Lane curb assisted off-lane checking and lane keeping system for autonomous driving vehicles

US10365649B2 · kind B2 · utility

Assignees

• BAIDU USA LLC · US
• BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO., LTD. · CN

Inventors

• Fan Zhu · Sunnyvale, US
• Qi Kong · Sunnyvale, US
• Qi Luo · Sunnyvale, US
• Xiang Yu · Nanhu, CN
• Sen Hu · Sunnyvale, US
• Zhenguang Zhu · Beijing, CN
• Xiaoxin Fu · Beijing, CN
• Jiarui He · Beijing, CN
• Hongye Li · Lo Wu, CN
• Yuchang Pan · Beijing, CN
• Zhongpu Xia · Sunnyvale, US
• Chunming Zhao · 安丰镇, CN
• Guang Yang · Sunnyvale, US
• Jingao Wang · Sunnyvale, US

Key dates

• Filing date: Apr 19, 2017
• Grant date: Jul 30, 2019
• Expiry date: Jun 21, 2037

Classification

• Technology area (CPC B): Performing Operations; Transporting
• CPC primary: B60W2554/60
• WIPO field: Transport
• WIPO sector: Mechanical engineering

Abstract

In one embodiment, a lane departure detection system detects at a first point in time that a wheel of an ADV rolls onto a lane curb disposed on an edge of a lane in which the ADV is moving. The system detects at a second point in time that the wheel of the ADV rolls off the lane curb of the lane. The system calculates an angle between a moving direction of the ADV and a lane direction of the lane based on the time difference between the first point in time and the second point in time in view of a current speed of the ADV. The system then generates a control command based on the angle to adjust the moving direction of the ADV in order to prevent the ADV from further drifting off the lane direction of the lane.