# US 2018/0024562 A1 · Localizing vehicle navigation using lane measurements > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2018/0024562 A1 - Document ID: US20180024562A1 - Status: Published application - Kind: A1 - Application number: 15/656,561 - Filed: 2017-07-21 - Published: 2018-01-25 - Earliest claimed: 2016-07-21 - Assignees: Mobileye Vision Technologies Ltd. - Applicants: Mobileye Vision Technologies Ltd. - Inventors: Levi Itzhak Bellaiche - Web page: https://patentgrep.com/patent/US20180024562A1 ## CPC - G06V 20/588: {Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road} - B60R 1/025: {comprising special mechanical means for correcting the field of view in relation to particular driving conditions, e.g. change of lane; scanning mirrors} - B60R 11/04: Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle - B60W 10/20: including control of steering systems - B60W 30/12: Lane keeping - B60W 60/0016: {of the vehicle or its occupants} - G01C 21/28: with correlation of data from several navigational instruments - G01C 21/36: Input/output arrangements for on-board computers - G01C 21/3602: {Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera} - G01C 21/3658: {Lane guidance} - G01S 13/867: {Combination of radar systems with cameras} - G01S 13/931: of land vehicles - G05D 1/0212: {with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287)} - G05D 1/0253: {extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow (determining position or orientation from images G06T7/70)} - G05D 1/0274: {using mapping information stored in a memory device (navigation using map-matching G01C21/30)} - G05D 1/0278: {using satellite positioning signals, e.g. GPS} - G05D 1/0285: {using signals transmitted via a public communication network, e.g. GSM network} - G06T 7/73: using feature-based methods - G06T 7/74: {involving reference images or patches} - G08G 1/167: {Driving aids for lane monitoring, lane changing, e.g. blind spot detection} - H04W 4/44: for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H] - B60R 2011/0026: {Windows, e.g. windscreen} - B60W 2420/403: Image sensing, e.g. optical camera - B60W 2552/30: Road curve radius - B60W 2552/50: Barriers - B60W 2552/53: Road markings, e.g. lane marker or crosswalk - B60W 2554/20: Static objects - B60W 2554/4026: Cycles - B60W 2554/4029: Pedestrians - B60W 2554/60: Traversable objects, e.g. speed bumps or curbs - B60W 2554/802: Longitudinal distance - B60W 2554/804: Relative longitudinal speed - B60W 2720/10: Longitudinal speed - B60W 2720/106: Longitudinal acceleration - G01S 19/42: Determining position - G01S 19/485: {whereby the further system is an optical system or imaging system} - G01S 19/52: Determining velocity - G06F 18/24: Classification techniques - G06T 2200/08: involving all processing steps from image acquisition to 3D model generation - G06T 2207/10024: Color image - G06T 2207/10028: Range image; Depth image; 3D point clouds - G06T 2207/30241: Trajectory - G06T 2207/30256: Lane; Road marking - G06V 20/582: {of traffic signs} - G06V 20/584: {of vehicle lights or traffic lights} - H04L 67/12: specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR - 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 - 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) - 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 - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - 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}) - H04W: WIRELESS COMMUNICATION NETWORKS (broadcast communication H04H; communication systems using wireless links for non-selective communication, e.g. wireless extensions H04M1/72) - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) - H04L: TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION (arrangements common to telegraphic and telephonic communication H04M) ## Abstract Systems and methods are provided for vehicle localization using lane measurements. In one implementation, a method of correcting a position of a vehicle navigating a road segment may include determining, based on an output of at least one navigational sensor, a measured position of the vehicle along a predetermined road model trajectory; receiving at least one image representative of an environment of the vehicle, analyzing the at least one image to identify at least one lane marking, determining, based on the at least one image, a distance from the vehicle to the at least one lane marking, determining an estimated offset of the vehicle from the predetermined road model trajectory based on the measured position of the vehicle and the determined distance, and determining an autonomous steering action for the vehicle based on the estimated offset to correct the position of the vehicle. ## Claims ### Claim 1 A system for correcting a position of a vehicle navigating a road segment, the system comprising: at least one processing device configured to: determine, based on an output of at least one navigational sensor, a measured position of the vehicle along a predetermined road model trajectory, wherein the predetermined road model trajectory is associated with the road segment; receive, from an image capture device, at least one image representative of an environment of the vehicle; analyze the at least one image to identify at least one lane marking, wherein the at least one lane marking is associated with a lane of travel along the road segment; determine, based on the at least one image, a distance from the vehicle to the at least one lane marking; determine an estimated offset of the vehicle from the predetermined road model trajectory based on the measured position of the vehicle and the determined distance; and determine an autonomous steering action for the