# US 12,007,786 B2 · System and method for real-time lane validation

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- Number: US 12,007,786 B2
- Document ID: US12007786B2
- Status: Granted
- Kind: B2
- Application number: 18/129,659
- Filed: 2023-03-31
- Published: 2023-08-10
- Granted: 2024-06-11
- Earliest claimed: 2020-03-31
- Assignees: GM Cruise Holdings LLC
- Applicants: GM Cruise Holdings LLC
- Inventors: Erin Antcliffe; Jeremy Allan; Robin Yang; Andrew Robinson; Lucio Otavio Marchioro Rech; Brian Joseph Donohue; Kavya Sambana
- Web page: https://patentgrep.com/patent/US12007786B2

## CPC

- G01C 21/3658: {Lane guidance}
- G05D 1/0276: {using signals provided by a source external to the vehicle (involving a plurality of vehicles G05D1/0287; automatically controlling vehicle speed responsive to externally generated signals B60K31/0058)}
- B60W 60/0053: {from vehicle to occupant}
- G01C 21/3415: {Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents}
- G01C 21/3691: {Retrieval, searching and output of information related to real-time traffic, weather, or environmental conditions (arrangements for giving variable traffic instructions G08G1/09)}
- G05D 1/247: using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
- G08G 1/0112: {from the vehicle, e.g. floating car data [FCD]}
- G08G 1/0129: {for creating historical data or processing based on historical data}
- G08G 1/0141: {for traffic information dissemination}
- G08G 1/096811: {where the route is computed offboard}
- G08G 1/161: {Decentralised systems, e.g. inter-vehicle communication}
- G05D 1/0274: {using mapping information stored in a memory device (navigation using map-matching G01C21/30)}
- G05D 1/246: using environment maps, e.g. simultaneous localisation and mapping [SLAM]
- 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)
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- 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

The subject disclosure relates to techniques for real-time lane validation. A process of the disclosed technologies can include steps for receiving a route from a remote computing system, the route indicating lanes on the route that an autonomous vehicle must traverse, traversing at least one lane of the lanes on the route, and sending sensor data to the remote computing system after traversing the at least one lane, the sensor data indicating whether the at least one lane is in accordance with a virtual lane of a virtual map, the virtual lane corresponding to the at least one lane.

## Claims

### Claim 1

A method comprising:
traversing, by an autonomous vehicle, at least one lane of a route; and
sending sensor data to a remote computing system after traversing the at least one lane, the sensor data indicating whether the at least one lane is in accordance with a virtual lane of a virtual map, the virtual lane corresponding to the at least one lane, wherein the at least one lane is in accordance with the virtual lane when the autonomous vehicle enters the at least one lane via an entry of the at least one lane and exits the at least one lane via an exit of the at least one lane.

### Claim 2 (depends on 1)

The method of claim 1, further comprising:
sending a route request to the remote computing system; and
receiving a second route from the remote computing system in response to the route request, the second route based upon updated map data,
wherein the updated map data is based upon the sensor data.

### Claim 3 (depends on 2)

The method of claim 2, wherein the updated map data is further based upon additional sensor data received from at least one other autonomous vehicle.

### Claim 4 (depends on 1)

The method of claim 1, further comprising:
relinquishing control of the autonomous vehicle to a human driver; and
determining that the at least one lane is not in accordance with the virtual lane.

### Claim 5 (depends on 1)

The method of claim 1, wherein the route indicates that the autonomous vehicle must traverse the at least one lane.

### Claim 6 (depends on 1)

The method of claim 1, further comprising:
deviating from the route; and
sending a route request for a second route to the remote computing system; and
receiving the second route from the remote computing system, the second route providing waypoints to guide the autonomous vehicle back to a section of the route,
wherein the second route is based upon updated map data and the updated map data is based upon the sensor data.

### Claim 7 (depends on 1)

The method of claim 1, wherein the sensor data includes a timestamp.

### Claim 8

A non-transitory computer-readable medium comprising instructions thereon, the instructions effective to cause at least one processor to:
traversing, by an autonomous vehicle, at least one lane of a route; and
sending sensor data to a remote computing system after traversing the at least one lane, the sensor data indicating whether the at least one lane is in accordance with a virtual lane of a virtual map, the virtual lane corresponding to the at least one lane, wherein the at least one lane is in accordance with the virtual lane when the autonomous vehicle enters the at least one lane via an entry of the at least one lane and exits the at least one lane via an exit of the at least one lane.

### Claim 9 (depends on 8)

The non-transitory computer-readable medium of claim 8, wherein the instructions are further effective to cause the at least one processor to:
send a route request to the remote computing system; and
receive a second route from the remote computing system in response to the route request, the second route based upon updated map data,
wherein the updated map data is based upon the sensor data.

### Claim 10 (depends on 9)

The non-transitory computer-readable medium of claim 9, wherein the updated map data is further based upon additional sensor data received from at least one other autonomous vehicle.

### Claim 11 (depends on 8)

The non-transitory computer-readable medium of claim 8, wherein the instructions are further effective to cause the at least one processor to:
relinquish control of the autonomous vehicle to a human driver; and
determine that the at least one lane is not in accordance with the virtual lane.

### Claim 12 (depends on 8)

The non-transitory computer-readable medium of claim 8, wherein the route indicates that the autonomous vehicle must traverse the at least one lane.

### Claim 13 (depends on 8)

The non-transitory computer-readable medium of claim 8, wherein the instructions are further effective to cause the at least one processor to:
deviate from the route; and
send a route request for a second route to the remote computing system; and
receive the second route from the remote computing system, the second route providing waypoints to guide the autonomous vehicle back to a section of the route,
wherein the second route is based upon updated map data and the updated map data is based upon the sensor data.

### Claim 14 (depends on 8)

The non-transitory computer-readable medium of claim 8, wherein the sensor data includes a timestamp.

### Claim 15

A system, comprising:
a processor; and
a memory storing computer-executable instructions effective to cause the processor to:
traversing, by an autonomous vehicle, at least one lane of a route; and
sending sensor data to a remote computing system after traversing the at least one lane, the sensor data indicating whether the at least one lane is in accordance with a virtual lane of a virtual map, the virtual lane corresponding to the at least one lane, wherein the at least one lane is in accordance with the virtual lane when the autonomous vehicle enters the at least one lane via an entry of the at least one lane and exits the at least one lane via an exit of the at least one lane.

### Claim 16 (depends on 15)

The system of claim 15, wherein the instructions are further effective to cause the processor to:
send a route request to the remote computing system; and
receive a second route from the remote computing system in response to the route request, the second route based upon updated map data,
wherein the updated map data is based upon the sensor data.

### Claim 17 (depends on 16)

The system of claim 16, wherein the updated map data is further based upon additional sensor data received from at least one other autonomous vehicle.

### Claim 18 (depends on 15)

The system of claim 15, wherein the instructions are further effective to cause the processor to:
relinquish control of the autonomous vehicle to a human driver; and
determine that the at least one lane is not in accordance with the virtual lane.

### Claim 19 (depends on 15)

The system of claim 15, wherein the route indicates that the autonomous vehicle must traverse the at least one lane.

### Claim 20 (depends on 15)

The system of claim 15, wherein the instructions are further effective to cause the processor to:
deviate from the route; and
send a route request for a second route to the remote computing system; and
receive the second route from the remote computing system, the second route providing waypoints to guide the autonomous vehicle back to a section of the route,
wherein the second route is based upon updated map data and the updated map data is based upon the sensor data.