METHOD, APPARATUS, AND COMPUTER PROGRAM PRODUCT FOR PROCESSING SENSOR DATA

• US 20170358204A1
• Filed: 06/08/2017
• Published: 12/14/2017
• Est. Priority Date: 06/13/2016
• Status: Active Grant

• Current Assignee: HERE Global B.V. (HERE Holding Corporation)
• Original Assignee: HERE Global B.V. (HERE Holding Corporation)
• Inventors: Modica, Leo, Palm, Chris, Vakharia, Kaushik, Linder, Eric, Milojkovic, Dejan, Rabinovich, Eugene, Rabel, Dietmar, Jehlicka, Prokop, Anand, Harini, Furchtgott, Dave, Capota, Catalin
• Granted Patent: US 11,721,205 B2
• Time in Patent Office: Days
• CPC Class Codes: G01C 21/3811 Point data, e.g. Point of Interest [POI]
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle
• CPC Class Codes: G07C 5/008 communicating information to a remotely located station transmission systems for measured values G08C
• CPC Class Codes: G07C 5/0841 Registering performance data recording measured values G01D; information storage G11B
• 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: H04W 4/021 Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
• CPC Class Codes: H04W 4/024 Guidance services
• CPC Class Codes: H04W 4/029 Location-based management or tracking services
• CPC Class Codes: H04W 4/48 for in-vehicle communication
• CPC Class Codes: H04W 4/70 Services for machine-to-machine communication [M2M] or machine type communication [MTC]

Abstract

A method is provided that includes: receiving a plurality of estimated position points, each estimated position point including a timestamp, where each estimated position point is an estimate of a position of a vehicle at a time respective timestamp; receiving on or more path events, where each of the one or more path events includes a timestamp and data from at least one sensor of the vehicle; generating a path from the plurality of estimated position points, where the estimated position points are arranged in order of ascending time represented by the respective timestamp; and interpolating between two of the estimated position points to determine a location corresponding to one of the one or more path events, where the timestamp of the one of the one or more path event corresponds to a time that is between the times represented by the timestamps of the two estimated position points.

Claims

1. A method comprising:

receiving a plurality of estimated position points, each estimated position point including a timestamp, wherein each estimated position point is an estimate of a position of a vehicle at a time represented by the respective timestamp;

receiving one or more path events, wherein each of the one or more path events includes a timestamp and data from at least one sensor of the vehicle;

generating a path from the plurality of estimated position points, wherein the estimated position points are arranged in order of ascending time represented by the respective timestamp; and

interpolating between two of the estimated position points to determine a location corresponding to one of the one or more path events, where the timestamp of the one of the one or more path events corresponds to a time that is between the times represented by the timestamps of the two of the estimated position points.

2. The method of claim 1, wherein a path event comprises a sensed vehicle status, environmental condition, or vehicle dynamic event.

3. The method of claim 1, further comprising:

aligning the path with a map representing the geography of available vehicle routes.

4. The method of claim 1, wherein receiving a plurality of estimated position points comprises:

receiving a plurality of estimated position points for a complete drive cycle in response to no path events requiring near real-time submission; and

receiving a plurality of estimated position points for a subset of a drive cycle in response to a path event requiring near real-time submission.

5. The method of claim 1, wherein path events include changes to at least one of vehicle status, vehicle dynamics, or environmental status, or at least one of a sign recognition event, lane boundary recognition event, exceptional vehicle event, or object detection event.

6. The method of claim 1, wherein the plurality of estimated position points and the one or more path events are received in a vehicle sensor data submission message, wherein the vehicle sensor data submission message comprises vehicle identifying information, the method further comprising anonymizing the vehicle sensor data submission message.

7. The method of claim 6, wherein anonymizing the vehicle sensor data submission message comprises:

dividing the plurality of estimated position points between a first path segment, a second path segment, and a gap path segment between the first path segment and the second path segment, wherein generating a path from the plurality of estimated position points comprises generating a first path from the first path segment, generating a second path from the second path segment, and eliminating the gap path segment.

