# US 11,113,971 B2 · V2X communication-based vehicle lane system for autonomous vehicles > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,113,971 B2 - Document ID: US11113971B2 - Status: Granted - Kind: B2 - Application number: 16/006,720 - Filed: 2018-06-12 - Published: 2019-12-12 - Granted: 2021-09-07 - Earliest claimed: 2018-06-12 - Assignees: Baidu USA LLC - Applicants: Baidu USA LLC - Inventors: Fan Zhu - Web page: https://patentgrep.com/patent/US11113971B2 ## CPC - G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes} - B60W 60/00274: {considering possible movement changes} - B60W 60/00276: {for two or more other traffic participants} - 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 1/0212: {with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287)} - G05D 1/0285: {using signals transmitted via a public communication network, e.g. GSM network} - G06V 20/588: {Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road} - G08G 1/0116: {from roadside infrastructure, e.g. beacons} - G08G 1/012: {from other sources than vehicle or roadside beacons, e.g. mobile networks} - G08G 1/163: {involving continuous checking} - 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} - B60W 2420/403: Image sensing, e.g. optical camera - B60W 2420/408: Radar; Laser, e.g. lidar - G06T 7/20: Analysis of motion (motion estimation for coding, decoding, compressing or decompressing digital video signals H04N19/43, H04N19/51) - G08G 1/09623: {Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle (G08G1/0967 takes precedence)} - 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}) - 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 - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL ## Abstract According to some embodiments, a system receives, at a first sensor of the ADV, a first and a second V2X communication data from a first infrastructure and a second infrastructure respectively. The system determines a first distance from the ADV to the first infrastructure and a second distance from the ADV to the second infrastructure based on the first and the second V2X communication data. The system determines a relative location of the ADV to the first or the second infrastructure based on the first and the second distances and a predetermined distance between the first infrastructure and the second infrastructure. The system retrieves lane information based on the relative location of the ADV to the first or the second infrastructure. The system generates a trajectory based on the lane information to control the ADV autonomously according to the trajectory. ## Claims ### Claim 1 A computer-implemented method to generate a driving trajectory for navigating an autonomous driving vehicle (ADV), the method comprising: receiving, by a transceiver of a first sensor of the ADV, a first vehicle-to-everything (V2X) communication data from a first infrastructure, wherein the transceiver supports V2X communication; receiving, by the transceiver, a second vehicle-to-everything (V2X) communication data from a second infrastructure, wherein the first and second infrastructures are V2X-enabled; determining, by the ADV, a first distance, D1, from the ADV to the first infrastructure based on the first V2X communication data, wherein the first V2X communication data includes distance D1 or a location of the first infrastructure; determining, by the ADV, a second distance, D2, from the ADV to the second infrastructure based on the second V2X communication data, wherein the second V2X communication data includes distance D2 or a location of the second infrastructure; determining, by the ADV, a third distance, D3, between the first and second infrastructures using the first and second V2X communication data; determining, by the ADV, a relative location of the ADV to the first infrastructure and to the second infrastructure based on the first distance D1 and the second distance D2 and the distance D3; retrieving, by the ADV, lane information from the first or second infrastructure based on the relative location of the ADV to the first infrastructure or the second infrastructure; and generating, by the ADV, a trajectory based on the lane information to control the ADV autonomously according to the trajectory. ### Claim 2 (depends on 1) The method of claim 1, further comprising: receiving, at a second sensor of the ADV, a third and a fourth V2X communication data from the first infrastructure and the second infrastructure respectively; determining a third distance from the ADV to the first infrastructure and a fourth distance from the ADV to the second infrastructure based on the third and the fourth V2X communication data; determining the relative location of the ADV based on the third and fourth distances and a predetermined distance between the first infrastructure and the second infrastructure; retrieving lane information based on the determined relative location of the ADV to the first or the second infrastructure; and generating the trajectory based on the determined lane information to control the ADV autonomously according to the trajectory. ### Claim 3 (depends on 1) The method of claim 1, further comprising: determining a lane boundary based on the lane information for the ADV; and generating the trajectory using the lane boundary to control the ADV autonomously according to the trajectory. ### Claim 4 (depends on 1) The method of claim 1, further comprising receiving wirelessly, by the ADV, lane information from the first infrastructure. ### Claim 5 (depends on 1) The method of claim 1, wherein the transceiver of the first sensor is based on LTE cellular communication or WWI communication. ### Claim 6 (depends on 1) The method of claim 1, wherein the first and the second infrastructures are both infrastructures either to a left side or to a right side of the ADV but not both sides of the ADV. ### Claim 7 (depends on 1) The method of claim 1, wherein the first and second V2X communication data include a position, a velocity, or a direction of the ADV or a location of the first or second infrastructure. ### Claim 8 A non-transitory machine-readable medium having instructions stored therein, which when executed by a processor, cause the processor to perform operations for generating a driving trajectory for navigating an autonomous driving vehicle (ADV), the operations comprising: receiving, by a transceiver of a first sensor of the ADV, a first vehicle-to-everything (V2X) communication data from a first infrastructure, wherein the transceiver supports V2X communications; receiving, by the transceiver of the first sensor, a second vehicle-to-everything (V2X) communication data from a second infrastructure, wherein the first sensor comprises a V2X transceiver, wherein the first and second infrastructures are V2X-enabled; determining, by the ADV, a first distance, D1, from the ADV to the first infrastructure based on the first V2X communication data, wherein the first V2X communication data includes distance D1 or a location of the first infrastructure; determining, by the ADV, a second distance, D2, from the ADV to the second infrastructure based on the second V2X communication data, wherein the second V2X communication data includes distance D2 or a location