# US 10,309,789 B2 · Automated lane assignment for vehicles > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,309,789 B2 - Document ID: US10309789B2 - Status: Granted - Kind: B2 - Application number: 15/081,665 - Filed: 2016-03-25 - Published: 2017-09-28 - Granted: 2019-06-04 - Earliest claimed: 2016-03-25 - Assignees: QUALCOMM Incorporated - Applicants: QUALCOMM Incorporated - Inventors: Bala Ramasamy - Web page: https://patentgrep.com/patent/US10309789B2 ## CPC - G01C 21/34: Route searching; Route guidance - B60W 40/04: Traffic conditions - G08G 1/0112: {from the vehicle, e.g. floating car data [FCD]} - G08G 1/0145: {for active traffic flow control} - G08G 1/096725: {where the received information generates an automatic action on the vehicle control} - G08G 1/096758: {where no selection takes place on the transmitted or the received information} - G08G 1/096775: {where the origin of the information is a central station} - G08G 1/164: {Centralised systems, e.g. external to vehicles} - G08G 1/167: {Driving aids for lane monitoring, lane changing, e.g. blind spot detection} - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) ## Abstract Methods, systems, computer-readable media, and apparatuses for automated lane assignment for vehicles are presented. One example method includes the steps of accessing vehicle information of at least one vehicle, the vehicle information including a priority level of a plurality of priority levels associated with each of the at least one vehicle; accessing lane information associated with a road, the lane information comprising information corresponding to at least two lanes of travel in a direction; and assigning at least one of the at least one vehicle to a lane of travel on the road based at least in part on the vehicle information and the lane information. Another example method further includes the step of accessing second vehicle information of a second vehicle, wherein assigning the first vehicle to the lane of travel is further based on the second vehicle information. ## Claims ### Claim 1 A method for dynamic vehicle lane assignment for a vehicle, comprising: accessing, by a lane assignment server, vehicle information of a plurality of vehicles, wherein the plurality of vehicles are capable of operating in multiple driving modes, the vehicle information including, for a first vehicle and a second vehicle of the plurality of vehicles, a driving mode, comprising an autonomous driving mode, a semi-autonomous driving mode, or a manual driving mode; accessing, by the lane assignment server, lane information associated with a road, the lane information comprising information corresponding to at least two lanes of travel in a first direction on the road; determining, by the lane assignment server, a first driving mode of the first vehicle and a second driving mode of the second vehicle, assigning, by the lane assignment server, the first and second vehicles to a first lane of travel responsive to a determination that the first and second driving modes are the same driving mode; and assigning, by the lane assignment server, the first vehicles to a first lane of travel and the second vehicle to a second lane of travel different than the first lane of travel responsive to a determination that the first driving mode being the manual driving mode and the second driving mode being the autonomous driving mode or the semi-autonomous driving mode. ### Claim 2 (depends on 1) The method of claim 1, wherein the vehicle information further includes a priority level, and wherein the priority level is based, at least in part, on the vehicle driving mode, wherein the vehicle driving mode is selected from the group consisting of an autonomous mode, a semi-autonomous mode, and a manual mode. ### Claim 3 (depends on 1) The method of claim 1, wherein the vehicle information further includes a priority level, and wherein the priority level includes a high priority and a lower priority, and wherein the assigning the first and second vehicles to the first or second lanes of travel comprises assigning one of the first or second vehicles to the first lane responsive to the priority level of the respective first or second vehicle being the high priority and assigning the other of the first or second vehicle to the second lane of travel responsive to the priority level being the lower priority. ### Claim 4 (depends on 1) The method of claim 1, wherein assigning the first or second vehicle to the first or second lane is further based on a predetermined route or lane configuration of the road. ### Claim 5 (depends on 1) The method of claim 1, further comprising accessing second vehicle information of the second vehicle, and wherein assigning the first vehicle to the first lane is further based on the second vehicle information. ### Claim 6 (depends on 5) The method of claim 5, wherein the accessing the second vehicle information of the second vehicle comprises receiving the second vehicle information from the second vehicle by the first vehicle. ### Claim 7 (depends on 1) The method of claim 1, further comprising transmitting first vehicle information of the first vehicle to a second vehicle. ### Claim 8 (depends on 1) The method of claim 1, wherein the lane information comprises a driving mode, a direction of travel, a physical characteristic, speed information, lane closure