Autonomous vehicle navigation based on recognized landmarks

A vehicle, comprising:

• a body;
• at least one image capture device configured to acquire at least one image representative of an environment of the vehicle;
• and
• at least one processor programmed to:
• receive from the at least one image capture device the at least one image;
• analyze the at least one image to identify at least one recognized landmark;
• determine a current location of the vehicle relative to a predetermined road model trajectory associated with the road segment based, at least in part, on a predetermined location of the recognized landmark;
• and
• determine an autonomous steering action for the vehicle based on a direction of the predetermined road model trajectory at the determined current location of the vehicle relative to the predetermined road model trajectory.

A method of navigating a vehicle, comprising:

• receiving, from an image capture device associated with the vehicle, at least one image representative of an environment of the vehicle;
• analyzing, using a processor associated with the vehicle, the at least one image to identify at least one recognized landmark;
• determining a current position of the vehicle relative to a predetermined road model trajectory associated with the road segment based, at least in part, on a predetermined location of the recognized landmark;
• determining an autonomous steering action for the vehicle based on a direction of the predetermined road model trajectory at the determined current location of the vehicle relative to the predetermined road model trajectory;
• and
• adjusting a steering system of the vehicle based on the autonomous steering action to navigate the vehicle.