US 12,110,017 B2
Street lane-level matching method for automotive applications
Rahi Hemmati, North York (CA); Hamed Asadi, Troy, MI (US); Azin Neishaboori, Plymouth, MI (US); and Mohsen Bahrami, Birmingham, MI (US)
Assigned to FORD GLOBAL TECHNOLOGIES, LLC, Dearborn, MI (US)
Filed by FORD GLOBAL TECHNOLOGIES, LLC, Dearborn, MI (US)
Filed on Mar. 1, 2022, as Appl. No. 17/684,241.
Prior Publication US 2023/0278554 A1, Sep. 7, 2023
Int. Cl. B60W 30/12 (2020.01); B60W 40/105 (2012.01)
CPC B60W 30/12 (2013.01) [B60W 40/105 (2013.01); B60W 2552/10 (2020.02); B60W 2552/53 (2020.02)] 26 Claims
OG exemplary drawing
 
1. A system for lane-level matching, comprising:
a computing device programmed to:
calculate, for a time index of a time slot of a period of receiving consecutive vehicle position information, using data from sensors of a vehicle, a lateral distance of the vehicle to each of a plurality of lanes of a roadway;
for each lane of the plurality of lanes:
calculate a positional uncertainty of the vehicle in an orthogonal direction to a lane bearing of the lane;
calculate a lane confidence based on an average of confidence values of the lane over the period of receiving the consecutive position information; and
calculate a lane probability based on the lane confidence; and
identify, for the time index, which of the lanes has a highest probability as being the lane to which the vehicle position, location, and/or direction is matched; and
navigate the vehicle along the plurality of lanes, using the lane to which the vehicle is matched.