of the second infrastructure; and determining, by the ADV, a third distance, D3, between the first and second infrastructures using the first and second V2X communication data; determining, by the ADV, a relative location of the ADV to the first infrastructure or to the second infrastructure based on the first distance D1 and the second distance D2 and the third distance D3; retrieving, by the ADV, lane information from the first or second infrastructure based on the relative location of the ADV to the first infrastructure or the second infrastructure; and generating, by the ADV, a trajectory based on the lane information to control the ADV autonomously according to the trajectory. ### Claim 9 (depends on 8) The non-transitory machine-readable medium of claim 8, further comprising: receiving, at a second sensor of the ADV, a third and a fourth V2X communication data from the first infrastructure and the second infrastructure respectively; determining a third distance from the ADV to the first infrastructure and a fourth distance from the ADV to the second infrastructure based on the third and the fourth V2X communication data; determining the relative location of the ADV based on the third and fourth distances and a predetermined distance between the first infrastructure and the second infrastructure; retrieving lane information based on the determined relative location of the ADV to the first or the second infrastructure; and generating the trajectory based on the determined lane information to control the ADV autonomously according to the trajectory. ### Claim 10 (depends on 8) The non-transitory machine-readable medium of claim 8, further comprising: determining a lane boundary based on the lane information for the ADV; and generating the trajectory using the lane boundary to control the ADV autonomously according to the trajectory. ### Claim 11 (depends on 8) The non-transitory machine-readable medium of claim 8, further comprising receiving wirelessly, by the ADV, lane information from the first infrastructure. ### Claim 12 (depends on 8) The non-transitory machine-readable medium of claim 8, wherein the transceiver of the first sensor is based on LTE cellular communication or Wifi communication. ### Claim 13 (depends on 8) The non-transitory machine-readable medium of claim 8, wherein the first and the second infrastructures both are infrastructures either to a left side or to a right side of the ADV but not both sides of the ADV. ### Claim 14 (depends on 8) The non-transitory machine-readable medium of claim 8, wherein the first and second V2X communication data include a position, a velocity, or a direction of the ADV or a location of the first or second infrastructure. ### Claim 15 A data processing system, comprising: a processor; and a memory coupled to the processor to store instructions, which when executed by the processor, cause the processor to perform operations for generating a driving trajectory for navigating an autonomous driving vehicle (ADV), the operations including: receiving, by a first sensor of the ADV, a first vehicle-to-everything (V2X) communication data from a first infrastructure, wherein the first sensor comprises a transceiver; receiving, by the first sensor, a second vehicle-to-everything (V2X) communication data from a second infrastructure, wherein the first sensor comprises a V2X transceiver, wherein the first and second infrastructures are V2X-enabled; determining, by the ADV, a first distance, D1, from the ADV to the first infrastructure based on the first V2X communication data, wherein the first V2X communication data includes a distance D1 or a location of the first infrastructure; determining, by the ADV, a second distance, D2, from the ADV to the second infrastructure based on the second V2X communication data, wherein the second V2X communication data includes distance D2 or a location of the second infrastructure; determining, by the ADV, a third distance, D3, between the first and second infrastructures using the first and second V2X communication data; determining, by the ADV, a relative location of the ADV to the first infrastructure or to the second infrastructure based on the first distance D1 and the second distance D2 and the third distance D3; retrieving, by the ADV, lane information from the first or the second infrastructure based on the relative location of the ADV to the first infrastructure or the second infrastructure; and generating, by the ADV, a trajectory based on the lane information to control the ADV autonomously according to the trajectory. ### Claim 16 (depends on 15) The system of claim 15, further comprising: receiving, at a second sensor of the ADV, a third and a fourth V2X communication data from the first infrastructure and the second infrastructure respectively; determining a third distance from the ADV to the first infrastructure and a fourth distance from the ADV to the second infrastructure based on the third and the fourth V2X communication data; determining the relative location of the ADV based on the third and fourth distances and a predetermined distance between the first infrastructure and the second infrastructure; retrieving lane information based on the determined relative location of the ADV to the first or the second infrastructure; and generating the trajectory based on the determined lane information to control the ADV autonomously according to the trajectory. ### Claim 17 (depends on 15) The system of claim 15, further comprising: determining a lane boundary based on the lane information for the ADV; and generating the trajectory using the lane boundary to control the ADV autonomously according to the trajectory. ### Claim 18 (depends on 15) The system of claim 15, further comprising receiving wirelessly, by the ADV, lane information from the first infrastructure. ### Claim 19 (depends on 15) The system of claim 15, wherein the transceiver of the first sensor is based on LTE cellular communication or WiFi communication. ### Claim 20 (depends on 15) The system of claim 15, wherein the first and the second infrastructures are both infrastructures either to a left side or to a right side of the ADV but not both sides of the ADV. ### Claim 21 (depends on 15) The system of claim 15, wherein the first and second V2X communication data include a position, a velocity, or a direction of the ADV or a location of the first or second infrastructure. ### Claim 22 (depends on 1) The method of claim 1, wherein D1 is obtained from the first V2X communication data, D2 is obtained from the second V2X communication data, and D3 is obtained from the first and/or second V2X communication data, and wherein determining the relative location comprises assuming a coordinate of either the first infrastructure or the second infrastructure as an origin (x, y)=(0, 0) and applying a trilateration algorithm or a triangulation algorithm to obtain coordinates of the ADV with respect to the first or second infrastructure selected as the origin. ### Claim 23 (depends on 1) The method of claim 1, wherein coordinates of the first infrastructure are obtained from the first V2X communication data and coordinates of the second infrastructure are obtained from the second V2X communication data.