LANE KEEPING FOR AUTONOMOUS VEHICLES

A system for a lane keeping feature of a vehicle is provided. The lane keeping feature has a predefined safety requirement criterion for keeping the vehicle within bounds while the lane keeping feature is active. The system comprises a road estimation module and a trajectory planning module. The road estimation module is configured to receive sensor data comprising information about a surrounding environment of the vehicle, and to determine a drivable area based on the sensor data. The drivable area comprises a left boundary and a right boundary extending along a direction of travel of the vehicle, wherein each boundary comprises a plurality of points distributed along each boundary, each point being associated with a confidence level. The trajectory planning module is configured to receive the determined drivable area, and to determine a nominal trajectory for the vehicle based on the received drivable area. The nominal trajectory is determined based on the predefined safety requirement criterion and a predefined availability criterion. The trajectory planning module is further configured to determine a back-up stop trajectory for the vehicle based on the received drivable area, where the back-up stop trajectory is determined based on a predefined confidence criterion. The predefined confidence criterion is dependent on a predefined value of frequency of back-up stops that is based on the predefined availability criterion for the nominal trajectory.