LANE PREDICTION AND SMOOTHING FOR EXTENDED MOTION PLANNING HORIZON

摘要

Embodiments of the present disclosure are directed to lane marker prediction for occluded lane markers. Image data from one or more sensors of a vehicle is received by a processor of a control system. The image data includes a roadway from a route being navigated by the vehicle and lane marker information. If there are not enough lane markers captured in the lane marker information to produce a threshold look-ahead horizon of the roadway ahead of the vehicle, a longest lane marker ahead of the vehicle from the lane marker information is selected. A curvature tangent to the longest lane marker is computed and predictive lane markers are generated based on the curvature tangent. The vehicle is steered based on the predictive lane markers ahead of the vehicle generated from the curvature tangent.