Apparatus and associated methods for use in lane-level mapping of road intersections

• US 10,533,863 B2
• Filed: 10/10/2014
• Issued: 01/14/2020
• Est. Priority Date: 10/10/2014
• Status: Active Grant

• Current Assignee: HERE Global B.V. (Nokia Corporation)
• Original Assignee: HERE Global B.V. (Nokia Corporation)
• Inventors: Ma, Xiang, Chen, Xin, Zhukov, Vlad
• Primary Examiner(s): Peters, Lisa E
• Application Number:
  US14/511,603
• Publication Number:
  US 20160102986A1
• Time in Patent Office: 1,922 Days
• CPC Class Codes: G01C 21/32 Structuring or formatting of map data
• 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: 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

Abstract

An apparatus comprising a processor and memory including computer program code, the memory and computer program code configured to, with the processor, enable the apparatus at least to:

• • generate, in respect of a road intersection, grouped probe data using probe data derived from probed vehicular movements through the road intersection, wherein the grouped probe data is generated by grouping together probe data comprising vehicle trajectories which have respective common heading angles at points of entry to and exit from the road intersection; and
  • provide the grouped probe data for use in lane-level mapping of the road intersection.

Claims

1. An apparatus comprising a processor and memory including computer program code, the memory and computer program code configured to, with the processor, enable the apparatus at least to:

receive probe data from a plurality of vehicles, wherein the probe data comprises at least a geographic location and a heading angle of the respective vehicle, of a plurality of probed vehicular movements through a road intersection along a plurality of different paths, with each path having a unique combination of a point of entry to and a point of exit from the road intersection, wherein the point of entry is defined where a respective vehicle crosses a predefined boundary around the road intersection when entering the road intersection, wherein the point of exit is defined where a respective vehicle crosses the boundary around the road intersection when exiting the road intersection;

generate, with respect to the road intersection, grouped probe data, wherein the grouped probe data is generated by grouping together probe data comprising vehicle trajectories which have respective common heading angles at the points of entry to and exit from the road intersection;

determine, on a per-group basis, at least one lane-level path through the road intersection;

generate a map of the road intersection using the at least one lane-level path through the road intersection to establish a geometry of the at least one lane-level path through the road intersection; and

provide, to a vehicle traveling along at least one of the at least one lane-level path, lane-level guidance and visualization of lane maneuvers through the road intersection using the generated map of the road intersection.

2. The apparatus of claim 1, wherein the grouped probe data is generated by further grouping together probe data comprising vehicle trajectories which have respective common heading angles at one or more points within the road intersection.

3. The apparatus of claim 1, wherein probe data for each of the vehicle trajectories comprise at least one of a geographic location or heading angle of a vehicle of the respective vehicle trajectory at a plurality of points on the vehicle trajectory.

4. The apparatus of claim 1, wherein the probe data is derived from the probed vehicular movements of all vehicles, or one or more predetermined vehicles, travelling through the road intersection over a period of time.

5. The apparatus of claim 1, wherein the apparatus is configured to generate and provide updated grouped probe data using probe data derived from subsequent probed vehicular movements through the road intersection.

6. The apparatus of claim 5, wherein the apparatus is configured to generate and provide the updated grouped probe data in a manner comprising one or more of:

periodically, in real-time, and whenever the probe data derived from subsequent vehicular movements becomes available.

7. The apparatus of claim 1, wherein heading angles are considered common heading angles when within a predefined range of one another, wherein the predefined range comprises one or more of ±

1°

, ±

5°

, ±

10°

, ±

15°

, ±

20°

, ±

25°

, ±

30°

, ±

35°

, ±

40°

or ±

45°

of one another.

8. The apparatus of claim 1, wherein the points of entry to and exit from the road intersection correspond to geographical locations on respective inbound and outbound lanes of road segments of the road intersection at a predefined distance from a reference position of the road intersection.

9. The apparatus of claim 1, wherein the points of entry to and exit from the road intersection correspond to geographical locations at which vehicles cross a predefined boundary encompassing the road intersection.

