Determining speed information

• US 10,393,534 B2
• Filed: 05/25/2016
• Issued: 08/27/2019
• Est. Priority Date: 05/25/2016
• Status: Active Grant

• Current Assignee: HERE Global B.V. (Nokia Corporation)
• Original Assignee: HERE Global B.V. (Nokia Corporation)
• Inventors: Giurgiu, Gavril, Anastassov, Anton, Jang, Dongwook
• Primary Examiner(s): Han, Charles J
• Application Number:
  US15/164,058
• Publication Number:
  US 20170343370A1
• Time in Patent Office: 1,189 Days
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• 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: G01C 21/3691 Retrieval, searching and output of information related to real-time traffic, weather, or environmental conditions arrangements for giving variable traffic instructions G08G1/09
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G08G 1/0112 from the vehicle, e.g. floating car data [FCD]
• CPC Class Codes: G08G 1/012 from other sources than vehicle or roadside beacons, e.g. mobile networks
• 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 1/0145 for active traffic flow control
• CPC Class Codes: G08G 1/052 with provision for determining speed or overspeed speed measuring in general G01P
• CPC Class Codes: G08G 1/096811 where the route is computed offboard
• 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 1/22 Platooning, i.e. convoy of communicating vehicles

Abstract

A method is presented, which comprises:

• • obtaining or holding available map data representing, at least in part, a travel network,
  • determining, for at least one selected link of the travel network represented by the map data, a plurality of potential travel paths, wherein each potential travel path of the plurality of potential travel paths for the at least one selected link is at least partially defined by an incoming link of the travel network and an outgoing link of the travel network that are linked by the selected link and a direction of travel from the incoming link to the outgoing link on the selected link,
  • for each potential travel path of the plurality of potential travel paths, determining whether the respective potential travel path is at least partially defined by a short incoming link and, if it is determined that the respective potential travel path of the potential travel paths is at least partially defined by a short incoming link, replacing the respective potential travel path of the plurality of potential travel paths with one or more further potential travel paths, wherein each of the further potential travel paths is at least partially defined by a further incoming link of the travel network linked by the short incoming link with the selected link and the outgoing link and a direction of travel from the further incoming link to the outgoing link on the selected link,
  • for each potential travel path of the plurality of potential travel paths, determining a respective speed profile at least partially based on a plurality of respective probe data points of one or more respective probe data sets of a plurality of probe data sets, the one or more respective probe data sets associated with the respective potential travel path for which the respective speed profile is determined.

Further presented are inter-alia corresponding apparatuses, a corresponding system and a corresponding computer program code.

Claims

1. A method, said method comprising:

obtaining or holding available map data representing, at least in part, a travel network,

determining, for at least one first link of said travel network represented by said map data, a plurality of potential travel paths, wherein each potential travel path of said plurality of potential travel paths for said at least one first link is at least partially defined by an incoming link of said travel network and an outgoing link of said travel network that are linked by said first link and a direction of travel from said incoming link to said outgoing link on said first link,

for each potential travel path of said plurality of potential travel paths, determining whether a potential travel path is at least partially defined by a short incoming link and, if it is determined that a potential travel path is at least partially defined by a short incoming link, replacing said potential travel path with one or more further potential travel paths, wherein each of said further potential travel paths is at least partially defined by a further incoming link of said travel network linked by said short incoming link with said first link and said outgoing link and a direction of travel from said further incoming link to said outgoing link on said first link, wherein said short incoming link is an incoming link extending a length between a predetermined starting location and a predetermined ending location such that at least one of (a) the length of the incoming link is shorter than a predetermined length threshold or (b) a the length of the incoming link is not sufficient for accelerating to a speed corresponding to the incoming link using a predetermined acceleration,

for each potential travel path of said plurality of potential travel paths, determining a respective speed profile at least partially based on a plurality of respective probe data points of one or more respective probe data sets of a plurality of probe data sets, said one or more respective probe data sets associated with said respective potential travel path for which said respective speed profile is determined,

determining speed information for at least one autonomous vehicle at least partially based on one or more of said speed profiles determined for said plurality of potential travel paths, and

providing said speed information to said at least one autonomous vehicle, wherein an onboard processor of the at least one autonomous vehicle is configured to use said provided speed information when controlling the at least one autonomous vehicle.

2. The method according to claim 1, wherein the speed corresponding to the incoming link is at least one of:

a length of said incoming link,

a speed limit on said incoming link,

a mean speed for said incoming link,

a median speed for said incoming link.

