The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Aug. 10, 2021
Filed:
Sep. 19, 2019
Ford Global Technologies, Llc, Dearborn, MI (US);
Rajiv Sithiravel, Scarborough, CA;
David A. LaPorte, Livonia, MI (US);
Kyle J. Carey, Ypsilanti, MI (US);
Aakar Mehra, Ypsilanti, MI (US);
Ford Global Technologies, LLC, Dearborn, MI (US);
Abstract
A computer, including a processor and a memory, the memory including instructions to be executed by the processor to generate a first map, based on vehicle sensor data, of a free space on a roadway in which a first vehicle can operate without contacting roadway edges and non-stationary objects on the roadway, the first map including roadway lane markings in an environment around the first vehicle, wherein the non-stationary objects include one or more second vehicles and generate a second map of free space in the environment around the first vehicle by determining B-splines corresponding to first roadway lanes based on the roadway lane markings and the roadway edges included in the first map. The instructions include further instructions to determine second roadway lanes based on determining locations of the non-stationary objects, determine combined roadway lanes based on the first roadway lanes and the second roadway lanes and operate the first vehicle based on the combined roadway lanes.