Autonomous lane detection
First Claim
1. A method of lane detection for a vehicle, comprising:
- receiving, via a wireless receiver of the vehicle, a signal from a first device;
determining, by a processor disposed within the vehicle and in communication with the wireless receiver, a time of the vehicle passing the first device at which a path of the received signal is approximately orthogonal to a direction of travel of the vehicle based on a comparison of a measured received frequency of the received signal to a source frequency of the received signal and to one or more thresholds;
determining, by the processor disposed within the vehicle and in communication with the wireless receiver, a distance from the vehicle to the first device based on at least one of a time of arrival (“
TOA”
) or a round trip time (“
RTT”
) of the received signal at or near the determined time of the vehicle passing the first device at which the path of the received signal is approximately orthogonal to the direction of travel of the vehicle; and
determining, by the processor disposed within the vehicle and in communication with the wireless receiver, a lane in which the vehicle is operating based on the determined distance and a lane map.
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Accused Products
Abstract
Methods, systems, computer-readable media, and apparatuses for autonomous lane detection are presented. One example method includes the steps of receiving a signal from a first device; responsive to a comparison of a measured received frequency of the signal to a source frequency of the signal and to one or more thresholds, determining a distance to the first device; and determining a lane in which the vehicle is operating based on the distance and a lane map. Another example method further includes the steps of determining a location and a heading of the first vehicle; and outputting, to a crowdsourcing server, the location, the heading, and the distance to the first device.
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Citations
26 Claims
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1. A method of lane detection for a vehicle, comprising:
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receiving, via a wireless receiver of the vehicle, a signal from a first device; determining, by a processor disposed within the vehicle and in communication with the wireless receiver, a time of the vehicle passing the first device at which a path of the received signal is approximately orthogonal to a direction of travel of the vehicle based on a comparison of a measured received frequency of the received signal to a source frequency of the received signal and to one or more thresholds; determining, by the processor disposed within the vehicle and in communication with the wireless receiver, a distance from the vehicle to the first device based on at least one of a time of arrival (“
TOA”
) or a round trip time (“
RTT”
) of the received signal at or near the determined time of the vehicle passing the first device at which the path of the received signal is approximately orthogonal to the direction of travel of the vehicle; anddetermining, by the processor disposed within the vehicle and in communication with the wireless receiver, a lane in which the vehicle is operating based on the determined distance and a lane map. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A non-transitory computer-readable medium comprising program code, the program code configured to be executable by a processor and to cause the processor to:
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receive, via a wireless receiver of a vehicle, a signal from a first device; determine, by a processor disposed within the vehicle and in communication with the wireless receiver, a time of the vehicle passing the first device at which a path of the received signal is approximately orthogonal to a direction of travel of the vehicle based on a comparison of a measured received frequency of the received signal to a source frequency of the received signal and to one or more thresholds; determine, by the processor in communication with the wireless receiver, a distance from the vehicle to the first device based on at least one of a time of arrival (“
TOA”
) or a round trip time (“
RTT”
) of the received signal at or near the determined time of the vehicle passing the first device at which the path of the received signal is approximately orthogonal to the direction of travel of the vehicle; anddetermine, by the processor disposed within the vehicle and in communication with the wireless receiver, a lane in which the vehicle is operating based on the determined distance and a lane map. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A system configured to be mounted in a vehicle comprising:
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an antenna; a wireless receiver in communication with the antenna; a non-transitory computer-readable medium; and a processor disposed within the vehicle and in communication with the wireless receiver and the non-transitory computer-readable medium and configured to execute program code stored in the non-transitory computer-readable medium and to; receive, via the wireless receiver of the vehicle, a signal from a first device; determine a time of the vehicle passing the first device at which a path of the received signal is approximately orthogonal to a direction of travel of the vehicle based on a comparison of a measured received frequency of the received signal to a source frequency of the received signal and to one or more thresholds; determine a distance from the vehicle to the first device based on at least one of a time of arrival (“
TOA”
) or a round trip time (“
RTT”
) of the received signal at or near the determined time of the vehicle passing the first device at which the path of the received signal is approximately orthogonal to the direction of travel of the vehicle; anddetermine a lane in which the vehicle is operating based on the determined distance and a lane map. - View Dependent Claims (16, 17, 18, 19, 20, 21)
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22. A system configured to be mounted in a vehicle comprising:
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means for receiving a signal from a first device; means, disposed within the vehicle and in communication with the means for receiving the signal, for; determining a time of the vehicle passing the first device at which a path of the received signal is approximately orthogonal to a direction of travel of the vehicle based on a comparison of a measured received frequency of the received signal to a source frequency of the received signal and to one or more thresholds; determining a distance from the vehicle to the first device based on at least one of a time of arrival (“
TOA”
) or a round trip time (“
RTT”
) of the received signal at or near the determined time of the vehicle passing the first device at which the path of the received signal is approximately orthogonal to the direction of travel of the vehicle; anddetermining a lane in which the vehicle is operating based on the determined distance and a lane map. - View Dependent Claims (23, 24, 25, 26)
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Specification