vehicle based on the estimated offset to correct the position of the vehicle. ### Claim 2 (depends on 1) The system of claim 1, wherein the predetermined road model trajectory includes a three-dimensional polynomial representation of a target trajectory along the road segment. ### Claim 3 (depends on 1) The system of claim 1, wherein the at least one processing device is further configured to adjust a steering system of the vehicle based on the autonomous steering action. ### Claim 4 (depends on 1) The system of claim 1, wherein determining the estimated offset further includes determining, based on the distance to the at least one lane marking, whether the vehicle is on a trajectory that will intersect the at least one lane marking. ### Claim 5 (depends on 1) The system of claim 1, wherein determining the estimated offset further includes determining, based on the distance to the at least one lane marking, whether the vehicle is within a predetermined threshold of the at least one lane marking. ### Claim 6 (depends on 1) The system of claim 1, wherein the at least one navigational sensor includes a speed sensor or an accelerometer. ### Claim 7 (depends on 1) The system of claim 1, wherein determining the autonomous steering action for the vehicle further includes solving for at least one derivative of the predetermined road model trajectory. ### Claim 8 A method for correcting a position of a vehicle navigating a road segment, the method comprising: determining, based on an output of at least one navigational sensor, a measured position of the vehicle along a predetermined road model trajectory, wherein the predetermined road model trajectory is associated with the road segment; receiving, from an image capture device, at least one image representative of an environment of the vehicle; analyzing the at least one image to identify at least one lane marking, wherein the at least one lane marking is associated with a lane of travel along the road segment; determining, based on the at least one image, a distance from the vehicle to the at least one lane marking; determining an estimated offset of the vehicle from the predetermined road model trajectory based on the measured position of the vehicle and the determined distance; and determining an autonomous steering action for the vehicle based on the estimated offset to correct the position of the vehicle. ### Claim 9 (depends on 8) The method of claim 8, further comprising adjusting a steering system of the vehicle based on the autonomous steering action. ### Claim 10 (depends on 8) The method of claim 8, wherein determining the estimated offset further includes determining, based on the distance to the at least one lane marking, whether the vehicle is on a trajectory that will intersect the at least one lane marking. ### Claim 11 (depends on 8) The method of claim 8, wherein determining the estimated offset further includes determining, based on the distance to the at least one lane marking, whether the vehicle is within a predetermined threshold of the at least one lane marking. ### Claim 12 (depends on 8) The method of claim 8, wherein determining the autonomous steering action for the vehicle further includes solving for at least one derivative of the predetermined road model trajectory. ### Claim 13 A non-transitory, computer-readable medium storing instructions that, when executed by at least one processing device, cause the device to: determine, based on an output of at least one navigational sensor, a measured position of the vehicle along a predetermined road model trajectory, wherein the predetermined road model trajectory is associated with the road segment; receive, from an image capture device, at least one image representative of an environment of the vehicle; analyze the at least one image to identify at least one lane marking, wherein the at least one lane marking is associated with a lane of travel along the road segment; determine, based on the at least one image, a distance from the vehicle to the at least one lane marking; determine an estimated offset of the vehicle from the predetermined road model trajectory based on the measured position of the vehicle and the determined distance; and determine an autonomous steering action for the vehicle based on the estimated offset to correct the position of the vehicle. ### Claim 14 (depends on 13) The non-transitory, computer-readable medium of claim 13, wherein the predetermined road model trajectory includes a three-dimensional polynomial representation of a target trajectory along the road segment. ### Claim 15 (depends on 13) The non-transitory, computer-readable medium of claim 13, further storing instructions to adjust a steering system of the vehicle based on the autonomous steering action. ### Claim 16 (depends on 13) The non-transitory, computer-readable medium of claim 13, wherein the instructions to determine the estimated offset further include instructions to determine, based on the distance to the at least one lane marking, whether the vehicle is on a trajectory that will intersect the at least one lane marking. ### Claim 17 (depends on 13) The non-transitory, computer-readable medium of claim 13, wherein the instructions to determine the estimated offset further include instructions to determine, based on the distance to the at least one lane marking, whether the vehicle is within a predetermined threshold of the at least one lane marking. ### Claim 18 (depends on 13) The non-transitory, computer-readable medium of claim 13, wherein the instructions to determine the autonomous steering action for the vehicle further include instructions to solve for at least one derivative of the predetermined road model trajectory.