# US 10,769,942 B2 · Method, device and system for wrong-way driver detection > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,769,942 B2 - Document ID: US10769942B2 - Status: Granted - Kind: B2 - Application number: 16/302,196 - Filed: 2017-04-13 - Published: 2019-09-12 - Granted: 2020-09-08 - Earliest claimed: 2016-06-07 - Assignees: Robert Bosch GmbH - Applicants: Robert Bosch GmbH - Inventors: Simon Geisler - Web page: https://patentgrep.com/patent/US10769942B2 ## CPC - G08G 1/056: with provision for distinguishing direction of travel - G01C 21/30: Map- or contour-matching - G01C 21/3697: {Output of additional, non-guidance related information, e.g. low fuel level (G01C21/3679 takes precedence)} - G08G 1/0112: {from the vehicle, e.g. floating car data [FCD]} - G08G 1/0133: {for classifying traffic situation} - G08G 1/0145: {for active traffic flow control} - G08G 1/164: {Centralised systems, e.g. external to vehicles} - 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}) - 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) ## Abstract A method for wrong-way driver detection, including a step of reading in position data via an interface, the position data representing a measured position of a vehicle, a step of reading in map data mapping road segments negotiable by the vehicle, a step of reading in a plurality of particles, one particle representing an assumed position of the vehicle and a weighting assigned to the assumed position, and a step of determining a deviation between the plurality of particles and the measured position represented by the position data, using the map data. ## Claims ### Claim 1 A method comprising: reading in position data via an interface, the position data representing a measured position of a vehicle; reading in map data mapping road segments negotiable by the vehicle; reading in a plurality of particles that each represents an assumed position of the vehicle and a weighting assigned to the assumed position; determining a deviation between the plurality of particles and the measured position represented by the position data, using the map data; determining a plausible road segment of the road segments of the map data based on the deviation, for which it is assumed that the vehicle is situated thereon; comparing an instantaneous driving direction of the vehicle with a driving direction assigned to the determined road segment in the map data; and determining that the vehicle is driving in a wrong direction based on the comparing. ### Claim 2 (depends on 1) The method as recited in claim 1, further comprising: providing a wrong-way driving signal using the plurality of particles and the deviation, the wrong-way driving signal indicating whether or not a wrong-way drive of the vehicle is present. ### Claim 3 (depends on 1) The method as recited in claim 1, further comprising: determining the plurality of particles using a particle filter. ### Claim 4 (depends on 1) The method as recited in claim 1, wherein, in the step of determining the deviation, the deviation is determined using a distance between the plurality of particles and the measured position. ### Claim 5 (depends on 1) The method as recited in claim 1, wherein the map data map parameters of a road network negotiable by the vehicle, and in the step of determining the deviation, the deviation is determined using the parameters. ### Claim 6 (depends on 5) The method as recited in claim 5, further comprising: reading in movement data representing measured movements of the vehicle, and in the step of determining the deviation, the deviation is determined based on a comparison between the movement data and the parameters. ### Claim 7 (depends on 6) The method as recited in claim 6, wherein the movement data map a transverse acceleration of the vehicle, and the parameters map a course of a curvature of a road segment mapped by the map data, which is assigned or assignable to at least one of the plurality of particles. ### Claim 8 (depends on 6) The method as recited in claim 6, wherein the movement data map a driving direction of the vehicle, and the parameters map a driving direction specification of a road segment mapped by the map data, which is assigned or assignable to at least one of the plurality of particles. ### Claim 9 (depends on 8) The method as recited in claim 8, further comprising: selecting at least one plausible road segment from the road segments mapped by the map data, the plausible road segment representing a road segment to which at least one of the plurality of particles is assignable and which has a driving direction specification agreeing with the driving direction of the vehicle. ### Claim 10 (depends on 1) The method as recited in claim 1, wherein, in the step of determining the deviation, the deviation is determined based on an assignability of the plurality of particles to the road segments mapped by the map data. ### Claim 11 (depends on 1) The method as recited in claim 1, wherein, in the reading in of the position data step, the position data are read in via an interface of a processor cloud. ### Claim 12 A device comprising: a processor; and at least one interface; wherein the processor is configured to: read in position data via the at least one interface, the position data representing a measured position of a vehicle; read in map data mapping road segments negotiable by the vehicle; read in a plurality of particles that each represents an assumed position of the vehicle and a weighting assigned to the assumed position; determine a deviation between the plurality of particles and the measured position represented by the position data, using the map data; determine a plausible road segment of the road segments of the map data based on the deviation, for which it is assumed that the vehicle is situated thereon; compare an instantaneous driving direction of the vehicle with a driving direction assigned to the determined road segment in the map data; and determine that the vehicle is driving in a wrong direction based on the comparing. ### Claim 13 A system comprising: at least one transmitter which is situatable or situated in a vehicle and designed to emit position data, the position data representing a measured position of a vehicle; and a device that includes a processor, wherein the processor is configured to: receive the position data emitted by the at least one transmitter via an interface; read in map data mapping road segments negotiable by the vehicle; read in a plurality of particles that each represents an assumed position of the vehicle and a weighting assigned to the assumed position; determine a deviation between the plurality of particles and the measured position represented by the position data, using the map data; determine a plausible road segment of the road segments of the map data based on the deviation, for which it is assumed that the vehicle is situated thereon; compare an instantaneous driving direction of the vehicle with a driving direction assigned to the determined road segment in the map data; and determine that the vehicle is driving in a wrong direction based on the comparing. ### Claim 14 A non-transitory machine-readable memory medium on which is stored a computer program that is executable by a computer and that, when executed by the computer, causes the computer to perform a method, the method comprising: reading in position data via an interface, the position data representing a measured position of a vehicle; reading in map data mapping road segments negotiable by the vehicle; reading in a plurality of particles that each represents an assumed position of the vehicle and a weighting assigned to the assumed position; determining a deviation between the plurality of particles and the measured position represented by the position data, using the map data; determining a plausible road segment of the road segments of the map data based on the deviation, for which it is assumed that the vehicle is situated thereon; comparing an instantaneous driving direction of the vehicle with a driving direction assigned to the determined road segment in the map data; and determining that the vehicle is driving in a wrong direction based on the comparing. ### Claim 15 (depends on 1) The method as recited in claim 1, wherein the determination of the deviation is obtained by performing a comparison between information of the emitted position data and information of the plurality of particles, and the method further comprises revising the plurality of particles for future comparisons based on the emitted position data. ### Claim 16 (depends on 1) The method as recited in claim 1, further comprising: determining a road segment of the road segments of the map data as being implausible for the vehicle to be situated on based on the deviation. ### Claim 17 (depends on 16) The method as recited in claim 16, wherein the implausible road segment is determined when at least one of: a curvature of the implausible road segment does not agree with the position data, or a heading of the implausible road segment does not agree with the position data.