Lane centering disturbance mitigation
A vehicle computer includes a memory and a processor programmed to execute instructions stored in the memory. The instructions include determining a first lane center, autonomously operating a host vehicle relative to the first lane center, detecting a change in the first lane center to a second lane center, selecting a filter, and applying the filter while transitioning autonomous operation of the host vehicle from the first lane center to the second lane center.
1. A vehicle computer comprising:
a memory; and
a processor programmed to execute instructions stored in the memory, the instructions including determining a first lane center, autonomously operating a host vehicle relative to the first lane center, detecting a change in the first lane center to a second lane center, selecting a filter, and applying the filter while transitioning autonomous operation of the host vehicle from the first lane center to the second lane center;
wherein one or more of (a) selecting from among at least one of a low filter, a moderate filter, a high filter, and a coasting filter, (b) determining a steerable path prediction confidence level and selecting the filter according to the steerable path prediction confidence level, or (c) detecting a steerable path prediction model change and selecting the filter according to the steerable path prediction model change, is or are included in selecting the filter.
2. The vehicle computer of claim 1 , wherein the first lane center is defined by a first lane marker and a second lane marker and wherein the second lane center is defined by the first lane marker and not the second lane marker.
3. The vehicle computer of claim 2 , wherein the processor is programmed to detect the first lane marker and the second lane marker from an image captured by a camera.
4. The vehicle computer of claim 3 , wherein the processor is programmed to detect the first lane marker and the second lane marker by applying an image processing technique to the image captured by the camera.
5. The vehicle computer of claim 1 , wherein selecting from among at least one of a low filter, a moderate filter, a high filter, and a coasting filter is included in selecting the filter.
6. The vehicle computer of claim 5 , wherein selecting and applying the low filter causes the processor to move the host vehicle toward the second lane center more quickly than selecting and applying the coasting filter, the high filter, or the moderate filter.
7. The vehicle computer of claim 6 , wherein selecting and applying the moderate filter causes the processor to move the host vehicle toward the second lane center more quickly than selecting and applying the coasting filter or the high filter.
8. The vehicle computer of claim 7 , wherein selecting and applying the high filter causes the processor to move the host vehicle toward the second lane center more quickly than selecting and applying the coasting filter.
9. The vehicle computer of claim 1 , wherein selecting the filter includes determining a steerable path prediction confidence level and selecting the filter according to the steerable path prediction confidence level is included in selecting the filter.
10. The vehicle computer of claim 1 , wherein selecting the filter includes detecting a steerable path prediction model change and selecting the filter according to the steerable path prediction model change is included in selecting the filter.
11. A vehicle lane centering system comprising:
a camera programmed to capture a first image of an area ahead of a host vehicle, the image including a first lane marker and a second lane marker; and
a processor programmed to process the first image to determine a first lane center based on the first lane marker and the second lane marker and autonomously operate the host vehicle relative to the first lane center,
wherein the camera is programmed to capture a second image including the first lane marker and not the second lane marker, and wherein the processor is programmed to process the second image to determine a second lane center different from the first lane center, select a filter, and apply the filter while transitioning autonomous operation of the host vehicle from the first lane center to the second lane center;
wherein one or more of (a) selecting from among at least one of a low filter, a moderate filter, a high filter, and a coasting filter, (b) determining a steerable path prediction confidence level and selecting the filter according to the steerable path prediction confidence level, or (c) detecting a steerable path prediction model change and selecting the filter according to the steerable path prediction model change, is or are included in selecting the filter.
12. The vehicle lane centering system of claim 11 , wherein the first lane center is defined by a first lane marker and a second lane marker and wherein the second lane center is defined by the first lane marker and not the second lane marker.
13. The vehicle lane centering system of claim 12 , wherein the processor is programmed to detect the first lane marker and the second lane marker in the first image by applying an image processing technique to the first image captured by the camera and wherein the processor is programmed to detect the first lane marker in the second image by applying the image processing technique to the second image captured by the camera.
14. The vehicle lane centering system of claim 11 , wherein selecting from among at least one of a low filter, a moderate filter, a high filter, and a coasting filter is included in selecting the filter.
15. The vehicle lane centering system of claim 14 , wherein selecting and applying the low filter causes the processor to move the host vehicle toward the second lane center more quickly than selecting and applying the coasting filter, the high filter, or the moderate filter.
16. The vehicle lane centering system of claim 15 , wherein selecting and applying the moderate filter causes the processor to move the host vehicle toward the second lane center more quickly than selecting and applying the coasting filter or the high filter.
17. The vehicle lane centering system of claim 16 , wherein selecting and applying the high filter causes the processor to move the host vehicle toward the second lane center more quickly than selecting and applying the coasting filter.
18. The vehicle lane centering system of claim 11 , wherein determining a steerable path prediction confidence level and selecting the filter according to the steerable path prediction confidence level is included in selecting the filter.
19. The vehicle lane centering system of claim 11 , wherein detecting a steerable path prediction model change and selecting the filter according to the steerable path prediction model change is included in selecting the filter.