Patent ID: 9409570
Filing Date: 2016-08-09
CPC Classification: B60W,G01C,G06K

Claim Text:
1. A computer implemented method of predicting a most probable path of a vehicle traveling in a multi-lane roadway and approaching an upcoming junction in the roadway, the method comprising: determining, based on input from at least one sensor, a location of a vehicle traveling in the roadway; identifying the upcoming junction in the roadway forward of the vehicle, where a number of lanes in the roadway changes at the upcoming junction into a rootpath and at least one sub-path, the at least one sub-path having at least one lane; determining a first number of lanes in the rootpath before the upcoming junction; determining a second number of lanes in the rootpath after the upcoming junction; determining a third number of lanes in the at least one sub-path after the upcoming junction; determining a direction of the at least one sub-path with respect to the rootpath; and determining, based on the first, second, and third numbers of lanes, and the direction of the at least one sub-path, the most probable path of the vehicle at the upcoming junction.