Patent ID: 9120486
Filing Date: 2015-09-01
Classification: B60W

Abstract:
1. A computer-implemented method, comprising: receiving, at a controller of a vehicle, the controller having one or more processors, image data of a road in front of and along which the vehicle is traveling, the road having a plurality of lane lines defining at least one lane; detecting, at the controller, a first pair of the lane lines using the image data; using the image data, detecting, at the controller: determining, at the controller, that one of the second pair of lane lines is an invalid lane line for defining a lane in which the vehicle is traveling; generating, at the controller, a virtual lane line based on previous image data in response to determining the invalid lane line, the virtual lane line being configured to replace the invalid lane line in the second pair of lane lines; and controlling, by the controller, lane keeping of the vehicle using the virtual lane line and the other lane line of the pair of lane lines.