Method and apparatus for determining trajectory paths on a transportation structure

• US 10,054,450 B2
• Filed: 11/21/2014
• Issued: 08/21/2018
• Est. Priority Date: 11/21/2014
• Status: Active Grant

• Current Assignee: HERE Global B.V. (Nokia Corporation)
• Original Assignee: HERE Global B.V. (Nokia Corporation)
• Inventors: Macfarlane, Jane F.
• Primary Examiner(s): Mott, Genna M
• Application Number:
  US14/550,327
• Publication Number:
  US 20160146617A1
• Time in Patent Office: 1,369 Days
• Field of Search: None
• CPC Class Codes: G01C 21/28 with correlation of data from several navigational instruments
• CPC Class Codes: G01C 21/30 Map- or contour-matching
• CPC Class Codes: G01C 21/3815 Road data
• CPC Class Codes: H04W 4/029 Location-based management or tracking services

Abstract

An approach is provided for determining trajectory paths of a road network. A location platform determines at least one first waypoint and at least one second waypoint of at least one road structure. The at least one first waypoint represents at least one entry point to the at least one road structure, and wherein the at least one second waypoint represents at least one exit point from the at least one road structure. The location platform causes, at least in part, a designation of at least one location trace spanning the at least one first waypoint and the at least one second waypoint as at least one baseline path. The location platform then causes, at least in part, a classification of one or more other location traces with respect to the at least one baseline path.

Claims

1. A method for determining trajectory paths across a transportation structure of a road network, the method comprising:

determining a location of the transportation structure and a plurality of predetermined waypoints associated with the transportation structure;

determining at least one data selection area including the transportation structure and the plurality of predetermined waypoints,

wherein the determined data selection area is configured to exclude a second transportation structure,

wherein the transportation structure is an interchange,

wherein the interchange is characterized as a junction involving at least two roads and one or more ramps,

wherein the interchange is further characterized as including grade separation configured to permit at least one traffic stream on at least one road of the at least two roads to pass through the interchange without interfering with another traffic stream on another road of the at least two roads,

wherein the transportation structure is further characterized as including the plurality of predetermined waypoints representing points of entry and/or exit for traffic to enter into the transportation structure and/or to exit from the transportation structure,

wherein the transportation structure is further characterized by having a plurality of trajectory paths for traversing the transportation structure and passing through one pair of waypoints while traveling in one direction through the pair of waypoints;

determining probe data collected within the data selection area;

determining first and second waypoints of the plurality of predetermined waypoints connecting the at least two roads and the one or more ramps including determining at least one first waypoint and at least one second waypoint of the transportation structure,

wherein the at least one first waypoint of the plurality of predetermined waypoints represents at least one entry point to the transportation structure,

wherein the at least one second waypoint of the plurality of predetermined waypoints represents at least one exit point from the transportation structure,

wherein the at least one first waypoint and the at least one second waypoint are characterized by sharing a plurality of trajectory paths for traversing the transportation structure without interfering with another traffic stream after entering the transportation structure via the at least one first waypoint;

designating, based on part of the probe data and the determined first and second waypoints, a plurality of location traces spanning the plurality of trajectory paths across a plurality of the first waypoints and a plurality of the second waypoints as a plurality of baseline paths;

classifying a remaining portion of the probe data not designated as spanning both a first waypoint and a second waypoint,

wherein the classifying is based, at least in part, on a threshold distance calculation, a heading comparison or some combination thereof; and

designating the plurality of baseline paths as a proxy for map data representing the transportation structure.

2. A method of claim 1, further comprising:

determining at least one direction of travel through the at least one first waypoint, the at least one second waypoint, or a combination thereof,

wherein the at least one direction of travel is associated with the designated at least one baseline path,

incorporating the at least one direction of travel into the designated at least one baseline path to enable improved differentiation among any overlapping location traces in the plurality of trajectory paths for traversing the transportation structure without interfering with another traffic stream after entering the transportation structure via the at least one first waypoint,

wherein the at least one data selection area encompasses the transportation structure based on designating a reference point, associated with a location of the transportation structure, and proximity criteria with respect to the reference point,

wherein designating the proximity criteria includes adopting a radius extending from the reference point.

