# US 10,481,606 B1 · Self-driving vehicle systems and methods > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,481,606 B1 - Document ID: US10481606B1 - Status: Granted - Kind: B1 - Application number: 16/372,915 - Filed: 2019-04-02 - Granted: 2019-11-19 - Earliest claimed: 2018-11-01 - Applicants: Drivent LLC - Inventors: Eric John Wengreen; Wesley Edward Schwie - Web page: https://patentgrep.com/patent/US10481606B1 ## CPC - G06V 20/54: of traffic, e.g. cars on the road, trains or boats - G05D 1/00: Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots (drive control systems specially adapted for autonomous road vehicles B60W60/00) - G05D 1/024: {in combination with a laser (lasers per se H01S)} - G05D 1/0246: {using a video camera in combination with image processing means} - G05D 1/0257: {using a radar (radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931)} - G05D 1/0285: {using signals transmitted via a public communication network, e.g. GSM network} - G05D 1/0287: {involving a plurality of land vehicles, e.g. fleet or convoy travelling (traffic control systems for road vehicles G08G1/00, particularly anticollision systems G08G1/16)} - G06V 20/56: exterior to a vehicle by using sensors mounted on the vehicle - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract A vehicle guidance system can include a first vehicle that has a camera, radar, and lidar to detect a first path of a second vehicle as the first and second vehicles drive on a road. A processor system of the vehicle guidance system can analyze a first deviation of the first path. Measurements from another detection system can provide additional data regarding a second path of the second vehicle. Analyzing the first path in light of the second path can enable the vehicle guidance system to identify impaired driving indicators. The vehicle guidance system can warn vehicles about the impaired driver. ## Claims ### Claim 1 A vehicle guidance system comprising: a first vehicle comprising a first lane position detection system having at least one of a first camera, a first radar, and a first lidar, wherein the first lane position detection system is configured to detect a first path of a second vehicle as the first vehicle and the second vehicle travel on a first road; a third vehicle comprising a second lane position detection system having at least one of a second camera, a second radar, and a second lidar, wherein the second lane position detection system is configured to detect a second path of the second vehicle as the third vehicle and the second vehicle travel on a second road that is located remotely relative to the first road; a computer system having at least one processor and at least one memory comprising first program instructions that when executed by the at least one processor are configured to numerically analyze collective path evidence comprising first numerical position data indicative of the first path from the first lane position detection system of the first vehicle on the first road and second numerical position data indicative of the second path from the second lane position detection system of the third vehicle on the second road to determine a collective veering characteristic of the second vehicle; and a communication system configured to send a first wireless communication to an antenna of a fourth vehicle in response to the collective veering characteristic exceeding a first veering threshold, threshold, wherein the first wireless communication is configured to at least one of warn the fourth vehicle regarding the second vehicle and prompt the fourth vehicle to alter a first driving route of the fourth vehicle to keep away from the second vehicle. ### Claim 2 (depends on 1) The vehicle guidance system of claim 1, further comprising second program instructions configured to generate the first numerical position data indicative of the first path of the second vehicle by determining a first number indicative of a first location of the second vehicle at a first time, determining a second number indicative of a second location of the second vehicle at a second time that is within three seconds of the first time, and determining a third number indicative of a third location of the second vehicle at a third time that is within three seconds of the second time. ### Claim 3 (depends on 2) The vehicle guidance system of claim 2, wherein the second program instructions are configured to determine the first number by measuring a first distance from a first lane marker to a first position of the second vehicle, determine the second number by measuring a second distance from a second lane marker to a second position of the second vehicle, and determine the third number by measuring a third distance from a third lane marker to a third position of the second vehicle. ### Claim 4 (depends on 1) The vehicle guidance system of claim 1, further comprising the fourth vehicle, wherein the fourth vehicle comprises second program instructions configured to increase a minimum distance setting permitted by the second program instructions between the second vehicle and the fourth vehicle in response to the antenna receiving the first wireless communication. ### Claim 5 (depends on 1) The vehicle guidance system of claim 1, further comprising a location tracking system configured to receive a first location indicator of the second vehicle and configured to receive a second GPS location indicator of the fourth vehicle, wherein the communication system is configured to send the first wireless communication to the antenna of the fourth vehicle in response to the location tracking system determining, based on the first location indicator and the second GPS location indicator, that the fourth vehicle is