Vehicle traffic state determination

• US 10,140,854 B2
• Filed: 04/03/2017
• Issued: 11/27/2018
• Est. Priority Date: 04/03/2017
• Status: Active Grant

• Current Assignee: HERE Global B.V. (HERE Holding Corporation)
• Original Assignee: HERE Global B.V. (HERE Holding Corporation)
• Inventors: Fowe, James, Pellolio, Filippo
• Primary Examiner(s): Beaulieu, Yonel
• Application Number:
  US15/477,613
• Publication Number:
  US 20180286220A1
• Time in Patent Office: 603 Days
• CPC Class Codes: B60R 21/0132 responsive to vehicle motion parameters , e.g. to vehicle longitudinal or transversal deceleration or speed value
• CPC Class Codes: B60W 30/0953 the prediction being responsive to vehicle dynamic parameters
• CPC Class Codes: G01C 21/34 Route searching; Route guidance
• CPC Class Codes: G01C 21/3492 employing speed data or traffic data, e.g. real-time or historical traffic control systems for road vehicles involving transmission of navigation instructions to the vehicle G08G1/0968
• CPC Class Codes: G08G 1/0104 Measuring and analyzing of parameters relative to traffic conditions
• CPC Class Codes: G08G 1/0112 from the vehicle, e.g. floating car data [FCD]
• CPC Class Codes: G08G 1/0129 for creating historical data or processing based on historical data
• CPC Class Codes: G08G 1/0133 for classifying traffic situation
• CPC Class Codes: G08G 1/0141 for traffic information dissemination
• CPC Class Codes: G08G 1/096716 where the received information does not generate an automatic action on the vehicle control
• CPC Class Codes: G08G 1/096741 where the source of the transmitted information selects which information to transmit to each vehicle
• CPC Class Codes: G08G 1/096775 where the origin of the information is a central station
• CPC Class Codes: G08G 1/096805 where the transmitted instructions are used to compute a route
• CPC Class Codes: G08G 1/096816 where the complete route is transmitted to the vehicle at once
• CPC Class Codes: G08G 1/096827 where the route is computed onboard
• CPC Class Codes: G08G 1/096844 where the complete route is dynamically recomputed based on new data
• CPC Class Codes: G08G 1/20 Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles

Abstract

An instance of probe data that was captured by sensors of a probe apparatus onboard a vehicle is received. Previous instances of probe data captured by the probe apparatus onboard the vehicle are accessed and the instance of probe is analyzed based on the previous instances of probe data. A current traffic state is determined for the vehicle based on the analysis. In an example embodiment, the analysis comprises generating a hidden Markov model based on speed data of the probe data. A Viterbi-path is obtained corresponding to the instance of probe data and the previous instances of probe data. The current traffic state is defined based on the Viterbi-path. The current traffic state may be used to determine traffic information/data for a road segment and/or predict a future traffic state for the vehicle. Traffic management decisions and/or routing decisions for the vehicle may be made based thereon.

Claims

1. An apparatus comprising at least one processor, at least one communications interface, and at least one memory storing computer program code, with the at least one memory and the computer program code configured to, with the processor, cause the apparatus to at least:

receive, via the at least one communications interface, an instance of probe data captured by one or more sensors of a probe apparatus onboard a particular vehicle, the instance of probe data comprising speed data indicating the speed of the particular vehicle when the instance of probe data was captured;

access from the at least one memory one or more previous instances of probe data captured by the probe apparatus onboard the particular vehicle;

analyze the instance of probe data based on the one or more previous instances of probe data; and

determine a current traffic state for the particular vehicle based on the analysis of the instance of probe data based on the one or more previous instances of probe data, the current traffic state being a state of a predefined set of states.

2. An apparatus according to claim 1, wherein to analyze the instance of probe data based on the one or more previous instances of probe data the at least one memory and the computer program code are configured to, with the processor, cause the apparatus to at least:

generate a hidden Markov model based on the speed data of the instance of probe data and the previous instances of probe data;

obtain a Viterbi-path corresponding to the instance of probe data and the previous instances of probe data; and

define the current traffic state based on the Viterbi-path.

3. An apparatus according to claim 2, wherein the hidden Markov model is generated based at least in part on one or more transition probabilities and at least one of the one or more transition probabilities is distance dependent.

4. An apparatus according to claim 2, wherein the hidden Markov model is generated based at least in part on one or more observation probabilities and the one or more observation probabilities are dependent on normalized speed determined based at least in part on the speed data.

5. An apparatus according to claim 2, wherein the hidden Markov model is built based on the predefined set of traffic states, the predefined set of traffic states comprising a free flow state, a light congestion state, a heavy congestion state, a temporary stop state, and a parked state.

