Granted Patent
B2
US 12,276,516 · App. 18/449,340 · Granted Apr 15, 2025
Verification module system and method for motion-based lane detection with multiple sensors
Assignee:
TUSIMPLE, INC.
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Abstract
A method of lane detection for a non-transitory computer readable storage medium storing one or more programs is disclosed. The one or more programs include instructions, which when executed by a computing device, cause the computing device to perform the following steps comprising: generating a ground truth associated with lane markings expressed in god's view; receiving features from at least one of a hit-map image and a fitted lane marking, wherein the hit-map image includes a classification of pixels that hit a lane marking, and the fitted lane marking includes pixels optimized based on the hit-map image; and training a confidence module based on the features and the ground truth, the confidence module configured to determine on-line whether a fitted lane marking is reasonable, using parameters that express a lane marking in an arc.
Claims (30)
1. A method of lane detection, comprising:
generating a first image from a second image received from a sensor located on a vehicle, wherein the first image indicates pixels located on a lane marking;
generating, based on the first image, a third image comprising fitted lane markings; and
obtaining a fourth image by fitting a fitted lane marking into an arc of a circle, wherein the fitted lane markings include the fitted lane marking.
2. The method of claim 1 , wherein the third image comprising the fitted lane markings is generated using lane markings on a highway that are parallel to each other.
3. The method of claim 1 , wherein the third image comprising the fitted lane markings is generated using a circular shape of a curvature of a lane on a highway.
4. The method of claim 1 , wherein the third image comprising the fitted lane markings is generated using a curvature of a lane on a highway that is smaller than a distance.
5. The method of claim 1 , wherein the third image comprising the fitted lane markings is generated using a lane spacing between neighboring lanes on a highway having a range between two distances.
6. The method of claim 1 , wherein the third image comprising the fitted lane markings is generated using a color at an edge of one lane marking that is different from that of another portion of a highway.
7. An apparatus, comprising:
a processor configured to:
generate a first image from a second image received from a sensor located on a vehicle, wherein the first image indicates pixels located on a lane marking;
generate, based on the first image, a third image comprising fitted lane markings; and
obtain a fourth image by fitting a fitted lane marking into an arc of a circle, wherein the fitted lane markings include the fitted lane marking.
8. The apparatus of claim 7 , wherein a confidence level is determined for each fitted lane marking.
9. The apparatus of claim 7 , wherein at least some fitted lane markings are removed from the fitted lane markings.
10. The apparatus of claim 7 , wherein the third image is generated based on the first image and a lane template that include features from a first view immediately prior to a second view related to the second image.
11. The apparatus of claim 10 , wherein a number of fitted lane markings are increased in the lane template.
12. The apparatus of claim 10 , wherein a local optimal of the fitted lane marking is obtained by optimizing points in the lane template.
13. The apparatus of claim 7 , wherein the second image includes an image obtained by a camera and point cloud data generated by a light detection and ranging (LiDAR) sensor.
14. The apparatus of claim 7 , wherein the processor is further configured to remove at least some fitted lane markings from the fitted lane markings.
15. A non-transitory computer readable storage medium comprising instructions thereon, the instructions, when executed by a processor, causes the processor to perform a method, comprising:
generating a first image from a second image received from a sensor located on a vehicle, wherein the first image indicates pixels located on a lane marking;
generating, based on the first image, a third image comprising fitted lane markings; and
obtaining a fourth image by fitting a fitted lane marking into an arc of a circle, wherein the fitted lane markings include the fitted lane marking.
16. The non-transitory computer readable storage medium of claim 15 , wherein the third image comprising the fitted lane markings is generated using lane markings on a highway that are parallel to each other.
17. The non-transitory computer readable storage medium of claim 15 , wherein the third image comprising the fitted lane markings is generated using a circular shape of a curvature of a lane on a highway.
18. The non-transitory computer readable storage medium of claim 15 , wherein the third image comprising the fitted lane markings is generated using a curvature of a lane on a highway that is smaller than a distance.
19. The non-transitory computer readable storage medium of claim 15 , wherein the third image comprising the fitted lane markings is generated using a lane spacing between neighboring lanes on a highway having a range between two distances.
20. The non-transitory computer readable storage medium of claim 15 , wherein the third image comprising the fitted lane markings is generated using a color at an edge of one lane marking that is different from that of another portion of a highway.
Assignments (3)
CHANGE OF NAME
Recorded Dec 3, 2025
From: TUSIMPLE, INC.
To: CREATEAI, INC.
Reel/Frame 073832/0485 →
ASSIGNMENT OF ASSIGNOR'S INTEREST
Recorded Sep 6, 2023
From: LIU, SIYUAN; WANG, MINGDONG; HOU, XIAODI
To: TUSIMPLE
Reel/Frame 066072/0863 →
Continuity (4)
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