# US 2017/0287337 A1 · Learning Lanes From Radar Sensors > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2017/0287337 A1 - Document ID: US20170287337A1 - Status: Published application - Kind: A1 - Application number: 15/628,985 - Filed: 2017-06-21 - Published: 2017-10-05 - Earliest claimed: 2014-12-16 - Assignees: HERE Global B.V. - Applicants: HERE Global B.V. - Inventors: Xin Chen; Di Ma; Xiang Ma; Roman Ostrovskiy; Vladimir Zhukov; Xiaotao Zou - Web page: https://patentgrep.com/patent/US20170287337A1 ## CPC - G08G 1/167: {Driving aids for lane monitoring, lane changing, e.g. blind spot detection} - G01S 13/931: of land vehicles - G01S 15/931: of land vehicles - G01S 17/931: of land vehicles - G08G 1/0112: {from the vehicle, e.g. floating car data [FCD]} - G08G 1/0133: {for classifying traffic situation} - G08G 1/0141: {for traffic information dissemination} - G01S 2013/932: {using own vehicle data, e.g. ground speed, steering wheel direction} - G01S 2013/9322: {using additional data, e.g. driver condition, road state or weather data} - G01S 2013/9323: {Alternative operation using light waves} - G01S 2013/9324: {Alternative operation using ultrasonic waves} - G08G 1/165: {for passive traffic, e.g. including static obstacles, trees} - 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}) - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES ## Abstract Systems, methods, and apparatuses are disclosed for determining lane information of a roadway segment from vehicle probe data. Probe data is received from radar sensors of vehicles at a road segment, where the probe data includes an identification of static objects and dynamic objects in proximity to the respective vehicles at the road segment, and geographic locations of the static objects and the dynamic objects. A reference point, such as a road boundary, at the road segment is determined from the identified static objects. Lateral distances between the identified dynamic objects and the reference point are calculated. A number of lanes at the road segment are ascertained from a distribution of the calculated distances of the identified dynamic objects from the reference point. ## Claims ### Claim 1 A method comprising: receiving probe data from radar sensors of a plurality of vehicles at a road segment, the probe data comprising an identification of static objects in proximity to the respective vehicles at the road segment and geographic locations of the static objects; determining, using a processor, a first road boundary and a second, opposite road boundary at the road segment from the identified static objects received from the plurality of vehicles; computing a width of the road segment from the identified first and second road boundaries; estimating a number of lanes at the road segment by dividing the computed width of the road segment by a predetermined average lane width; and updating a map database with the estimated number of lanes at the road segment. ### Claim 2 (depends on 1) The method of claim 1, wherein the first and second road boundaries are determined from pluralities of static objects grouped along opposite edges of the road segment. ### Claim 3 (depends on 2) The method of claim 2, wherein the static objects comprise one or more of road signs, road curbs, barriers, or guard rails. ### Claim 4 (depends on 3) The method of claim 3, wherein the width of the road segment is computed by (1) determining, for each vehicle of the plurality of vehicles, a first distance between the first road boundary and the respective vehicle and a second distance between the second road boundary and the respective vehicle, (2) combining, for each vehicle, the first distance and second distance, and (3) averaging the combined distances for the plurality of vehicles. ### Claim 5 (depends on 1) The method of claim 1, wherein the predetermined average lane width is between 3 meters and 4 meters. ### Claim 6 (depends on 1) The method of claim 1, wherein the width of the road segment is computed by (1) determining, for each vehicle of the plurality of vehicles, a first distance between the first road boundary and the respective vehicle and a second distance between the second road boundary and the respective vehicle, (2) combining, for each vehicle, the first distance and second distance, and (3) averaging the combined distances for the plurality of vehicles. ### Claim 7 (depends on 1) The method of claim 1, further comprising: verifying the number of lanes at the road segment using ground truth data. ### Claim 8 A method comprising: receiving probe data from radar sensors of a plurality of vehicles at a road segment, the probe data comprising an identification of static objects in proximity to the respective vehicles at the road segment and geographic locations of the static objects; determining, using a processor, a first road boundary and a second, opposite road boundary at the road segment from the identified static objects received from the plurality of vehicles; computing a width of the road segment from the identified first and second road boundaries; estimating a number of lanes at the road segment by dividing the computed width of the road segment by a predetermined average lane width; and reporting the estimated number of lanes at the road segment to a vehicle navigation device over a connected network. ### Claim 9 (depends on 8) The method of claim 8, wherein the first and second road boundaries are determined from pluralities of static objects grouped along opposite edges of the road segment. ### Claim 10 (depends on 9) The method of claim 9, wherein the static objects comprise one or more of road signs, road curbs, barriers, or guard rails. ### Claim 11 (depends on 10) The method of claim 10, wherein the width of the road segment is computed by (1) determining, for each vehicle of the plurality of vehicles, a first distance between the first road boundary and the respective vehicle and a second distance between the second road boundary and the respective vehicle, (2) combining, for each vehicle, the first distance and second distance, and (3) averaging the combined distances for the plurality of vehicles. ### Claim 12 (depends on 8) The method of claim 8, wherein the predetermined average lane width is between 3 meters and 4 meters. ### Claim 13 (depends on 8) The method of claim 8, wherein the width of the road segment is computed by (1) determining, for each vehicle of the plurality of vehicles, a first distance between the first road boundary and the respective vehicle and a second distance between the second road boundary and the respective vehicle, (2) combining, for each vehicle, the first distance and second distance, and (3) averaging the combined distances for the plurality of vehicles. ### Claim 14 (depends on 8) The method of claim 8, further comprising: verifying the number of lanes at the road segment using ground truth data. ### Claim 15 An apparatus comprising: at least one processor; and at least one memory including computer program code for one or more programs; the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus to: receive probe data from radar sensors of a plurality of vehicles at a road segment, the probe data comprising an identification of static objects in proximity to the respective vehicles at the road segment and geographic locations of the static objects; determine a first road boundary and a second, opposite road boundary at the road segment from the identified static objects; compute a width of the road segment from the identified first and second road boundaries; estimate a number of lanes at the road segment by dividing the computed width of the road segment by a predetermined average lane width; and update a map database with the estimated number of lanes at the road segment, or report the estimated number of lanes at the road segment to a vehicle navigation device over a connected network. ### Claim 16 (depends on 15) The apparatus of claim 15, wherein the predetermined average lane width is between 3 meters and 4 meters. ### Claim 17 (depends on 15) The apparatus of claim 15, wherein the width of the road segment is computed by (1) determining, for each vehicle of the plurality of vehicles, a first distance between the first road boundary and the respective vehicle and a second distance between the second road boundary and the respective vehicle, (2) combining, for each vehicle, the first distance and second distance, and (3) averaging the combined distances for the plurality of vehicles. ### Claim 18 (depends on 15) The apparatus of claim 15, wherein the first and second road boundaries are determined from pluralities of static objects grouped along opposite edges of the road segment. ### Claim 19 (depends on 18) The apparatus of claim 18, wherein the static objects comprise one or more of road signs, road curbs, barriers, or guard rails. ### Claim 20 (depends on 15) The apparatus of claim 15, wherein the at least one memory and the computer program code are configured to further cause the apparatus to verify the number of lanes at the road segment using ground truth data.