Method and apparatus for determining lane identification in a roadway
First Claim
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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Accused Products
Abstract
A lane identity in a roadway in which a vehicle is traveling can be determined. The roadway can include a plurality of lanes. The determining can include 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. Generating the lane identification confidence belief can be 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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Citations
16 Claims
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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:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A method of determining a lane identity in a roadway in which a vehicle is traveling, where the roadway contains a plurality of lanes comprising:
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obtaining, using one or more sensors, a lane marker type to a left side and to a right side 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, the lane identification confidence belief being calculated as;
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15. A computing apparatus associated with a vehicle for determining the lane identity of a vehicle traveling in a roadway having a plurality of lanes comprising:
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a computing device including at least one processor mounted on the vehicle and coupled to sensors; a memory for storing data and program instructions used by the at least one processor, where the at least one processor executes program instructions stored in the memory and one or more sensors mounted on the vehicle to detect lane marker type to a left side and a right side of the vehicle at instantaneous positions of the vehicle in the roadway as well as detecting lane crossings of the vehicle in the roadway, the computing device executing the program instructions for; obtaining a lane marker type to a left side and 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 a vehicle from at least one of the sensors; obtaining an instantaneous position of the vehicle on the roadway using one of the sensor and map data; determining a number of lanes in the roadway at the instantaneous position of the vehicle using map data stored or accessible in the memory; detecting lane crossings of the vehicle between the plurality of lanes in the roadway using one of the sensors; 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. - View Dependent Claims (16)
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Specification