DECELERATION CURB-BASED DIRECTION CHECKING AND LANE KEEPING SYSTEM FOR AUTONOMOUS DRIVING VEHICLES

By | October 5, 2018

A lane departure detection system (306) detects that an autonomous driving vehicle (ADV) is departing from the lane (500) in which the ADV is driving based on sensor data captured when the ADV contact a deceleration curb (502) such as a speed bump laid across the lane (500). When the ADV contacts the deceleration curb (502), the lane departure detection system (306) detects and calculates an angle (505) of a moving direction (504) of the ADV vs a longitudinal direction of the deceleration curb (502). Based on the angle (505), the system calculates how much the moving direction (504) of the ADV is off compared to a lane direction (503) of the lane. The lane direction (503) is typically substantially perpendicular to the longitudinal direction of the deceleration curb (502). A control command such as a speed control command and/or a steering control command is generated based on the angle (505) to correct the moving direction (504) of the ADV.

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