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Method and apparatus for determining lane identification in a roadway

  • US 10,074,281 B2
  • Filed: 08/31/2016
  • Issued: 09/11/2018
  • Est. Priority Date: 05/06/2014
  • Status: Active Grant
First Claim
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1. A method of determining a lane identity in a roadway in which a vehicle is traveling, the roadway including a plurality of lanes, the method comprising:

  • obtaining, using one or more sensors, a lane marker type to a left side and to a right side of the vehicle at a current position of the vehicle or ahead of the current position of the vehicle in a forward direction of travel of the vehicle;

    obtaining, using one or more sensors, an instantaneous position of the vehicle on the roadway;

    determining, using map data, a number of lanes in the roadway at the instantaneous position of the vehicle;

    detecting, using one or more sensors, lane crossings of the vehicle between the plurality of lanes in the roadway; and

    generating a lane identification confidence belief indicating a probability that the vehicle is in a particular lane of the plurality of lanes of the roadway based on;

    any detected lane crossings,the number of lanes in the roadway,the lane marker type to a left side and to a right side of the vehicle at the current position of the vehicle or ahead of the current position of the vehicle in a forward direction of travel of the vehicle; and

    a weighted average of an instantaneous lane identification confidence belief and a lane identification confidence belief prior to a current sample time period.

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