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Toyota Motor : Patent Issued for Method And Apparatus For Determining Lane Identification In A Roadway (USPTO 10,074,281)

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09/20/2018 | 08:07pm CEST

By a News Reporter-Staff News Editor at Health & Medicine Week -- According to news reporting originating from Alexandria, Virginia, by NewsRx journalists, a patent by the inventors Pandita, Rohit (Ann Arbor, MI); McNew, John-Michael (Ann Arbor, MI); Caveney, Derek S. (Plymouth, MI); Vladimerou, Vladimeros (Ypsilanti, MI), filed on August 31, 2016, was published online on September 24, 2018 (see also Toyota Motor Engineering & Manufacturing North America Inc.).

The assignee for this patent, patent number 10,074,281, is Toyota Motor Engineering & Manufacturing North America Inc. (Erlanger, Kentucky, United States).

Reporters obtained the following quote from the background information supplied by the inventors: "The present method and apparatus relates, in general, to vehicle driver alerting apparatus and methods.

"Partially automated or monitored vehicle driving systems are designed to assist drivers in operating a vehicle safely and efficiently on a road, for example, using techniques such as eye-tracking of the driver to send a warning when the driver becomes inattentive, lane tracking of the vehicle to send a warning to the driver when the vehicle is leaving its lane, and controlling vehicle velocity based on distance to a vehicle ahead of the driver when adaptive cruise control is activated by the driver. Fully automated driving systems are designed to operate a vehicle on the road without driver interaction or other external control, for example, self-driving or autonomous vehicles."

In addition to obtaining background information on this patent, NewsRx editors also obtained the inventors' summary information for this patent: "In one respect, the present disclosure is directed to a method of determining a lane identity in a roadway in which a vehicle is traveling. The roadway includes a plurality of lanes. The method can include obtaining, using one or more sensors, a lane marker type to a left side and to a right side of the vehicle at a current position of the vehicle or ahead of the current position of the vehicle in a forward direction of travel of the vehicle. The method can also include obtaining, using one or more sensors, an instantaneous position of the vehicle on the roadway. The method can further include determining, using map data, a number of lanes in the roadway at the instantaneous position of the vehicle. The method can include detecting, using one or more sensors, lane crossings of the vehicle between the plurality of lanes in the roadway. The method can include generating a lane identification confidence belief indicating a probability that the vehicle is in a particular lane of the plurality of lanes of the roadway. The lane identification confidence belief can be based on: any detected lane crossings, the number of lanes in the roadway, the lane marker type to a left side and to a right side of the vehicle at the current position of the vehicle or ahead of the current position of the vehicle in a forward direction of travel of the vehicle; and a weighted average of an instantaneous lane identification confidence belief and a lane identification confidence belief prior to a current sample time period.

"In another respect, the present disclosure is directed to a method of determining a lane identity in a roadway in which a vehicle is traveling. The roadway can include a plurality of lanes. The method can include obtaining, using one or more sensors, a lane marker type to a left side and to a right side of the vehicle in a forward direction of travel of the vehicle. The method can also include obtaining, using one or more sensors, an instantaneous position of the vehicle on the roadway. Further, the method can include determining, using map data, a number of lanes in the roadway at the instantaneous position of the vehicle. The method can include detecting, using one or more sensors, lane crossings of the vehicle between the plurality of lanes in the roadway. The method can include generating a lane identification confidence belief indicating a probability that the vehicle is in a particular lane of the plurality of lanes of the roadway. The lane identification confidence belief can be calculated as:

".times.times.times.times.times.times. ##EQU00001## LCV is a lane identification confidence belief prior to a current sample time. Distance is the distance traveled by the vehicle since a last distance reset. ds is a distance traveled by the vehicle during the current sample time. Instantaneous LCV is the instantaneous lane identification confidence vector probability calculated at an instantaneous position of the vehicle in the roadway during the current sample time.

