Systems and methods for estimating lane geometry
AssigneeToyota Research Institute, Inc.
InventorsStephen G. McGill, JR., Guy Rosman, Luke S. Fletcher
Life of this patent
Estimating the term…
Abstract
Systems and methods for estimating lane geometry are disclosed herein. One embodiment receives sensor data from one or more sensors; detects a road agent based on the sensor data; detects, based on the sensor data, that the road agent has performed a lane shift from a first lane of a roadway to a second lane of the roadway; and estimates a boundary line between the first lane of the roadway and the second lane of the roadway based, at least in part, on the detected lane shift.
Claims20
A system for estimating lane geometry, the system comprising:
- one or more sensors;
- one or more processors;
- and
- a memory communicably coupled to the one or more processors and storing:
- a detection module including instructions that when executed by the one or more processors cause the one or more processors to:
- receive sensor data from the one or more sensors;
- detect a road agent based on the sensor data;
- and
- detect, based on the sensor data, that the road agent has performed a lane shift from a first lane of a roadway to a second lane of the roadway;
- and
- an estimation module including instructions that when executed by the one or more processors cause the one or more processors to estimate a boundary line between the first lane of the roadway and the second lane of the roadway based, at least in part, on the detected lane shift.
A non-transitory computer-readable medium for estimating lane geometry and storing instructions that when executed by one or more processors cause the one or more processors to:
- receive sensor data from one or more sensors;
- detect a road agent based on the sensor data;
- detect, based on the sensor data, that the road agent has performed a lane shift from a first lane of a roadway to a second lane of the roadway;
- and
- estimate a boundary line between the first lane of the roadway and the second lane of the roadway based, at least in part, on the detected lane shift.
A method of estimating lane geometry, the method comprising:
- receiving sensor data from one or more sensors;
- detecting a road agent based on the sensor data;
- detecting, based on the sensor data, that the road agent has performed a lane shift from a first lane of a roadway to a second lane of the roadway;
- and
- estimating a boundary line between the first lane of the roadway and the second lane of the roadway based, at least in part, on the detected lane shift.
Dependencies are inferred from the claim text.