US Patent 9623905 Autonomous vehicle navigation based on recognized landmarks

A system for autonomously navigating a vehicle along a road segment is disclosed. The system may have at least one processor. The processor may be programmed to receive from an image capture device at least one image representative of an environment of the vehicle. The processor may also be programmed to analyze the at least one image to identify at least one recognized landmark. Further, the processor may be programmed to determine a current location of the vehicle relative to a predetermined road model trajectory associated with the road segment based, at least in part, on a predetermined location of the recognized landmark. In addition, the processor may be programmed to determine an autonomous steering action for the vehicle based on a direction of the predetermined road model trajectory at the determined current location of the vehicle relative to the predetermined road model trajectory.