US 12,392,639 B2
System and method to generate a lane-level traffic map using vehicle sensor data
Emrah Akin Sisbot, Mountain View, CA (US); Yashar Zeiynali Farid, Mountain View, CA (US); Xiaofei Cao, Mountain View, CA (US); Haritha Muralidharan, Mountain View, CA (US); and Kentaro Oguchi, Mountain View, CA (US)
Assigned to TOYOTA MOTOR ENGINEERING & MANUFACTURING NORTH AMERICA, INC., Plano, TX (US); and TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA MOTOR ENGINEERING & MANUFACTURING NORTH AMERICA, INC., Plano, TX (US)
Filed on Feb. 7, 2023, as Appl. No. 18/165,646.
Prior Publication US 2024/0263963 A1, Aug. 8, 2024
Int. Cl. G01C 21/00 (2006.01); G01C 21/36 (2006.01)
CPC G01C 21/3837 (2020.08) [G01C 21/3691 (2013.01); G01C 21/3807 (2020.08)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
identifying, based on sensor information received from an ego vehicle, locations of other vehicles traveling in the same direction as the ego vehicle on a multi-lane roadway;
calculating speeds for the other vehicles based on the received sensor information; and
displaying, on a graphical user interface (GUI) of the ego vehicle, a lane-level traffic map for the multi-lane roadway indicating a lane-by-lane traffic condition based on the identified locations and calculated speeds, wherein the lane-level traffic map comprises regions arranged in rows, a respective row represents a respective lane of the multi-lane roadway, and a respective region represents a respective identified location, and wherein displaying the lane-level traffic map comprises determining and generating lengths of regions in the respective row based on at least one of:
speeds of vehicles in the respective lane of the multi-lane roadway;
a time of day;
a speed limit on the multi-lane roadway; and
a road type for the multi-lane roadway.