information, lane restriction information, or any combination thereof. ### Claim 9 (depends on 1) The method of claim 1, further comprising providing an indication of the lane assignment to an operator of the first or second vehicle. ### Claim 10 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: access, by a lane assignment server, vehicle information of a plurality of vehicles, wherein the plurality of vehicles are capable of operating in multiple driving modes, the vehicle information including, for a first vehicle and a second vehicle of the plurality of vehicles, a driving mode, comprising an autonomous driving mode, a semi-autonomous driving mode, or a manual driving mode; access, by the lane assignment server, lane information associated with a road, the lane information comprising information corresponding to at least two lanes of travel in a first direction on the road; determine, by the lane assignment server, a first driving mode of the first vehicle and a second driving mode of the second vehicle, assign, by the lane assignment server, the first and second vehicles to a first lane of travel responsive to a determination that the first and second driving modes are the same driving mode; and assign, by the lane assignment server, the first vehicle to a first lane of travel and the second vehicle to a second lane of travel different than the first lane of travel responsive to a determination that the first driving mode being the manual driving mode and the second driving mode being the autonomous driving mode or the semi-autonomous driving mode. ### Claim 11 (depends on 10) The computer-readable medium of claim 10, wherein the vehicle information further includes a priority level, and wherein the priority level is based, at least in part, on the driving mode, wherein the driving mode is selected from the group consisting of an autonomous mode, a semi-autonomous mode, and a manual mode. ### Claim 12 (depends on 11) The computer-readable medium of claim 11, wherein the priority level includes a high priority and a lower priority, and wherein the program code configured to be executable by a processor and to cause the processor to assign the first and second vehicles to the first or second lanes of travel comprises program code configured to be executable by a processor and to cause the processor to assign one of the first or second vehicles to the first lane responsive to the priority level of the respective first or second vehicle being the high priority and assign the other of the first or second vehicle to the second lane of travel responsive to the priority level being the lower priority. ### Claim 13 (depends on 10) The computer-readable medium of claim 10, wherein the program code configured to be executable by a processor and to cause the processor to assign the first or second vehicle to the lane of travel is further based on a predetermined route or lane configuration of the road. ### Claim 14 (depends on 10) The computer-readable medium of claim 10, further comprising program code configured to be executable by a processor and to cause the processor to access second vehicle information of the second vehicle, and wherein assigning the first vehicle to the first lane is further based on the second vehicle information. ### Claim 15 (depends on 14) The computer-readable medium of claim 14, wherein the program code configured to be executable by a processor and to cause the processor to access the second vehicle information of the second vehicle comprises program code configured to be executable by a processor and to cause the processor to receive the second vehicle information from the second vehicle by the first vehicle. ### Claim 16 (depends on 10) The computer-readable medium of claim 10, further comprising program code configured to be executable by a processor and to cause the processor to transmit first vehicle information of the first vehicle to a second vehicle. ### Claim 17 A lane assignment system comprising: a non-transitory computer-readable medium; and a processor in communication with the non-transitory computer-readable medium and configured to execute program code stored in the non-transitory computer readable medium to: access vehicle information of a plurality of vehicles, wherein the plurality of vehicles are capable of operating in multiple driving modes, the vehicle information including, the vehicle information including, for a first vehicle and a second vehicle of the plurality of vehicles, a driving mode, comprising an autonomous driving mode, a semi-autonomous driving mode, or a manual driving mode; access lane information associated with a road, the lane information comprising information corresponding to at least two lanes of travel in a first direction on the road; determine a first driving mode of the first vehicle and a second driving mode of the second vehicle, assign the first and second vehicles to a first lane of travel responsive to a determination that the first and second driving modes are the same driving mode; and assign the first vehicle to a first lane of travel and the second vehicle to a second lane of travel different than the first lane of travel responsive to a determination that the first driving mode being the manual driving mode and the second driving mode being the autonomous driving mode or the semi-autonomous driving mode. ### Claim 