Street lane-level matching method for automotive applications

A method for lane-level matching, comprising:

• calculating, for a time index of a time slot of a period of receiving consecutive vehicle position information, using data from sensors of a vehicle, a lateral distance of the vehicle to each of a plurality of lanes of a roadway;
• for each lane of the plurality of lanes:
• calculating a positional uncertainty of the vehicle in an orthogonal direction to a lane bearing of the lane;
• calculating a lane confidence based on an average of confidence values of the lane over the period of receiving consecutive position information;
• and
• calculating a lane probability based on the lane confidence;
• and
• identifying, for the time index, which of the lanes has a highest probability as being the lane to which the vehicle position, location, and/or direction is matched;
• and
• navigating the vehicle along the plurality of lanes, using the lane to which the vehicle is matched.

A non-transitory computer-readable medium comprising instructions for lane-level matching that, when executed by a computing device, cause the computing device to perform operations including to:

• calculate, for a time index of a time slot of a period of receiving consecutive vehicle position information, using data from sensors of a vehicle, a lateral distance of the vehicle to each of a plurality of lanes of a roadway;
• for each lane of the plurality of lanes:
• calculate a positional uncertainty of the vehicle in an orthogonal direction to a lane bearing of the lane;
• calculate a lane confidence based on an average of confidence values of the lane over the period of receiving consecutive position information;
• and
• calculate a lane probability based on the lane confidence;
• and
• identify, for the time index, which of the lanes has a highest probability as being the lane to which the vehicle position, location, and/or direction is matched;
• and
• navigate the vehicle along the plurality of lanes, using the lane to which the vehicle is matched.