Method of autonomous lane identification for a multilane vehicle roadway

摘要

A method is provided for identifying whether a vehicle has entered, departed, or stayed in a target lane as opposed to an adjacent non-target lane of a segmented roadway. Signals are received from at least one signal source at a receiver within, attached to or integrated into the vehicle marking the geographic position of the vehicle at a sampling rate in a detailed travel path. At each sampled point in the travel path, the method compares the standard perpendicular distance between:the vehicle and the target lane centerline (d1); andthe vehicle and the non-target lane centerline (d2);It is assessed that the vehicle is in the target lane if the distance d1 is less than the distance d2, and otherwise, it is assessed that the vehicle is in the non-target lane. From a time (t1) at which the vehicle is assessed to be departing from the target lane, each such sampled point is deemed to be an excursion point and the excursion point departure distances are summed until the vehicle is assessed to return to the target lane, or the detailed travel path ends, at a time (t2); andif: the sum of the excursion point departure distances is less than a threshold distance, orthe time from t1 to t2 is less than a threshold time,the vehicle is treated as having remained in the target lane, and otherwise, the vehicle is treated as having changed to the non-target lane between time t1 and t2. A related system is also provided.