"In still another respect, the present disclosure is directed to a computing apparatus associated with a vehicle for determining the lane identity of a vehicle traveling in a roadway having a plurality of lanes. The computing apparatus can include a computing device. The computing device can include at least one processor mounted on the vehicle. The at least one processor can be coupled to sensors. The computing apparatus can also include a memory for storing data and program instructions used by the at least one processor. The at least one processor can execute program instructions stored in the memory and one or more sensors mounted on the vehicle to detect lane marker type to a left side and a right side of the vehicle at instantaneous positions of the vehicle in the roadway as well as detecting lane crossings of the vehicle in the roadway. The computing device can execute the program instructions for obtaining a lane marker type to a left side and a right side of the vehicle at a current position of the vehicle or ahead of the current position of the vehicle in a forward direction of travel of a vehicle from at least one of the sensors. The computing device can execute the program instructions for obtaining an instantaneous position of the vehicle on the roadway using one of the sensor and map data. The computing device can execute the program instructions for determining a number of lanes in the roadway at the instantaneous position of the vehicle using map data stored or accessible in the memory. The computing device can execute the program instructions for detecting lane crossings of the vehicle between the plurality of lanes in the roadway using one of the sensors. The computing device can execute the program instructions for generating a lane identification confidence belief indicating a probability that the vehicle is in a particular lane of the plurality of lanes of the roadway. The lane identification confidence belief can be based on: any detected lane crossings, the number of lanes in the roadway, the lane marker type to a left side and to a right side of the vehicle at the current position of the vehicle or ahead of the current position of the vehicle in a forward direction of travel of the vehicle; and a weighted average of an instantaneous lane identification confidence belief and a lane identification confidence belief prior to a current sample time period."

The claims supplied by the inventors are:

"What is claimed is:

"1. A method of determining a lane identity in a roadway in which a vehicle is traveling, the roadway including a plurality of lanes, the method comprising: obtaining, using one or more sensors, a lane marker type to a left side and to a right side of the vehicle at a current position of the vehicle or ahead of the current position of the vehicle in a forward direction of travel of the vehicle; obtaining, using one or more sensors, an instantaneous position of the vehicle on the roadway; determining, using map data, a number of lanes in the roadway at the instantaneous position of the vehicle; detecting, using one or more sensors, lane crossings of the vehicle between the plurality of lanes in the roadway; and generating a lane identification confidence belief indicating a probability that the vehicle is in a particular lane of the plurality of lanes of the roadway based on: any detected lane crossings, the number of lanes in the roadway, the lane marker type to a left side and to a right side of the vehicle at the current position of the vehicle or ahead of the current position of the vehicle in a forward direction of travel of the vehicle; and a weighted average of an instantaneous lane identification confidence belief and a lane identification confidence belief prior to a current sample time period.

"2. The method of claim 1, wherein obtaining, using one or more sensors, the lane marker type to the left side and to the right side of the vehicle in the forward direction of travel of the vehicle is performed at least in part using a camera mounted on the vehicle.

"3. The method of claim 1, wherein obtaining the instantaneous position of the vehicle on the roadway is performed by a global positioning satellite system, wherein at least a portion of the global positioning satellite system is carried by the vehicle.

"4. The method of claim 1, wherein determining the number of lanes in the roadway at the instantaneous position of the vehicle uses data in a memory.

"5. The method of claim 1, wherein detecting lane crossings of the vehicle between the plurality of lanes in the roadway is performed using a camera mounted on the vehicle.

"6. The method of claim 1, wherein the lane identification confidence belief is updated upon detecting any lane crossings.

"7. The method of claim 1, further including: outputting, using a processor, a lane identification in which the vehicle is currently traveling in the roadway and a probability that the vehicle is in a particular lane corresponding to the lane identification.

"8. The method of claim 1, wherein the lane identification confidence belief is a vector formed of each lane identification in the roadway and a probability value that the vehicle is in each of the plurality of lanes in the roadway.

"9. The method of claim 8, wherein the lane identification confidence belief varies during each time sample during a predetermined distance time segment since the last distance reset.

"10. The method of claim 1, further comprising: recalculating the lane identification confidence belief at each occurrence in a change of the number of lanes in the roadway.

"11. The method of claim 10, further including: recalculating the lane identification confidence belief depending upon whether a lane is added or removed from the roadway and on which side of the roadway the lane was added or removed.

"12. The method of claim 1, further including: recalculating the lane identification confidence belief upon detecting each lane crossing.