within a predetermined distance of the second vehicle. ### Claim 6 (depends on 5) The vehicle guidance system of claim 5, wherein the predetermined distance is greater than 100 feet. ### Claim 7 (depends on 1) The vehicle guidance system of claim 1, further comprising a location tracking system configured to monitor a second driving route of the second vehicle and configured to monitor the first driving route of the fourth vehicle, wherein the communication system is configured to send the first wireless communication to the fourth vehicle in response to the location tracking system predicting, based on the first driving route and the second driving route, that the fourth vehicle would come within a predetermined distance of the second vehicle, wherein the predetermined distance is greater than 100 feet. ### Claim 8 (depends on 1) The vehicle guidance system of claim 1, wherein the first lane position detection system comprises the first camera, and the first camera is configured to take a picture of the second vehicle, the vehicle guidance system further comprising: an image analysis system configured to analyze the picture to determine a license plate identification of the second vehicle, wherein the communication system is configured to send a second wireless communication having identification data indicative of the license plate identification to the fourth vehicle, wherein the second wireless communication is configured to enable the fourth vehicle to keep away from the second vehicle in response to receiving the first wireless communication and in response to identifying the second vehicle based on the identification data of the second wireless communication. ### Claim 9 (depends on 1) The vehicle guidance system of claim 1, wherein the first lane position detection system is configured to compensate for motion of the first vehicle to determine a first speed of the second vehicle and to determine movements of the second vehicle toward a left side of a first lane of the first road and toward a right side of the first lane, and the at least one processor is configured to analyze the movements compared to the first speed to determine that the first path fluctuates in a veering manner more than a speed-relative threshold, wherein the speed-relative veering threshold is higher at a second speed than at a third speed that is less than the second speed, wherein the communication system is configured to send the first wireless communication to the antenna of the fourth vehicle in response to the first path fluctuating in the veering manner more than the speed-relative threshold. ### Claim 10 (depends on 1) The vehicle guidance system of claim 1, wherein the first lane position detection system comprises the first camera, the vehicle guidance system further comprising: second program instructions configured to cause the first camera to take pictures of the second vehicle as the second vehicle travels on the first road; and an image analysis system configured to analyze the pictures to generate the first numerical position data indicative of the first path of the second vehicle. ### Claim 11 (depends on 1) The vehicle guidance system of claim 1, wherein the first lane position detection system comprises the first camera, the vehicle guidance system further comprising: second program instructions configured to cause the first camera to take pictures of the second vehicle and of lane markers of a first lane of the first road; and an image analysis system configured to analyze the pictures to determine distances between the lane markers and the second vehicle to enable the first program instructions to numerically determine the collective veering characteristic. ### Claim 12 (depends on 1) The vehicle guidance system of claim 1, wherein the first lane position detection system comprises the first camera and at least one of the first lidar and the first radar, the first camera is configured to take pictures of lane markers of a first lane of the first road, the vehicle guidance system further comprises second program instructions configured to analyze the pictures to identify locations of the lane markers, the second program instructions are configured to numerically determine measurements of the first path based on path data from at least one of the first lidar and the first radar, and at least one of the first program instructions and the second program instructions is configured to numerically analyze the collective veering characteristic based on the locations of the lane markers and based on the measurements. ### Claim 13 (depends on 1) The vehicle guidance system of claim 1, further comprising second program instructions, wherein the first lane position detection system comprises the first radar, and the second program instructions are configured to generate the first numerical position data indicative of the first path of the second vehicle based on distance measurements taken by the first radar. ### Claim 14 (depends on 1) The vehicle guidance system of claim 1, further comprising second program instructions, wherein the first lane position detection system comprises the first lidar, and the second program instructions are configured to generate the first numerical position data indicative of the first path of the second vehicle based on distance measurements taken by the first lidar. ### Claim 15 (depends on 1) The vehicle guidance system of claim 1, the first lane position detection system comprises at least one of the first radar and the first lidar, and the vehicle guidance system further comprises second program instructions configured to generate the first numerical position data indicative of the first path of the second vehicle by: measuring, using at least one of the first