Automated guidance system
A guidance system, for use on an automated vehicle includes a camera, a vehicle-to-vehicle transceiver, and a controller. The camera detects a lane-marking on a roadway and detects a lead-vehicle traveling ahead of a host-vehicle. The vehicle-to-vehicle transceiver receives a future-waypoint from the lead-vehicle, wherein the future-waypoint defines a future-route of the lead-vehicle along the roadway. The controller is in communication with the camera and the vehicle-to-vehicle transceiver. The controller determines a projected-path for the host-vehicle based on the lane-marking. The controller also determines a lead-path of the lead-vehicle based on the camera. The controller steers the host-vehicle according to the lead-path when the lane-marking is not detected and the lead-path corresponds to the projected-path. The controller steers the host-vehicle according to the projected-path while the lane-marking is not detected and the future-waypoint does not correspond to the projected-path.
1. A guidance system, said system comprising:
a camera that detects a lane-marking on a roadway and detects a lead-vehicle traveling ahead of a host-vehicle;
a vehicle-to-vehicle transceiver that receives a future-route from the lead-vehicle; and
a controller in communication with the camera and the vehicle-to-vehicle transceiver, the controller;
determines whether a lane-marking is detected based on the camera;
in accordance with the determination that the lane-marking is detected, the controller;
determines a projected-path for the host-vehicle based on the lane-marking;
in accordance with the determination that the lane-marking is not detected, the controller;
determines a lead-path of the lead-vehicle based on the camera; and
determines whether the future-route corresponds to the projected-path;
in accordance with the determination that the future-route corresponds to the projected-path, the controller;
steers the host-vehicle according to the lead-path; and
in accordance with the determination that the future-route does not correspond to the projected-path, the controller;
steers the host-vehicle according to the projected-path.
2. The system in accordance with claim 1 , wherein the system further includes a ranging-sensor that detects the lead-vehicle and the controller further determines the lead-path based on the ranging-sensor.
3. The system in accordance with claim 2 , wherein the ranging-sensor is a radar.
4. The system in accordance with claim 2 , wherein the ranging-sensor is a lidar.
5. The system in accordance with claim 1 , wherein the projected-path is a lane-polynomial based on the lane-marking.
6. The system in accordance with claim 5 , wherein the controller stores the lane-polynomial in a memory.
7. The system in accordance with claim 1 , wherein the lead-path is a lead-polynomial based on the lead-vehicle.
8. The system in accordance with claim 1 , wherein the future-route includes travel into a left-turn-lane.
9. The system in accordance with claim 1 , wherein the future-route includes travel into a right-turn-lane.
10. The system in accordance with claim 1 , wherein the future-route is a future-route-polynomial based on the future-route.
11. A method of operating a guidance system, said method comprising:
detecting, with a camera, a lane-marking on a roadway and a lead-vehicle traveling ahead of a host-vehicle;
receiving, with a vehicle-to-vehicle transceiver, a future-route from the lead-vehicle; and
determining, with a controller in communication with the camera and the vehicle-to-vehicle transceiver, whether a lane-marking is detected based on the camera;
in accordance with the determination that the lane-marking is detected;
determining, with the controller, a projected-path for the host-vehicle based on the lane-marking;
in accordance with the determination that the lane-marking is not detected;
determining, with the controller, a lead-path of the lead-vehicle based on the camera; and
determining, with the controller, whether the future-route corresponds to the projected-path;
in accordance with the determination that the future-route corresponds to the projected-path;
steering, with the controller, the host-vehicle according to the lead-path; and
in accordance with the determination that the future-route does not correspond to the projected-path;
steering, with the controller, the host-vehicle according to the projected-path.
12. The method in accordance with claim 11 , wherein the system further includes a ranging-sensor that detects the lead-vehicle and the controller further determines the lead-path based on the ranging-sensor.
13. The method in accordance with claim 12 , wherein the ranging-sensor is a radar.
14. The method in accordance with claim 12 , wherein the ranging-sensor is a lidar.
15. The method in accordance with claim 11 , wherein the projected-path is a lane-polynomial based on the lane-marking.
16. The method in accordance with claim 15 , wherein the controller stores the lane-polynomial in a memory.
17. The method in accordance with claim 11 , wherein the lead-path is a lead-polynomial based on the lead-vehicle.
18. The method in accordance with claim 11 , wherein the future-route includes travel into a left-turn-lane.
19. The method in accordance with claim 11 , wherein the future-route includes travel into a right-turn-lane.
20. The method in accordance with claim 11 , wherein the future-route is a future-route-polynomial based on the future-route.
21. A guidance system, said system comprising:
a camera that detects a lane-marking on a roadway traveled by a host-vehicle and a lead-vehicle traveling ahead of the host-vehicle;
a vehicle-to-vehicle transceiver that receives a future-route from the lead-vehicle; and
a controller in communication with the camera and the vehicle-to-vehicle transceiver, said controller determines a travel-path for the host-vehicle based on the lane-marking, and follows the lead-vehicle when the future-route coincides with the travel-path.
22. A method of operating a guidance system, comprising:
operating a host-vehicle in travel in a lane of a roadway, wherein operating the vehicle comprises determining, with a controller in communication with a camera, a host-vehicle path based on one or more lane-markings associated with the lane of the roadway;
determining, with the controller, that the lane-markings are no longer detectable;
in response to determining that the lane-markings are no longer detectable:
identifying, with the camera, a forward vehicle travelling ahead of the host-vehicle;
determining, with the controller, a projected-path associated with the forward vehicle; and
if the projected-path associated with the forward vehicle corresponds to the host-vehicle path previously determined based on the one or more lane-markings, operating the host-vehicle, with the controller, to follow the forward vehicle.
23. The method of claim 22 , wherein if the projected-path associated with the forward vehicle does not correspond to the host-vehicle path determined based on the one or more lane-markings, operating the host-vehicle, with the controller, to travel according to the host-vehicle path previously determined based on the one or more lane-markings.