3. A method of claim 1, further comprising:

determining a best location trace that has a most number of location points, a best consistency of heading alignment, or a combination thereof, as part of the proxy.

4. A method of claim 3, further comprising:

determining the best location trace without map-matching to externally-developed map data representing the transportation structure.

5. A method of claim 3, further comprising:

determining the best location trace based,

at least in part, on the at least one direction of travel.

6. A method of claim 1, further comprising:

estimating an average time for vehicles, travelers, or a combination thereof, to travel through the transportation structure based on a simplified geometric representation of the transportation structure.

7. A method of claim 1, further comprising:

calculating at least one path line; and

determining a fit of one or more location traces to the at least one path line to within one or more threshold distance values.

8. A method of claim 7, further comprising:

if more than one of the one or more threshold distance values are satisfied, decreasing the one or more threshold distance values; and

initiating a redetermination of the fit based, at least in part, on the decreased one or more threshold distance values until one proxy candidate remains.

9. A method of claim 8, further comprising:

designating the one proxy candidate as part of the proxy.

10. An apparatus for determining trajectory paths across a transportation structure of a road network, the apparatus comprising:

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 perform at least the following;

determine a location of the transportation structure and a plurality of predetermined waypoints associated with the transportation structure;

determine at least one data selection area including the transportation structure and the plurality of predetermined waypoints,

wherein the determined data selection area is configured to exclude a second transportation structure,

wherein the transportation structure is an interchange,

wherein the interchange is characterized as a junction involving at least two roads and one or more ramps,

wherein the interchange is further characterized as including grade separation configured to permit at least one traffic stream on at least one road of the at least two roads to pass through the interchange without interfering with another traffic stream on another road of the at least two roads,

wherein the transportation structure is further characterized as including a plurality of predetermined waypoints representing points of entry and/or exit for traffic to enter into the transportation structure and/or to exit from the transportation structure,

wherein the transportation structure is further characterized by having a plurality of trajectory paths for traversing the transportation structure and passing through one pair of waypoints while traveling in one direction through the pair of waypoints,

determine probe data collected within the data selection area,

determine first and second waypoints of the plurality of predetermined waypoints connecting the transportation structure with the at least two roads and the one or more ramps including determining at least one first waypoint and at least one second waypoint of the transportation structure,

wherein the at least one first waypoint of the plurality of predetermined waypoints represents at least one entry point to the transportation structure,

wherein the at least one second waypoint of the plurality of predetermined waypoints represents at least one exit point from the transportation structure,

wherein the at least one first waypoint and the at least one second waypoint are characterized by sharing a plurality of trajectory paths for traversing the transportation structure without interfering with another traffic stream after entering the transportation structure via the at least one first waypoint;

designate, based on part of the probe data and the determined first and second waypoints, a plurality of location traces spanning the plurality of trajectory paths across a plurality of the first waypoints and a plurality of the second waypoints as a plurality of baseline paths;

classify a remaining portion of the probe data not designated as spanning both a first waypoint and a second waypoint,

wherein the classifying is based, at least in part, on a threshold distance calculation, a heading comparison or some combination thereof; and

designate the plurality of baseline paths as a proxy for map data representing the transportation structure.

11. An apparatus of claim 10, wherein the apparatus is further caused to:

determine at least one direction of travel through the at least one first waypoint, the at least one second waypoint, or a combination thereof,

wherein the at least one direction of travel is associated with the designated at least one baseline path,

incorporate the at least one direction of travel into the designated at least one baseline path to enable improved differentiation among any overlapping location traces in the plurality of trajectory paths for traversing the transportation structure without interfering with another traffic stream after entering the transportation structure via the at least one first waypoint,

wherein the at least one data selection area encompasses the transportation structure based on designating a reference point, associated with a location of the transportation structure, and proximity criteria with respect to the reference point,

wherein designating the proximity criteria includes adopting a radius extending from the reference point.

