Patent Document ID: 20170154529
Application ID: 14954083
Patent Flag: 0

Claim One:
1. A method of generating projected vehicle information for use in traversing a vehicle transportation network, the method comprising: receiving, at a host vehicle, remote vehicle spatial state information for a remote vehicle; identifying vehicle transportation network information representing a portion of the vehicle transportation network based on the remote vehicle spatial state information; generating, by a processor in response to instructions stored on a non-transitory computer readable medium, at least one initial probability value based on a comparison of the remote vehicle spatial state information and the vehicle transportation network information at an initial time point, each initial probability value indicating a likelihood that the remote vehicle is following a single lane within the vehicle transportation network information; generating, for a plurality of time points including the initial time point, a deviation of the remote vehicle between adjacent values for the remote vehicle spatial state information relative to the vehicle transportation network information; updating, for each single lane and for each deviation, the likelihood that the remote vehicle is following the single lane using a new probability value based on the deviation; generating, for the remote vehicle, a trajectory using the likelihood as updated; and traversing, by the host vehicle, the vehicle transportation network using the vehicle transportation network information and the trajectory for the remote vehicle.