US Patent 10248871 Autonomous lane detection

Methods, systems, computer-readable media, and apparatuses for autonomous lane detection are presented. One example method includes the steps of receiving a signal from a first device; responsive to a comparison of a measured received frequency of the signal to a source frequency of the signal and to one or more thresholds, determining a distance to the first device; and determining a lane in which the vehicle is operating based on the distance and a lane map. Another example method further includes the steps of determining a location and a heading of the first vehicle; and outputting, to a crowdsourcing server, the location, the heading, and the distance to the first device.