further configured to generate the lane stitching data based on a plurality of conditions, including when a determined lateral difference in the lines is within a predetermined lane width range and when a distance of the gap is less than a predetermined maximum gap distance, wherein the control module is further configured to:
identify a plurality of lane lines, identify the gap between the plurality of lane lines, sort the plurality of lane lines into a first group consisting of lane lines before the gap, and a second group consisting of lane lines after the gap; and
compute the correlation measure for each lane line pair, and wherein the control module is configured to generate the stitching data based on the curve of the lane line pair that has a highest correlation measure, wherein each lane line pair comprises one or more pairs of coordinate which may be grouped together to form a pair such that they may be used in conjunction with one another for further calculations.