3. The method according to claim 1, wherein said plurality of potential travel paths comprises a potential travel path for each allowed combination of an incoming link and an outgoing link represented by the map data and linked by said first link or, in case of a short incoming link, linked by said first link and a short incoming link.

4. The method according to claim 1, said method further comprising:

obtaining or holding available said plurality of probe data sets.

5. The method according to claim 1, wherein said respective speed profile represents one speed for said first link or a plurality of speeds for a plurality of subsequent segments of said first link.

6. The method according to claim 1, wherein each probe data point represents a position and a speed.

7. The method according to claim 6, wherein said respective speed profile is at least partially determined by calculating one or more mean speeds, one or more speed percentiles or one or more combinations thereof for said first link or for one or more subsequent segments of said first link.

8. The method according to claim 7, wherein said calculating is at least partially based on one or more speeds represented by one or more probe data points of said plurality of respective probe data points of said one or more respective probe data sets associated with a potential travel path of said plurality of potential travel paths.

9. The method according to claim 6, said method further comprising:

determining whether one or more probe data sets of said plurality of probe data sets is associated with a potential travel path of said plurality of potential travel paths at least partially based on one or more positions represented by one or more probe data points of said one or more probe data sets.

10. The method according to claim 9, wherein each probe data set of said plurality of probe data sets is determined to be associated with only one potential travel path of said plurality of potential travel paths.

11. The method according to claim 9, wherein said one or more probe data sets of said plurality of probe data sets are determined to be associated with a potential travel path of said plurality of potential travel paths at least partially based on the number of probe data points of said one or more probe data sets that represent a position associated with an incoming link or an outgoing link at least partially defining said potential travel path.

12. The method according to claim 11, wherein a condition for identifying a position represented by a probe data point of said one or more probe data sets of said plurality of probe data sets to be associated with an incoming link is at least one of the following:

said position is on said incoming link,

said position is on a link different from said first link and directly linked to said incoming link.

13. The method according to claim 11, wherein a condition for identifying a position represented by a probe data point of said one or more probe data sets of said plurality of probe data sets to be associated with an outgoing link is at least one of the following:

said position is on said outgoing link,

said position is on a link different from said first link and directly linked to said outgoing link.

14. The method according to claim 1, said method further comprising:

providing or generating speed map data representing an association of said map data and a plurality of speed profiles for links of said travel network, said plurality of speed profiles comprising said speed profiles determined for said plurality of potential travel paths.

15. The method according to claim 1, wherein said at least one autonomous vehicle is, at least in part, a self-driving vehicle, a highly assisted-driving vehicle, or a combination thereof.

16. The method according to claim 1, wherein said method is performed for a plurality of links of said travel network as first link.

17. 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:

obtain or hold available map data representing, at least in part, a travel network,

determine, for at least one first link of said travel network represented by said map data, a plurality of potential travel paths, wherein each potential travel path of said plurality of potential travel paths for said at least one first link is at least partially defined by an incoming link of said travel network and an outgoing link of said travel network that are linked by said first link and a direction of travel from said incoming link to said outgoing link on said first link,

for each potential travel path of said plurality of potential travel paths, determine whether a potential travel path is at least partially defined by a short incoming link and, if it is determined that a potential travel path is at least partially defined by a short incoming link, replacing said potential travel path with one or more further potential travel paths, wherein each of said further potential travel paths is at least partially defined by a further incoming link of said travel network linked by said short incoming link with said first link and said outgoing link and a direction of travel from said further incoming link to said outgoing link on said first link, wherein said short incoming link is an incoming link extending a length between a predetermined starting location and a predetermined ending location such that at least one of (a) the length of the incoming link is shorter than a predetermined length threshold or (b) the length of the incoming link is not sufficient for accelerating to a speed corresponding to the incoming link using a predetermined acceleration,

for each potential travel path of said plurality of potential travel paths, determine a respective speed profile at least partially based on a plurality of respective probe data points of one or more respective probe data sets of a plurality of probe data sets, said one or more respective probe data sets associated with said respective potential travel path for which said respective speed profile is determined,

determine speed information for at least one autonomous vehicle at least partially based on one or more of said speed profiles determined for said plurality of potential travel paths, and

provide said speed information to said at least one autonomous vehicle, wherein an onboard processor of the at least one autonomous vehicle is configured to use said provided speed information when controlling the at least one autonomous vehicle.

18. The apparatus according to claim 17, wherein the speed corresponding to the incoming link is at least one of:

a length of said incoming link,

a speed limit on said incoming link,

a mean speed for said incoming link,

a median speed for said incoming link.

19. The apparatus according to claim 17, wherein said plurality of potential travel paths comprises a potential travel path for each allowed combination of an incoming link and an outgoing link represented by the map data and linked by said first link or, in case of a short incoming link, linked by said first link and a short incoming link.