18 (depends on 17) The system of claim 17, wherein the vehicle information further includes a priority level, and wherein the priority level is based, at least in part, on the driving mode, wherein the driving mode is selected from the group consisting of an autonomous mode, a semi-autonomous mode, and a manual mode. ### Claim 19 (depends on 18) The system of claim 18, wherein the priority level includes a high priority and a lower priority, and wherein the processor is further configured to execute program code stored in the non-transitory computer-readable medium to assign one of the first or second vehicles to the first lane responsive to the priority level of the respective first or second vehicle being the high priority and assign the other of the first or second vehicle to the second lane of travel responsive to the priority level being the lower priority. ### Claim 20 (depends on 17) The system of claim 17, wherein the processor is further configured to execute program code stored in the non-transitory computer-readable medium to cause the processor to assign the first or second vehicle to the lane of travel is further based on a predetermined route or lane configuration of the road. ### Claim 21 (depends on 17) The system of claim 17, wherein the processor is further configured to execute program code stored in the non-transitory computer-readable medium to cause the processor to access second vehicle information of the second vehicle, and assign the first vehicle to the first lane is further based on the second vehicle information. ### Claim 22 (depends on 21) The system of claim 21, wherein the processor is further configured to execute program code stored in the non-transitory computer-readable medium to cause the processor to receive the second vehicle information from the second vehicle by the first vehicle. ### Claim 23 (depends on 17) The system of claim 17, wherein the processor is further configured to execute program code stored in the non-transitory computer-readable medium to cause the processor to transmit first vehicle information of the first vehicle to a second vehicle. ### Claim 24 A system for dynamic vehicle lane assignment for a vehicle, comprising: means for accessing, by a lane assignment server, vehicle information of a plurality of vehicles, wherein the plurality of vehicles are capable of operating in multiple driving modes, the vehicle information including, the vehicle information including, for a first vehicle and a second vehicle of the plurality of vehicles, a driving mode, comprising an autonomous driving mode, a semi-autonomous driving mode, or a manual driving mode; means for accessing, by a lane assignment server, lane information associated with a road, the lane information comprising information corresponding to at least two lanes of travel in a first direction on the road; means for determining, by a lane assignment server, a first driving mode of the first vehicle and a second driving mode of the second vehicle, means for assigning, by a lane assignment server, the first and second vehicles to a first lane of travel responsive to a determination that the first and second driving modes are the same driving mode; and means for assigning, by a lane assignment server, the first vehicle to a first lane of travel and the second vehicle to a second lane of travel different than the first lane of travel responsive to a determination that the first driving mode being the manual driving mode and the second driving mode being the autonomous driving mode or the semi-autonomous driving mode. ### Claim 25 (depends on 24) The system of claim 24, wherein the vehicle information further includes a priority level, and wherein the priority level is based, at least in part, on the driving mode, wherein the driving mode is selected from the group consisting of an autonomous mode, a semi-autonomous mode, and a manual mode. ### Claim 26 (depends on 25) The system of claim 25, wherein the priority level includes a high priority and a lower priority, and wherein the means for assigning the first and second vehicles to the first or second lanes of travel comprises means for assigning one of the first or second vehicles to the first lane responsive to the priority level of the respective first or second vehicle being the high priority and assigning the other of the first or second vehicle to the second lane of travel responsive to the priority level being the lower priority. ### Claim 27 (depends on 24) The system of claim 24, wherein the means for assigning the first or second vehicle to the first or second lane is further based on a predetermined route or lane configuration of the road. ### Claim 28 (depends on 24) The system of claim 24, wherein the vehicle is a first vehicle, and further comprising means for accessing second vehicle information of the second vehicle, and wherein the means for assigning the vehicle to the first lane is further configured to assign the first vehicle to the first lane of travel based on the second vehicle information. ### Claim 29 (depends on 28) The system of claim 28, further comprising means for receiving the second vehicle information from the second vehicle by the first vehicle. ### Claim 30 (depends on 24) The system of claim 24, further comprising means for transmitting first vehicle information of the first vehicle to a second vehicle.