12. An apparatus of claim 10, wherein the apparatus is further caused to:

estimate an average time for vehicles, travelers, or a combination thereof, to travel through the transportation structure based on a simplified geometric representation of the transportation structure.

13. An apparatus of claim 10, wherein the apparatus is further caused to:

calculate at least one path line; and

determine a fit of one or more location traces to the at least one path line to within one or more threshold distance values.

14. An apparatus of claim 13, wherein the apparatus is further caused to:

if at least one of the one or more threshold distance values are satisfied, cause, at least in part, a decrease of the one or more threshold distance values; and

initiate a redetermination of the fit based, at least in part, on the decreased one or more threshold distance values.

15. A non-transitory computer-readable storage medium carrying one or more sequences of one or more instructions which, when executed by one or more processors, cause an apparatus to at least perform the following steps for determining trajectory paths across a transportation structure of a road network:

determining a location of the transportation structure and a plurality of predetermined waypoints associated with the transportation structure;

determining at least one data selection area including the transportation structure and the plurality of predetermined waypoints,

wherein the determined data selection area is configured to exclude a second transportation structure,

wherein the transportation structure is an interchange,

wherein the interchange is characterized as a junction involving at least two roads and one or more ramps,

wherein the interchange is further characterized as including grade separation configured to permit at least one traffic stream on at least one road of the at least two roads to pass through the interchange without interfering with another traffic stream on another road of the at least two roads,

wherein the transportation structure is further characterized as including a plurality of predetermined waypoints representing points of entry and/or exit for traffic to enter into the transportation structure and/or to exit from the transportation structure,

wherein the transportation structure is further characterized by having a plurality of trajectory paths for traversing the transportation structure without interfering with another traffic stream and passing through one pair of waypoints while traveling in one direction through the pair of waypoints,

determining probe data collected within the data selection area,

determining first and second waypoints of the plurality of predetermined waypoints connecting the at least two roads and the one or more ramps including determining at least one first waypoint and at least one second waypoint of the transportation structure,

wherein the at least one first waypoint of the plurality of predetermined waypoints represents at least one entry point to the transportation structure,

wherein the at least one second waypoint of the plurality of predetermined waypoints represents at least one exit point from the transportation structure,

wherein the at least one first waypoint and the at least one second waypoint are characterized by sharing a plurality of trajectory paths for traversing the transportation structure after entering the transportation structure via the at least one first waypoint;

designating, based on part of the probe data and the determined first and second waypoints, a plurality of location traces spanning the plurality of trajectory paths across a plurality of the first waypoints and a plurality of the second waypoints as a plurality of baseline paths;

classifying a remaining portion of the probe data not designated as spanning both a first waypoint and a second waypoint,

wherein the classifying is based, at least in part, on a threshold distance calculation, a heading comparison or some combination thereof; and

designating the plurality of baseline paths as a proxy for map data representing the transportation structure.

16. A non-transitory computer-readable storage medium of claim 15, wherein the apparatus is further caused to perform:

determining at least one direction of travel through the at least one first waypoint, the at least one second waypoint, or a combination thereof,

wherein the at least one direction of travel is associated with the designated at least one baseline path,

incorporating the at least one direction of travel into the designated at least one baseline path to enable improved differentiation among any overlapping location traces in the plurality of trajectory paths for traversing the transportation structure without interfering with another traffic stream after entering the transportation structure via the at least one first waypoint,

wherein the at least one data selection area encompasses the transportation structure based on designating a reference point, associated with a location of the transportation structure, and proximity criteria with respect to the reference point,

wherein designating the proximity criteria includes adopting a radius extending from the reference point.

17. A non-transitory computer-readable storage medium of claim 15, wherein the apparatus is further caused to perform:

estimating an average time for vehicles, travelers, or a combination thereof, to travel through the transportation structure based on a simplified geometric representation of the transportation structure.