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Approach for estimating the geometry of roads and lanes by using vehicle trajectories

  • US 9,460,622 B1
  • Filed: 10/16/2014
  • Issued: 10/04/2016
  • Est. Priority Date: 03/16/2012
  • Status: Active Grant
First Claim
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1. A method comprising:

  • identifying, using one or more processors, a base trajectory and a first trajectory, each trajectory including one or more locations, and each trajectory being associated with a particular road vehicle;

    selecting, using the one or more processors, a base location from the one or more locations of the base trajectory;

    clustering, using the one or more processors, at least one location from the first trajectory, wherein the at least one location is selected based on a measured distance from the base location;

    determining, using the one or more processors, a third location based on the clustered locations and the base location, the third location being different from the base location and the clustered locations;

    calculating, using the one or more processors, a third trajectory using the third location; and

    changing, using the one or more processors, at least one of a speed of a third road vehicle and a direction of the third road vehicle based on the third trajectory.

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