6. An apparatus according to claim 5, wherein the at least one memory and the computer program code are further configured to, with the processor, cause the apparatus to at least:

determine that the particular vehicle is not in the temporary stop state or in the parked state; and

determine a representative speed for a road segment identified based on the instance of probe data based at least in part on the speed data.

7. An apparatus according to claim 1, wherein the at least one memory and the computer program code are further configured to, with the processor, cause the apparatus to at least:

determine a traffic state for a road segment corresponding to location data based at least in part on the current traffic state, wherein the instance of probe data comprises the location data; and

provide the traffic state for the road segment to at least one of a probe apparatus, a traffic management system, or both via the at least one communications interface.

8. An apparatus according to claim 1, wherein the at least one memory and the computer program code are further configured to, with the processor, cause the apparatus to at least:

analyze relevant historical probe data corresponding to the instance of probe data;

generate a predicted future traffic state for the particular vehicle based on the analysis of the relevant historical probe data; and

provide a communication comprising the predicted future traffic state to the probe apparatus via the at least one communications interface, wherein the probe apparatus process the communication and, responsive thereto, provides the predicted future traffic state via a user interface of the probe apparatus.

9. An apparatus according to claim 8, wherein the at least one memory and the computer program code are further configured to, with the processor, cause the apparatus to at least:

receive a rerouting request via the at least one communications interface; and

determine a new route for the particular vehicle based on the analysis of the relevant historical probe data.

10. A method comprising:

receiving an instance of probe data captured by one or more sensors of a probe apparatus onboard a particular vehicle, the instance of probe data comprising speed data indicating the speed of the particular vehicle when the instance of probe data was captured;

accessing one or more previous instances of probe data captured by the probe apparatus onboard the particular vehicle;

analyzing the instance of probe data based on the one or more previous instances of probe data; and

determining a current traffic state for the particular vehicle based on the analysis of the instance of probe data based on the one or more previous instances of probe data, the current traffic state being a state of a predefined set of states.

11. A method according to claim 10, wherein analyzing the instance of probe data based on the one or more previous instances of probe data comprises:

generating a hidden Markov model based on the speed data of the instance of probe data and the previous instances of probe data;

obtaining a Viterbi-path corresponding to the instance of probe data and the previous instances of probe data; and

defining the current traffic state based on the Viterbi-path.

12. A method according to claim 11, wherein the hidden Markov model is generated based at least in part on one or more transition probabilities and at least one of the one or more transition probabilities is distance dependent.

13. A method according to claim 11, wherein the hidden Markov model is generated based at least in part on one or more observation probabilities and the one or more observation probabilities are dependent on normalized speed determined based at least in part on the speed data.

14. A method according to claim 11, wherein the hidden Markov model is built based on the predefined set of traffic states, the predefined set of traffic states comprising a free flow state, a light congestion state, a heavy congestion state, a temporary stop state, and a parked state.

15. A method according to claim 14, further comprising:

determining that the particular vehicle is not in the temporary stop state or in the parked state; and

determining a representative speed for a road segment identified based on the instance of probe data based at least in part on the speed data.

16. A method according to claim 10, further comprising:

determining a traffic state for a road segment corresponding to location data based at least in part on the current traffic state, wherein the instance of probe data comprises the location data; and

providing the traffic state for the road segment to at least one of a probe apparatus, a traffic management system, or both.

17. A method according to claim 10, further comprising:

analyzing relevant historical probe data corresponding to the instance of probe data;

generating a predicted future traffic state for the particular vehicle based on the analysis of the relevant historical probe data; and

providing a communication comprising the predicted future traffic state to the probe apparatus, wherein the probe apparatus process the communication and, responsive thereto, provides the predicted future traffic state via a user interface of the probe apparatus.

18. A method according to claim 17, further comprising:

receiving a rerouting request; and

determining a new route for the particular vehicle based on the analysis of the relevant historical probe data.

19. A computer program product comprising at least one non-transitory computer-readable storage medium having computer-executable program code instructions stored therein with the computer-executable program code instructions comprising program code instructions configured to:

receive an instance of probe data captured by one or more sensors of a probe apparatus onboard a particular vehicle, the instance of probe data comprising speed data indicating the speed of the particular vehicle when the instance of probe data was captured;

access one or more previous instances of probe data captured by the probe apparatus onboard the particular vehicle;

analyze the instance of probe data based on the one or more previous instances of probe data; and

determine a current traffic state for the particular vehicle based on the analysis of the instance of probe data based on the one or more previous instances of probe data, the current traffic state being a state of a predefined set of states.

20. A computer program product according to claim 19, wherein to analyze the instance of probe data based on the one or more previous instances of probe data the program the computer-executable program code instructions comprise program code instructions configured to:

generate a hidden Markov model based on the speed data of the instance of probe data and the previous instances of probe data;

obtain a Viterbi-path corresponding to the instance of probe data and the previous instances of probe data; and

define the current traffic state based on the Viterbi-path.