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, where the roadway contains a plurality of lanes comprising:
- 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 based on any detected lane crossings, the number of lanes in the roadway, a history of lane marker type up to a predetermined travel distance, and the lane marker type at the instantaneous position of the vehicle in the roadway,the lane identification confidence belief being calculated as;
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Accused Products
Abstract
A method and apparatus for determining a lane identity of a vehicle travelling in a roadway where the roadway contains a plurality of lanes is determined based on information from sensors associated with the vehicle and map data for detecting the lane marker type to a left side and right side of the vehicle, any lane crossings during travel of the vehicle along the roadway, a history of lane marker type up to a predetermined travel distance along the roadway, and the lane marker type at the instantaneous position of the vehicle in the roadway. The lane identity method and apparatus outputs a confidence belief identifying the probability that the vehicle is traveling in one particular lane of the roadway.
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Citations
18 Claims
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1. 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 based on any detected lane crossings, the number of lanes in the roadway, a history of lane marker type up to a predetermined travel distance, and the lane marker type at the instantaneous position of the vehicle in the roadway, the lane identification confidence belief being calculated as; - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A computer-implemented method of determining which lane of a roadway containing a plurality of lanes the vehicle is currently traveling 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 of 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 a predetermined travel distance in a particular lane, any detected lane crossings, the number of lanes of the roadway, a history of lane marker type up to a predetermined travel distance, and a lane marker type at the instantaneous position of the vehicle in the roadway, the lane identification confidence belief being calculated as; - View Dependent Claims (15, 16)
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17. 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 each instantaneous position 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 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, a history of lane marker type up to a predetermined travel distance of the vehicle along the roadway, and a lane marker type at the instantaneous position of the vehicle in the roadway, the lane identification confidence belief being calculated as; - View Dependent Claims (18)
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Specification