Learning lanes from vehicle probes

• US 10,262,213 B2
• Filed: 12/16/2014
• Issued: 04/16/2019
• Est. Priority Date: 12/16/2014
• Status: Active Grant

• Current Assignee: HERE Global B.V. (HERE Holding Corporation)
• Original Assignee: HERE Global B.V. (HERE Holding Corporation)
• Inventors: Chen, Xin, Ma, Di, Ma, Xiang, Ostrovskiy, Roman, Zhukov, Vladimir, Zou, Xiaotao
• Primary Examiner(s): Hossain, Farzana
• Application Number:
  US14/572,336
• Publication Number:
  US 20160167582A1
• Time in Patent Office: 1,582 Days
• Field of Search: 348148
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
• CPC Class Codes: G08G 1/0112 from the vehicle, e.g. floating car data [FCD]

Abstract

Systems, methods, and apparatuses are disclosed for determining lane information of a roadway segment from vehicle probe data. Probe data is received from vehicle camera sensors at a road segment, wherein the probe data includes lane marking data on the road segment. Lane markings are identified, to the extent present, for the left and right boundaries of the lane of travel as well as the adjacent lane boundaries to the left and right of the lane of travel. The identified lane markings are coded, wherein solid lane lines, dashed lane lines, and unidentified or non-existing lane lines are differentiated. The coded lane markings are compiled in a database. A number of lanes are predicted at the road segment from the database of coded lane markings.

Claims

1. A method for vehicle navigation, the method comprising:

receiving, using a processor, probe data from vehicle camera sensors from a plurality of vehicles at a road segment, the probe data comprising lane marking data for the road segment;

identifying, from the probe data for each vehicle of the plurality of vehicles, any lane markings present for;

(1) a left boundary of a lane of travel, (2) a right boundary of the lane of travel, (3) a left boundary of an adjacent lane to the left of the lane of travel, and (4) a right boundary of an adjacent lane to the right of the lane of travel;

coding the identified lane markings present for (1) the left boundary of the lane of travel, (2) the right boundary of the lane of travel, (3) the left boundary of the adjacent lane to the left of the lane of travel, and (4) the right boundary of the adjacent lane to the right of the lane of travel, wherein solid lane lines, dashed lane lines, and unidentified or non-existing lane lines are each assigned a numerical identifier;

compiling the coded lane markings from the plurality of vehicles at the road segment in a database as a combination code, the combination code being a series of the assigned numerical identifiers in order of the left boundary of the adjacent lane to the left of the lane of travel, the left boundary of the lane of travel, the right boundary of the lane of travel, and the right boundary of the adjacent lane to the right of the lane of travel;

determining a number of lanes at the road segment from the coded lane markings;

generating a navigation command for a vehicle based on the determined number of lanes at the road segment; and

routing the vehicle through the road segment using the generated navigation command.

2. The method of claim 1, wherein the identifying of the lane markings includes an identification of additional lane markings of additional lane boundaries beyond the adjacent lane to the left of the lane of travel and the adjacent lane to the right of the lane of travel.

3. The method of claim 1, further comprising:

ascertaining a lane number for each vehicle of the plurality of vehicles using the determined number of lanes, lane markings identified by each vehicle of the plurality of vehicles, geographic location data of each vehicle of the plurality of vehicles, speed of each vehicle of the plurality of vehicles, and direction of travel data of each vehicle of the plurality of vehicles.

4. The method of claim 1, further comprising:

calculating a lane width for a lane of the road segment through a random sample consensus algorithm using estimated distance data between vehicles and the left boundary and the right boundary and modeling the distance data to provide the lane width.

5. The method of claim 1, further comprising:

reporting the determined number of lanes to a navigation device over a connected network.

6. The method of claim 1, wherein the determining of the number of lanes comprises using a machine learning algorithm to compare the database of coded lane markings with a probability distribution database that correlates individual coded lane combinations with percentages that the road segment includes a specific number of lanes.

7. The method of claim 6, further comprising:

training the machine learning algorithm through a verification of the determined number of lanes with ground truth data.

8. The method of claim 7, wherein the machine learning algorithm is a Random Forest algorithm.

9. The method of claim 1, further comprising:

detecting a change in lane count through a comparison of the number of lanes at the road segment with a determined number of lanes at an adjacent road segment.

10. The method of claim 1, further comprising:

ascertaining a lane transition at a road intersection from the determined number of lanes at the road segment, geographic location data of the plurality of vehicles entering and exiting the road intersection, speed data of the plurality of vehicles entering and exiting the road intersection, and direction of travel data of the plurality of vehicles entering and exiting the road intersection.

