Patent Document ID: 10107631
Application ID: 15241672
Patent Status: 1

Claim One:
1. A method of calculating a position of a vehicle on a road segment, the method comprising: providing the vehicle with at least one vehicle sensor and a controller in electronic communication with the at least one vehicle sensor, wherein the at least one vehicle sensor comprises a vehicle heading sensor; receiving, by the controller, vehicle characteristic data corresponding to at least one vehicle characteristic from the at least one vehicle sensor; receiving, by the controller, map data corresponding to a vehicle location; determining, by the controller, a lane change status indicating whether the vehicle has executed a lane change maneuver within a calibratable time interval; calculating, by the controller, the vehicle position using the map data in response to the vehicle not having executed a lane change maneuver within the calibratable time interval; calculating, by the controller, the vehicle position using the vehicle characteristic data in response to the vehicle having executed a lane change maneuver within the calibratable time interval; calibrating, by the controller, the vehicle heading sensor using the map data in response to the lane change status indicating the vehicle has not executed a lane change maneuver within the calibratable time interval; and calibrating, by the controller, the vehicle heading sensor using the vehicle characteristic data in response to the lane change status indicating the vehicle has executed a lane change maneuver within the calibratable time interval.