radar and the first lidar, a first distance between the first lane position detection system and the second vehicle at a first time, measuring, using at least one of the first radar and the first lidar, a second distance between the first lane position detection system and the second vehicle at a second time that is within three seconds of the first time, and measuring, using at least one of the first radar and the first lidar, a third distance between the first lane position detection system and the second vehicle at a third time that is within three seconds of the second time. ### Claim 16 (depends on 1) The vehicle guidance system of claim 1, wherein the first lane position detection system is configured to compensate for motion of the first vehicle to determine a speed of the second vehicle, the first lane position detection system is configured to compensate for the motion of the first vehicle to determine movements of the second vehicle toward a left side of a first lane of the first road and a right side of the first lane, and the first program instructions are configured to analyze the collective veering characteristic based on the speed and the movements. ### Claim 17 (depends on 1) The vehicle guidance system of claim 1, wherein the first wireless communication is configured to warn the fourth vehicle on a third road regarding the second vehicle. ### Claim 18 (depends on 1) The vehicle guidance system of claim 1, wherein the first wireless communication is configured to prompt the fourth vehicle to alter a first driving route of the fourth vehicle on a third road to keep away from the second vehicle. ### Claim 19 (depends on 1) The vehicle guidance system of claim 1, further comprising the fourth vehicle, wherein the fourth vehicle is a self-driving vehicle that comprises second program instructions configured to alter the first driving route of the fourth vehicle to keep away from the second vehicle in response to receiving, by the antenna, the first wireless communication. ### Claim 20 (depends on 1) The vehicle guidance system of claim 1, further comprising the fourth vehicle, wherein the fourth vehicle is a self-driving vehicle that comprises second program instructions configured alter the first driving route of the fourth vehicle from a third road to a fourth road to keep away from the second vehicle in response to receiving, by the antenna, the first wireless communication. ### Claim 21 (depends on 1) The vehicle guidance system of claim 1, wherein the first vehicle is a first self-driving vehicle, the third vehicle is a third self-driving vehicle, and the fourth vehicle is a fourth self-driving vehicle, the computer system is located remotely relative to the first, third, and fourth self-driving vehicles, and the first program instructions are configured to numerically analyze the collective path evidence from both the first road as detected by the first self-driving vehicle and the second road as detected by the third self-driving vehicle to identify that the second vehicle has an impaired driver. ### Claim 22 (depends on 21) The vehicle guidance system claim 21, further comprising the fourth self-driving vehicle, wherein the communication system is configured to send the first wireless communication to the antenna of the fourth self-driving vehicle in response to the first program instructions determining that the second vehicle has the impaired driver based on numerically analyzing the collective path evidence from both the first road as detected by the first self-driving vehicle and the second road as detected by the third self-driving vehicle, and the fourth self-driving vehicle comprises second program instructions configured to automatically increase a minimum distance setting permitted by the second program instructions between the second vehicle and the fourth self-driving vehicle in response to the antenna receiving the first wireless communication. ### Claim 23 (depends on 1) The vehicle guidance system of claim 1, wherein the first lane position detection system comprises the first camera, and the first camera is configured to take a first picture of the second vehicle on the first road, the second lane position detection system comprises the second camera, and the second camera is configured to take a second picture of the second vehicle on the second road, the fourth vehicle is a self-driving vehicle comprising second program instructions, and the vehicle guidance system further comprising an image analysis system comprising third program instructions configured to analyze the first picture and the second picture to determine that both the first picture and the second picture show a same license plate identification, wherein the first program instructions are configured to aggregate the first numerical position data and the second numerical position data in response to the third program instructions determining that both the first picture and the second picture show the same license plate identification to enable the first program instructions to numerically analyze the collective path evidence. ### Claim 24 (depends on 23) The vehicle guidance system of claim 23, wherein the communication system is configured to send a second wireless communication having identification data indicative of the same license plate identification to the fourth vehicle, and the second program instructions of the fourth vehicle that is the self-driving vehicle are configured to automatically increase a distance between the second vehicle and the fourth vehicle in response to the antenna receiving the first wireless communication and in response to the fourth vehicle identifying the second vehicle based on the identification data of the second wireless communication.