8. An apparatus comprising at least one processor and at least one memory including computer program code, the at least one memory and computer program code configured to, with the processor, cause the apparatus to at least:

receive a plurality of estimated position points, each estimated position point including a timestamp, wherein each estimated position point is an estimate of a position of a vehicle at a time represented by the respective timestamp;

receive one or more path events, wherein each of the one or more path events includes a timestamp and data from at least one sensor of the vehicle;

generate a path from the plurality of estimated position points, wherein the estimated position points are arranged in order of ascending time represented by the respective timestamp; and

interpolate between two of the estimated position points to determine a location corresponding to one of the one or more path events, where the timestamp of the one of the one or more path events corresponds to a time that is between the times represented by the timestamps of the two of the estimated position points.

9. The apparatus of claim 8, wherein the path event comprises a sensed vehicle status, environmental condition, or vehicle dynamic event.

10. The apparatus of claim 8, wherein the apparatus is further configured to:

align the path with a map representing the geography of available vehicle routes.

11. The apparatus of claim 8, wherein causing the apparatus to receive a plurality of estimated position points comprises causing the apparatus to:

receive a plurality of estimated position points for a complete drive cycle in response to no path events requiring near real-time submission; and

receive a plurality of estimated position points for a subset of a drive cycle in response to a path event requiring near real-time submission.

12. The apparatus of claim 8, wherein path events include changes to at least one of vehicle status, vehicle dynamics, or environmental status, or at least one of a sign recognition event, lane boundary recognition event, exceptional vehicle event, or object detection event.

13. The apparatus of claim 8, wherein the plurality of estimated position points and the one or more path events are received in a vehicle sensor data submission message, wherein the vehicle sensor data submission message comprises vehicle identifying information, the apparatus further configured to anonymize the vehicle sensor data submission message.

14. The apparatus of claim 13, wherein causing the apparatus to anonymize the vehicle sensor data submission message comprises causing the apparatus to:

divide the plurality of estimated position points between a first path segment, a second path segment, and a gap path segment between the first path segment and the second path segment, wherein causing the apparatus to generate a path from the plurality of estimated position points comprises causing the apparatus to generate a first path from the first path segment, generate a second path from the second path segment, and eliminate the gap path segment.

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

receive a plurality of estimated position points, each estimated position point including a timestamp, wherein each estimated position point is an estimate of a position of a vehicle at a time represented by the respective timestamp;

receive one or more path events, wherein each of the one or more path events includes a timestamp and data from at least one sensor of the vehicle;

generate a path from the plurality of estimated position points, wherein the estimated position points are arranged in order of ascending time represented by the respective timestamp; and

interpolate between two of the estimated position points to determine a location corresponding to one of the one or more path events, where the timestamp of the one of the one or more path events corresponds to a time that is between the times represented by the timestamps of the two of the estimated position points.

16. The computer program product of claim 15, wherein a path event comprises a sensed vehicle status, environmental condition, or vehicle dynamic event.

17. The computer program product of claim 15, further comprising program code instructions configured to:

align the path with a map representing the geography of available vehicle routes.

18. The computer program product of claim 15, wherein the program code instructions configured to receive a plurality of estimated position points comprises program code instructions configured to:

receive a plurality of estimated position points for a complete drive cycle in response to no path events requiring near real-time submission; and

receive a plurality of estimated position points for a subset of a drive cycle in response to a path event requiring near real-time submission.

19. The computer program product of claim 15, wherein path events include changes to at least one of vehicle status, vehicle dynamics, or environmental status, or at least one of a sign recognition event, lane boundary recognition event, exceptional vehicle event, or object detection event.

20. The computer program product of claim 15, wherein the plurality of estimated position points and the one or more path events are received in a vehicle sensor data submission message, wherein the vehicle sensor data submission message comprises vehicle identifying information, the computer program product further comprising program code instructions configured to anonymize the vehicle sensor data submission message.

21-40. -40. (canceled)