"13. The method of claim 12, further including: resetting the distance traveled by the vehicle since the last distance reset upon detecting each lane crossing.

"14. A method of determining a lane identity in a roadway in which a vehicle is traveling, where the roadway contains a plurality of lanes comprising: obtaining, using one or more sensors, a lane marker type to a left side and to a right side of the vehicle in a forward direction of travel of the vehicle; obtaining, using one or more sensors, an instantaneous position of the vehicle on the roadway; determining, using map data, a number of lanes in the roadway at the instantaneous position of the vehicle; detecting, using one or more sensors, lane crossings of the vehicle between the plurality of lanes in the roadway; and generating a lane identification confidence belief indicating a probability that the vehicle is in a particular lane of the plurality of lanes of the roadway, the lane identification confidence belief being calculated as: .times.times.times.times.times.times. ##EQU00003## where LCV is a lane identification confidence belief prior to a current sample time, distance is the distance traveled by the vehicle since a last distance reset, ds is a distance traveled by the vehicle during the current sample time, and instantaneous LCV is an instantaneous lane identification confidence vector probability calculated at an instantaneous position of the vehicle in the roadway during the current sample time.

"15. A computing apparatus associated with a vehicle for determining the lane identity of a vehicle traveling in a roadway having a plurality of lanes comprising: a computing device including at least one processor mounted on the vehicle and coupled to sensors; a memory for storing data and program instructions used by the at least one processor, where the at least one processor executes program instructions stored in the memory and one or more sensors mounted on the vehicle to detect lane marker type to a left side and a right side of the vehicle at instantaneous positions of the vehicle in the roadway as well as detecting lane crossings of the vehicle in the roadway, the computing device executing the program instructions for: obtaining a lane marker type to a left side and a right side of the vehicle at a current position of the vehicle or ahead of the current position of the vehicle in a forward direction of travel of a vehicle from at least one of the sensors; obtaining an instantaneous position of the vehicle on the roadway using one of the sensor and map data; determining a number of lanes in the roadway at the instantaneous position of the vehicle using map data stored or accessible in the memory; detecting lane crossings of the vehicle between the plurality of lanes in the roadway using one of the sensors; and generating a lane identification confidence belief indicating a probability that the vehicle is in a particular lane of the plurality of lanes of the roadway based on: any detected lane crossings, the number of lanes in the roadway, the lane marker type to a left side and to a right side of the vehicle at the current position of the vehicle or ahead of the current position of the vehicle in a forward direction of travel of the vehicle; and a weighted average of an instantaneous lane identification confidence belief and a lane identification confidence belief prior to a current sample time period.

"16. The computing apparatus of claim 15, wherein the sensors include at least one of a GPS receiver, a camera and a vehicle speed input."

For more information, see this patent: Pandita, Rohit; McNew, John-Michael; Caveney, Derek S.; Vladimerou, Vladimeros. Method And Apparatus For Determining Lane Identification In A Roadway. U.S. Patent Number 10,074,281, filed August 31, 2016, and published online on September 24, 2018. Patent URL: http://patft.uspto.gov/netacgi/nph-Parser?Sect1=PTO1&Sect2=HITOFF&d=PALL&p=1&u=%2Fnetahtml%2FPTO%2Fsrchnum.htm&r=1&f=G&l=50&s1=10,074,281.PN.&OS=PN/10,074,281RS=PN/10,074,281

Keywords for this news article include: Business, Erlanger, Kentucky, Biomarkers, United States, Health and Medicine, Automobile Companies, Diagnostics and Screening, North and Central America, Toyota Motor Engineering & Manufacturing North America Inc..

Our reports deliver fact-based news of research and discoveries from around the world. Copyright 2018, NewsRx LLC

(c) 2018 NewsRx LLC, source Health Newsletters

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Financials (JPY)
Sales 2019 29 622 B
EBIT 2019 -
Net income 2019 2 278 B
Debt 2019 14 772 B
Yield 2019 3,27%
P/E ratio 2019 9,00
P/E ratio 2020 8,48
EV / Sales 2019 1,27x
EV / Sales 2020 1,24x
Capitalization 22 903 B
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