A CAMERA-BASED LOW-COST LATERAL POSITION CALIBRATION METHOD FOR LEVEL-3 AUTONOMOUS VEHICLES

摘要

A computer-implemented method, apparatus, and system (1500) for receiving and calibrating lateral deviation values and for controlling an autonomous vehicle to correct the lateral deviation are provided. In every perception and planning cycle, a single lateral deviation value representative of an estimated autonomous vehicle lateral deviation from a reference line is generated based on camera detection. The deviation value for a present cycle is received. A calibrated deviation value can be updated for the present cycle based on the received deviation value and a Gaussian distribution model. Control signals for the present cycle are generated to drive the autonomous vehicle to at least partially correct the autonomous vehicle lateral deviation based on the updated calibrated deviation value.