11. The method of claim 1, wherein the navigation command comprises routing instructions.

12. The method of claim 1, wherein the navigation command is a driving command to control an operation of the vehicle.

13. A method comprising:

receiving, using a processor, probe data from vehicle camera sensors from a plurality of vehicles at a road segment, the probe data comprising lane marking data for the road segment;

identifying, from the probe data for each vehicle of the plurality of vehicles, any lane markings present for;

(1) a left boundary of a lane of travel, (2) a right boundary of the lane of travel, (3) a left boundary of an adjacent lane to the left of the lane of travel, and (4) a right boundary of an adjacent lane to the right of the lane of travel;

coding the identified lane markings, wherein solid lane lines, dashed lane lines, and unidentified or non-existing lane lines are each assigned a numerical identifier;

compiling the coded lane markings from the plurality of vehicles at the road segment in a database as a combination code, the combination code being a series of the assigned numerical identifiers in order of the left boundary of the adjacent lane to the left of the lane of travel, the left boundary of the lane of travel, the right boundary of the lane of travel, and the right boundary of the adjacent lane to the right of the lane of travel;

calculating a number of lanes at the road segment using a Random Forest algorithm comparing the database of coded lane markings with a probability distribution database that correlates individual coded lane combinations with percentages that the road segment includes a specific number of lanes; and

generating a navigation command to route a vehicle through the road segment based on the calculated number of lanes at the road segment.

14. An 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 at least perform;

receive probe data from vehicle camera sensors from a plurality of vehicles at a road segment, the probe data comprising lane marking data for the road segment;

identify any lane markings present from the probe data for each vehicle of the plurality of vehicles for;

(1) a left boundary of a lane of travel, (2) a right boundary of the lane of travel, (3) a left boundary of an adjacent lane to the left of the lane of travel, and (4) a right boundary of an adjacent lane to the right of the lane of travel;

code the identified lane markings, wherein solid lane lines, dashed lane lines, and unidentified or non-existing lane lines are differentiated by each being assigned a numerical identifier;

compile the coded lane markings from the plurality of vehicles at the road segment in a database as a combination code, the combination code being a series of the assigned numerical identifiers in order of the left boundary of the adjacent lane to the left of the lane of travel, the left boundary of the lane of travel, the right boundary of the lane of travel, and the right boundary of the adjacent lane to the right of the lane of travel;

determine a total number of lanes at the road segment from the database of coded lane markings;

generate a navigation command for a vehicle based on the determined total number of lanes at the road segment; and

route the vehicle through the road segment using the generated navigation command.

15. The apparatus of claim 14, wherein the at least one memory and the computer program code are configured to cause the apparatus to further perform:

verify the determined number of lanes with ground truth data.

16. The apparatus of claim 14, wherein the identifying of the lane markings includes an identification of additional lane markings of additional lane boundaries beyond the adjacent lane to the left of the lane of travel and the adjacent lane to the right of the lane of travel.

17. The apparatus of claim 14, wherein the at least one memory and the computer program code are configured to cause the apparatus to further perform:

ascertain a lane number of the vehicle using the determined number of lanes, lane markings identified by the vehicle, geographic location data of the vehicle, speed of the vehicle, and direction of travel data of the vehicle.

18. The apparatus of claim 14, wherein the at least one memory and the computer program code are configured to cause the apparatus to further perform:

calculate a lane width for a lane of the road segment through a random sample consensus algorithm using estimated distance data between vehicles and the left boundary and the right boundary and modeling the distance data to provide the lane width.

19. The apparatus of claim 14, wherein the at least one memory and the computer program code are configured to cause the apparatus to further perform:

report the determined number of lanes to a navigation device over a connected network.

20. The apparatus of claim 14, wherein the determining of the number of lanes comprises using a machine learning algorithm to compare the database of coded lane markings with a probability distribution database that correlates individual coded lane combinations with percentages that the road segment includes a specific number of lanes.

21. The apparatus of claim 14, wherein the at least one memory and the computer program code are configured to cause the apparatus to further perform:

detect a change in lane count through a comparison of the number of lanes at the road segment with a determined number of lanes at an adjacent road segment.

22. The apparatus of claim 14, wherein the at least one memory and the computer program code are configured to cause the apparatus to further perform:

ascertain a lane transition at a road intersection from the determined number of lanes at the road segment, geographic location data of the plurality of vehicles entering and exiting the road intersection, speed data of the plurality of vehicles entering and exiting the road intersection, and direction of travel data of the plurality of vehicles entering and exiting the road intersection.

23. The apparatus of claim 14, wherein the navigation command comprises routing instructions.

24. The apparatus of claim 14, wherein the navigation command is a driving command to control an operation of the vehicle.