10. The apparatus of claim 9, wherein the boundary is predefined such that each edge of the boundary is perpendicular to the length of a respective road segment of the road intersection.

11. The apparatus of claim 1, wherein the apparatus is configured to group the probe data using one or more clustering techniques.

12. The apparatus of claim 11, wherein the one or more clustering techniques comprise k-means clustering.

13. An apparatus comprising a processor and memory including computer program code, the memory and computer program code configured to, with the processor, enable the apparatus at least to:

receive probe data from a plurality of vehicles, wherein the probe data comprises at least a geographic location and a heading angle of the respective vehicle, of a plurality of probed vehicular movements through a road intersection along a plurality of different paths, with each path having a unique combination of a point of entry to and a point of exit from the road intersection, wherein the point of entry is defined where a respective vehicle crosses a predefined boundary around the road intersection when entering the road intersection, wherein the point of exit is defined where a respective vehicle crosses the boundary around the road intersection when exiting the road intersection;

use grouped probe data, with respect to a road intersection, in lane-level mapping of the road intersection, the grouped probe data comprising probe data derived from probed vehicular movements through the road intersection which have been grouped together by probe data with vehicle trajectories which have respective common heading angles at the points of entry to and exit from the road intersection;

determine, on a per-group basis, at least one lane-level path through the road intersection;

generate a map of the road intersection using the at least one lane-level path through the road intersection to establish a geometry of the at least one lane-level path through the road intersection; and

provide, to a vehicle traveling along at least one of the at least one lane-level path, lane-level guidance and visualization of lane maneuvers through the road intersection using the generated map of the road intersection.

14. The apparatus of claim 13, wherein the apparatus is configured to filter the grouped probe data to remove any probe data with respect to vehicle trajectories which constitute one or more of noise and outliers.

15. The apparatus of claim 13, wherein each group of probe data defines a unique path of travel from an inbound road segment to a corresponding outbound road segment, and wherein the apparatus is configured to determine a centerline which defines a shape of each path of travel by minimizing the average distance of all trajectories within the group to the centerline.

16. The apparatus of claim 15, wherein the apparatus is configured to determine a width of each path of travel based on a physical distance between outermost trajectories of each path of travel at one or more points along the respective centerline.

17. The apparatus of claim 16, wherein the apparatus is configured to determine a number of lanes within each path of travel by dividing the width of the respective path of travel by a known typical lane width.

18. The apparatus of claim 17, wherein the apparatus is configured to create a graphical representation of the road intersection using a shape and width of each path of travel through the road intersection and the number of lanes within each path of travel.

19. A system comprising a first apparatus and a second apparatus, the first apparatus and second apparatus having a processor and memory including computer program code, the memory and computer program code configured to, with the processor:

enable the first apparatus at least to;

receive probe data from a plurality of vehicles, wherein the probe data comprises at least a geographic location and a heading angle of the respective vehicle, of a plurality of probed vehicular movements through a road intersection along a plurality of different paths, with each path having a unique combination of a point of entry to and a point of exit from the road intersection, wherein the point of entry is defined where a respective vehicle crosses a predefined boundary around the road intersection when entering the road intersection, wherein the point of exit is defined where a respective vehicle crosses the boundary around the road intersection when exiting the road intersection;

generate, with respect to a road intersection, grouped probe data using probe data derived from probed vehicular movements through the road intersection, wherein the grouped probe data is generated by grouping together probe data comprising vehicle trajectories which have common heading angles at the respective points of entry to and exit from the road intersection;

provide the grouped probe data to the second apparatus; and

enable the second apparatus at least to;

use the grouped probe data in lane-level mapping of the road intersection;

determine, on a per-group basis, at least one lane-level path through the road intersection;

generate a map of the road intersection using the at least one lane-level path through the road intersection to establish a geometry of the at least one lane-level path through the road intersection; and

provide, to a vehicle traveling along at least one of the at least one lane-level path, lane-level guidance and visualization of lane maneuvers through the road intersection using the generated map of the road intersection.