Patent Document ID: 9395192
Application ID: 14135935
Patent Status: 1

Claim One:
1. A method comprising: receiving, at a computing device of a vehicle from one or more sensors of the vehicle, boundary data that is based on detection of a plurality of boundaries associated with a road of travel of the vehicle; based on the boundary data, determining edge data representative of a plurality of edges of the plurality of boundaries, wherein a given edge indicates a discontinuity between a given boundary and a characteristic of the road of travel; modifying the edge data based on a position and orientation of respective edges of the plurality of edges so as to combine edges positioned substantially in parallel and within a threshold distance to each other; adjusting the boundary data based on the modified edge data so as to combine respective boundaries having combined edges positioned substantially in series and within a threshold distance to each other; determining whether the combined respective boundaries in the adjusted boundary data substantially match road data indicated by a map of the road of travel; based on the adjusted boundary data substantially matching the road data indicated by the map of the road of travel, providing an estimation of one or more projections of the combined respective boundaries of the plurality of boundaries ahead of the vehicle on the road; and controlling, at the computing device of the vehicle, one or more systems of the vehicle based at least in part on the estimation of one or more projections of the combined respective boundaries of the plurality of boundaries ahead of the vehicle on the road.