Probe based identification and validation of roundabout junctions

• US 10,302,438 B2
• Filed: 05/08/2017
• Issued: 05/28/2019
• Est. Priority Date: 05/11/2015
• Status: Active Grant

• Current Assignee: HERE Global B.V. (Nokia Corporation)
• Original Assignee: HERE Global B.V. (Nokia Corporation)
• Inventors: Hofmann, Hilko, Jehlicka, Prokop
• Primary Examiner(s): Badii, Behrang
• Assistant Examiner(s): Greene, Daniel L
• Application Number:
  US15/589,105
• Publication Number:
  US 20170248431A1
• Time in Patent Office: 750 Days
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01C 21/34 Route searching; Route guidance
• CPC Class Codes: G01C 21/3819 Road shape data, e.g. outline of a route
• CPC Class Codes: G01C 21/3841 Data obtained from two or more sources, e.g. probe vehicles
• CPC Class Codes: G01C 21/3881 Tile-based structures
• CPC Class Codes: G09B 29/003 Maps
• CPC Class Codes: G09B 29/004 Map manufacture or repair; Tear or ink or water resistant maps; Long-life maps printing processes for maps B41M3/02; by permanently attaching map sections to sheets B42B7/00

Abstract

Probe data including points with geographic locations and heading angles are identified for a geographic area. A translation is performed on the points in the probe data in a predetermined direction orthogonal to the corresponding heading. The translated points are aggregated according to a location grid. The aggregated points are analyzed from the location grid according to the heading. A potential location for a center of a roundabout road formation is determined based on the analysis.

Claims

1. A method comprising:

identifying probe data for a geographic region, the probe data received from one or more vehicles and the probe data including points associated with geographic locations and headings;

shifting, by a processor, locations of the points in predetermined directions with respect to the corresponding headings to a location grid;

performing, by the processor, an analysis of the points in the location grid according to the heading; and

identifying a roundabout road formation based on the analysis.

2. The method of claim 1, further comprising:

accessing a lookup table for the geographic region to determine whether the geographic region is a right handed traffic region or a left handed traffic region, wherein the predetermined directions with respect to the corresponding headings are selected based on whether the geographic region is the right handed traffic region or the left handed traffic region.

3. The method of claim 1, wherein identifying the roundabout road formation based on the analysis comprises:

calculating a center of the roundabout road formation based on the analysis.

4. The method of claim 1, wherein the points are shifted in a distance corresponding to a potential radius of the roundabout road formation.

5. The method of claim 1, wherein the analysis comprises:

segmenting the points into a plurality of directional segments within a cell of the location grid,

wherein the roundabout road formation is identified when a threshold number of the directional segments within the cell include one or more of the points.

6. The method of claim 1, further comprising:

storing the roundabout road formation in a geographic database.

7. The method of claim 1, further comprising:

providing driving assistance or routing from an origin to a destination using the roundabout formation.

8. The method of claim 1, wherein identifying the roundabout road formation based on the analysis comprises:

determining a center of the roundabout formation.

9. The method of claim 8, wherein identifying the roundabout road formation based on the analysis further comprises:

determining a radius of the roundabout formation.

10. The method of claim 9, further comprising:

storing the center of the roundabout formation and the radius of the roundabout formation in a geographic database.

11. A method comprising:

detecting a heading and a geographic location of a mobile device associated with a vehicle;

providing the heading and the geographic location to a roundabout analysis,

wherein the geographic location is shifted in a predetermined direction with respect to the heading to a cell in a location grid,

wherein the roundabout analysis is performed on probe data including the heading and the geographic location of the mobile device to identify a roundabout road formation; and

receiving geographic data including the roundabout road formation from the roundabout analysis.

12. The method of claim 11, wherein the geographic data including the roundabout formation is routing information.

13. The method of claim 11, wherein the geographic data including the roundabout formation is a driving command.

14. The method of claim 11, wherein the roundabout analysis is performed on a server.

15. An apparatus comprising:

a memory configured to store probe data for a geographic region, the probe data collected at one or more vehicles and the probe data including points associated with geographic locations and headings;

a controller configured to shift locations of the points in predetermined directions with respect to the corresponding headings to a location grid and perform an analysis on the points in the location grid according to the heading,

wherein a roundabout road formation is identified from the analysis.

16. The apparatus of claim 15, wherein the controller is configured to access a lookup table for the geographic region to determine whether the geographic region is a right handed traffic region or a left handed traffic region, wherein the predetermined directions with respect to the corresponding headings are selected based on whether the geographic region is the right handed traffic region or the left handed traffic region.

17. The apparatus of claim 15, wherein the controller is configured to calculate a center of the roundabout road formation based on the analysis.

18. The apparatus of claim 15, wherein the controller is configured to shift the locations of the points corresponding to a potential radius of the roundabout road formation.

19. The apparatus of claim 15, wherein the controller is configured to segment the points into a plurality of directional segments within a cell of the location grid, wherein the roundabout road formation is identified when a threshold number of the directional segments within the cell include one or more of the points.

20. The apparatus of claim 15, wherein the controller is configured to shift the locations of the points corresponding to a plurality of potential radii of the roundabout road formation.