AUTOMATED-VEHICLE 3D ROAD-MODEL AND LANE-MARKING DEFINITION SYSTEM
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United States of America Patent
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Sep 2, 2016
filing date -
Sep 2, 2016
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Abstract
A road-model-definition system suitable for an automated-vehicle includes a camera, a lidar-unit, and a controller. The camera used is to provide an image of an area proximate to a host-vehicle. The lidar-unit is used to provide a point-cloud descriptive of the area. The controller is in communication with the camera and the lidar-unit. The controller is configured to determine an image-position of a lane-marking in the image, select ground-points from the point-cloud indicative of a travel-surface, determine coefficients of a three-dimensional (3D) road-model based on the ground-points, and determine a transformation to map the lane-marking in the image onto the travel-surface based on the image-position of a lane-marking and the 3D road-model and thereby obtain a 3D marking-model.
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