Method and system for tracking moving objects

• US 6,965,827 B1
• Filed: 06/21/2004
• Issued: 11/15/2005
• Est. Priority Date: 10/30/2000
• Status: Expired due to Fees

• Current Assignee: Fluensee Incorporated (TrackX Holdings, Inc.)
• Original Assignee: Board of Trustees of The University of Illinois
• Inventors: Wolfson, Ouri
• Primary Examiner(s): NGUYEN, TAN QUANG
• Application Number:
  US10/872,635
• Time in Patent Office: 512 Days
• Field of Search: 701/207, 701/201, 701/209, 701/202, 701/204, 701/205, 701/210, 701/211, 340/988, 340/990, 340/991, 340/992, 340/993, 340/995.23, 340/995.17, 340/995.19, 340/995.25
• US Class Current: 701/207
• CPC Class Codes: G01C 21/3415 Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
• CPC Class Codes: G08G 1/20 Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
• CPC Class Codes: Y10S 707/99933 Query processing, i.e. searching

Abstract

A database receives location information about a moving object. Using the destination of the object and an electronic map, the database finds a projected path for the moving object. From the projected path, the database computes a trajectory. The trajectory may be used to estimate past and future positions of the moving object. The moving object may send location updates to the database when its actual location differs from its anticipated location by more than an uncertainty threshold.

Claims

1. A method for creating an uncertainty-based trajectory for a moving object, the method comprising:

obtaining a sequence of expected locations for the moving object including a starting point, a destination point and intermediate points;

computing a temporal-spatial path along which the moving object travels from the starting point through the intermediate points to the destination point;

constructing a trajectory that encompasses all possible temporal-spatial paths along which the moving object may travel from the starting point through the intermediate points to the destination point within a range of spatial and temporal uncertainties relative to the temporal-spatial path; and

displaying the trajectory superimposed on an electronic map.

2. A computer readable medium having stored therein instructions for causing a processor to execute the method of claim 1.

3. The method of claim 1, wherein displaying the trajectory comprises displaying a two dimensional representation of the trajectory.

4. The method of claim 1, wherein displaying the trajectory comprises displaying a three dimensional representation of the trajectory.

5. The method of claim 1, further comprising displaying an originating path superimposed on the map, wherein the originating path is used to construct the trajectory, and wherein the originating path includes the starting point, the destination point and the intermediate points.

6. The method of claim 1, further comprising:

receiving an actual location of the moving object; and

displaying the actual location of the moving object superimposed on the map.

7. The method of claim 6, further comprising:

determining that the actual location of the moving object is not within the range of spatial and temporal uncertainties defined by the trajectory;

re-constructing the trajectory based on the actual location of the moving object; and

displaying the reconstructed trajectory superimposed on the electronic map.

8. The method of claim 1, further comprising displaying a most probable location of the moving object, wherein the most probable location is determined based on the flip trajectory.

9. The method of claim 8, further comprising displaying a probability associated with the most probable location of the moving object.

10. A method for constructing an uncertainty-based trajectory for a moving object, the method comprising:

obtaining a sequence of expected locations for the moving object including a starting point, a destination point and intermediate points;

computing a temporal-spatial path along which the moving object travels from the starting point through the intermediate points to the destination point;

constructing a trajectory for the moving object, wherein the trajectory defines permissible temporal and spatial deviations of actual locations of the moving object relative to expected locations of the moving object on the temporal-spatial path; and

displaying the trajectory superimposed on an electronic map.

11. A computer readable medium having stored therein instructions for causing a processor to execute the method of claim 10.

12. The method of claim 10, wherein displaying the trajectory comprises displaying a two dimensional representation of the trajectory.

13. The method of claim 10, wherein displaying the trajectory comprises displaying a three dimensional representation of the trajectory.

14. The method of claim 10, further comprising displaying the temporal-spatial path superimposed on the electronic map.

15. The method of claim 10, further comprising displaying a reduction of the temporal-spatial path superimposed on the electronic map.

16. The method of claim 10, further comprising displaying a most probable location of the moving object superimposed on the electronic map, wherein the most probable location is determined based on the trajectory.

17. The method of claim 16, further comprising displaying a certainty associated with the most probable location of the moving object.

18. A method for implementing an uncertainty-based trajectory for a moving object, the method comprising:

obtaining a sequence of expected locations for the moving object including a starting point, a destination point and intermediate points;

computing a temporal-spatial path along which the moving object travels from the starting point through the intermediate points to the destination point; and

creating a trajectory for the moving object, wherein the trajectory defines permissible spatial and temporal uncertainties in a given actual location of the moving object relative to an expected location along the temporal-spatial path; and

displaying the trajectory superimposed on an electronic map.

19. A computer readable medium having stored therein instructions for causing a processor to execute the method of claim 18.

20. The method of claim 18, wherein displaying the trajectory comprises displaying a two dimensional representation of the trajectory.

21. The method of claim 18, wherein displaying the trajectory comprises displaying a three dimensional representation of the trajectory.

22. The method of claim 18, further comprising displaying the temporal-spatial path superimposed on the map.

23. The method of claim 18, further comprising:

receiving an actual location of the moving object;

determining that the actual location of the moving object is not within permissible spatial and temporal uncertainties relative to an expected location of the moving object along the temporal-spatial path;

re-constructing the trajectory based on the actual location of the moving object;

displaying the reconstructed trajectory superimposed on the electronic map.

24. The method of claim 23, further comprising displaying the actual location of the moving object superimposed on the electronic map.