Learning lanes from radar sensors
First Claim
1. A method comprising:
- receiving probe data from radar sensors of a plurality of vehicles at a road segment, the probe data comprising an identification of static objects in proximity to the respective vehicles at the road segment and geographic locations of the static objects;
determining, using a processor, a first road boundary and a second road boundary at the road segment from the identified static objects received from the plurality of vehicles, the second road boundary being an opposite road boundary from the first road boundary;
computing a width of the road segment from the identified first road boundary and the second road boundary by;
determining, for each vehicle of the plurality of vehicles, a first distance between the first road boundary and the respective vehicle and a second distance between the second road boundary and the respective vehicle, combining, for each vehicle of the plurality of vehicles, the first distance and second distance to provide a determined width for each respective vehicle; and
adding together the determined widths for each respective vehicle of the plurality of vehicles and dividing by a total number of vehicles;
estimating a number of lanes at the road segment by dividing the computed width of the road segment by a predetermined average lane width; and
updating a map database with the estimated number of lanes at the road segment.
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Abstract
Systems, methods, and apparatuses are disclosed for determining lane information of a roadway segment from vehicle probe data. Probe data is received from radar sensors of vehicles at a road segment, where the probe data includes an identification of static objects and dynamic objects in proximity to the respective vehicles at the road segment, and geographic locations of the static objects and the dynamic objects. A reference point, such as a road boundary, at the road segment is determined from the identified static objects. Lateral distances between the identified dynamic objects and the reference point are calculated. A number of lanes at the road segment are ascertained from a distribution of the calculated distances of the identified dynamic objects from the reference point.
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Citations
15 Claims
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1. A method comprising:
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receiving probe data from radar sensors of a plurality of vehicles at a road segment, the probe data comprising an identification of static objects in proximity to the respective vehicles at the road segment and geographic locations of the static objects; determining, using a processor, a first road boundary and a second road boundary at the road segment from the identified static objects received from the plurality of vehicles, the second road boundary being an opposite road boundary from the first road boundary; computing a width of the road segment from the identified first road boundary and the second road boundary by;
determining, for each vehicle of the plurality of vehicles, a first distance between the first road boundary and the respective vehicle and a second distance between the second road boundary and the respective vehicle, combining, for each vehicle of the plurality of vehicles, the first distance and second distance to provide a determined width for each respective vehicle; and
adding together the determined widths for each respective vehicle of the plurality of vehicles and dividing by a total number of vehicles;estimating a number of lanes at the road segment by dividing the computed width of the road segment by a predetermined average lane width; and updating a map database with the estimated number of lanes at the road segment. - View Dependent Claims (2, 3, 4, 5)
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6. A method comprising:
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receiving probe data from radar sensors of a plurality of vehicles at a road segment, the probe data comprising an identification of static objects in proximity to the respective vehicles at the road segment and geographic locations of the static objects; determining, using a processor, a first road boundary and a second road boundary at the road segment from the identified static objects received from the plurality of vehicles, the second road boundary being an opposite road boundary from the first road boundary; computing a width of the road segment from the identified first road boundary and the second road boundary by;
determining, for each vehicle of the plurality of vehicles, a first distance between the first road boundary and the respective vehicle and a second distance between the second road boundary and the respective vehicle, combining, for each vehicle of the plurality of vehicles, the first distance and second distance to provide a determined width for each respective vehicle; and
adding together the determined widths for each respective vehicle of the plurality of vehicles and dividing by a total number of vehicles;estimating a number of lanes at the road segment by dividing the computed width of the road segment by a predetermined average lane width; and reporting the estimated number of lanes at the road segment to a vehicle navigation device over a connected network. - View Dependent Claims (7, 8, 9, 10)
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11. An apparatus comprising:
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at least one processor; and at least one memory including computer program code for one or more programs; the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus to; receive probe data from radar sensors of a plurality of vehicles at a road segment, the probe data comprising an identification of static objects in proximity to the respective vehicles at the road segment and geographic locations of the static objects; determine a first road boundary and a second road boundary at the road segment from the identified static objects, the second road boundary being an opposite road boundary from the first road boundary; compute a width of the road segment from the identified first road boundary and the second road boundary by;
determining, for each vehicle of the plurality of vehicles, a first distance between the first road boundary and the respective vehicle and a second distance between the second road boundary and the respective vehicle, combining, for each vehicle of the plurality of vehicles, the first distance and second distance to provide a determined width for each respective vehicle; and
adding together the determined widths for each respective vehicle of the plurality of vehicles and dividing by a total number of vehicles;estimate a number of lanes at the road segment by dividing the computed width of the road segment by a predetermined average lane width; and update a map database with the estimated number of lanes at the road segment, or report the estimated number of lanes at the road segment to a vehicle navigation device over a connected network. - View Dependent Claims (12, 13, 14, 15)
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Specification