20. The apparatus according to claim 17, said apparatus further caused to:

obtain or hold available said plurality of probe data sets.

21. The apparatus according to claim 17, wherein said respective speed profile represents one speed for said first link or a plurality of speeds for a plurality of subsequent segments of said first link.

22. The apparatus according to claim 17, wherein each probe data point represents a position and a speed.

23. The apparatus according to claim 22, wherein said respective speed profile is at least partially determined by calculating one or more mean speeds, one or more speed percentiles or one or more combinations thereof for said first link or for one or more subsequent segments of said first link.

24. The apparatus according to claim 23, wherein said calculating is at least partially based on one or more speeds represented by one or more probe data points of said plurality of respective probe data points of said one or more respective probe data sets associated with a potential travel path of said plurality of potential travel paths.

25. The apparatus according to claim 22, said apparatus further caused to:

determine whether one or more probe data sets of said plurality of probe data sets is associated with a potential travel path of said plurality of potential travel paths at least partially based on one or more positions represented by one or more probe data points of said one or more probe data sets.

26. The apparatus according to claim 25, wherein each probe data set of said plurality of probe data sets is determined to be associated with only one potential travel path of said plurality of potential travel paths.

27. The apparatus according to claim 25, wherein said one or more probe data sets of said plurality of probe data sets are determined to be associated with a potential travel path of said plurality of potential travel paths at least partially based on the number of probe data points of said one or more probe data sets that represent a position associated with an incoming link or an outgoing link at least partially defining said potential travel path.

28. The apparatus according to claim 27, wherein a condition for identifying a position represented by a probe data point of said one or more probe data sets of said plurality of probe data sets to be associated with an incoming link is at least one of the following:

said position is on said incoming link,

said position is on a link different from said first link and directly linked to said incoming link.

29. The apparatus according to claim 27, wherein a condition for identifying a position represented by a probe data point of said one or more probe data sets of said plurality of probe data sets to be associated with an outgoing link is at least one of the following:

said position is on said outgoing link,

said position is on a link different from said first link and directly linked to said outgoing link.

30. The apparatus according to claim 17, said apparatus further caused to:

provide or generate speed map data representing an association of said map data and a plurality of speed profiles for links of said travel network, said plurality of speed profiles comprising said speed profiles determined for said plurality of potential travel paths.

31. The apparatus according to claim 17, wherein said at least one autonomous vehicle is, at least in part, an autonomous a self-driving vehicle, a highly-assisted-driving vehicle, or a combination thereof.

32. The apparatus according to claim 17, wherein said apparatus is or is part of one of:

a server;

a stationary device;

a module for a device;

an autonomous vehicle;

an embedded navigation device of an autonomous vehicle.

33. A non-transitory computer readable storage medium including one or more sequences of one or more instructions which, when executed by one or more processors, cause an apparatus to at least perform:

obtaining or holding available map data representing, at least in part, a travel network,

determining, for at least one first link of said travel network represented by said map data, a plurality of potential travel paths, wherein each potential travel path of said plurality of potential travel paths for said at least one first link is at least partially defined by an incoming link of said travel network and an outgoing link of said travel network that are linked by said first link and a direction of travel from said incoming link to said outgoing link on said first link,

for each potential travel path of said plurality of potential travel paths, determining whether a potential travel path is at least partially defined by a short incoming link and, if it is determined that a potential travel path is at least partially defined by a short incoming link, replacing said potential travel path with one or more further potential travel paths, wherein each of said further potential travel paths is at least partially defined by a further incoming link of said travel network linked by said short incoming link with said first link and said outgoing link and a direction of travel from said further incoming link to said outgoing link on said first link, wherein said short incoming link is an incoming link extending a length between a predetermined starting location and a predetermined ending location such that at least one of (a) the length of the incoming link is shorter than a predetermined length threshold or (b) a the length of the incoming link is not sufficient for accelerating to a speed corresponding to the incoming link using a predetermined acceleration,

for each potential travel path of said plurality of potential travel paths, determining a respective speed profile at least partially based on a plurality of respective probe data points of one or more respective probe data sets of a plurality of probe data sets, said one or more respective probe data sets associated with said respective potential travel path for which said respective speed profile is determined,

determine speed information for at least one autonomous vehicle at least partially based on one or more of said speed profiles determined for said plurality of potential travel paths, and

provide said speed information to said at least one autonomous vehicle, wherein an onboard processor of the at least one autonomous vehicle is configured to use said provided speed information when controlling the at least one autonomous vehicle.